npm - @luxonis/depthai-viewer-common - Versions diffs - 3.9.7 → 4.0.0 - Mend

@luxonis/depthai-viewer-common 3.9.7 → 4.0.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (154) hide show

package/dist/visualizer/components/Panel.js CHANGED Viewed

@@ -14,6 +14,9 @@ import RemountOnValueChange from "./RemountOnValueChange.js";
 import { useSharedIntervalTick } from "./shared-interval.js";
 const EMPTY_ANNOTATION_TOPICS = [];
 const DetectionContext = React.createContext({ detections: [] });
+const formatThroughput = (megabitsPerSecond) => megabitsPerSecond >= 1000
+    ? `${(megabitsPerSecond / 1000).toFixed(2)} Gbps`
+    : `${megabitsPerSecond.toFixed(2)} Mbps`;
 export const useDetections = () => {
     return React.useContext(DetectionContext);
 };
@@ -47,7 +50,7 @@ export const Panel = ({ children, kind, topic, fakedAs, disableAnnotations = fal
     const connection = connections.at(0);
     const metricsTopic = fakedAs ?? topic;
     const [metrics, setMetrics] = React.useState(() => connection?.getTopicMetrics(metricsTopic));
-    const metricsTick = useSharedIntervalTick(1_000);
+    const metricsTick = useSharedIntervalTick(1_000, showPerformanceMetrics);
     React.useEffect(() => {
         if (disableAnnotations) {
             setDetections((current) => (current.length === 0 ? current : []));
@@ -118,12 +121,12 @@ export const Panel = ({ children, kind, topic, fakedAs, disableAnnotations = fal
         if (metrics?.messageThroughput !== undefined) {
             values.push({
                 label: "Throughput",
-                value: `${metrics.messageThroughput.toFixed(2)} Mbps`,
+                value: formatThroughput(metrics.messageThroughput),
                 description: "Network data throughput received by the browser for this stream.",
             });
         }
         return values;
     }, [connection, fakedAs, kind, metrics, targetFps, topic]);
-    return (_jsx(RemountOnValueChange, { value: "internal-player", children: _jsx(ErrorBoundary, { resetKey: topic, children: _jsx(DetectionContext.Provider, { value: { detections }, children: _jsxs("section", { className: "flex flex-col grow border border-solid border-divider overflow-hidden rounded-lg", ref: sectionRef, children: [showPerformanceMetrics && (_jsx(Flex, { position: "absolute", className: "w-[175px] z-10 bottom-2 right-2", children: _jsx(Flex, { direction: "column", gap: "xs", className: "bg-muted w-full h-auto p-2 rounded-md", children: performanceMetrics.map((metric) => (_jsx(MetricItem, { ...metric }, metric.label))) }) })), panelOverlay, !hideToolbar && (_jsx(PanelToolbar, { kind: kind, topic: topic, setDetections: setDetections, disableAnnotations: disableAnnotations, targetFps: targetFps, toggleTopic: toggleTopic, toggleFullscreen: toggleFullscreenForThisPanel, triggerToast: triggerToast, canMoveUp: canMoveUp, moveUp: moveUp, canMoveDown: canMoveDown, moveDown: moveDown, touchesBreakpoint: sectionRef.current?.clientWidth ? sectionRef.current.clientWidth <= 550 : false, actions: panelToolbarActions, metrics: metrics, resolution: resolution })), _jsx(Suspense, { fallback: _jsx(EmptyState, { children: _jsx("span", { children: "Loading..." }) }), children: decodingError ? (_jsxs(EmptyState, { children: [_jsx("strong", { children: topic }), _jsx("br", {}), decodingError.message] })) : (_jsx(RemountOnValueChange, { value: detections, children: children })) })] }) }) }) }));
+    return (_jsx(RemountOnValueChange, { value: "internal-player", children: _jsx(ErrorBoundary, { resetKey: topic, children: _jsx(DetectionContext.Provider, { value: { detections }, children: _jsxs("section", { className: "flex flex-col grow border border-solid border-divider overflow-hidden rounded-lg", ref: sectionRef, children: [showPerformanceMetrics && (_jsx(Flex, { "data-testid": "panel-performance-metrics", position: "absolute", className: "w-[175px] z-10 bottom-2 right-2", children: _jsx(Flex, { direction: "column", gap: "xs", className: "bg-muted w-full h-auto p-2 rounded-md", children: performanceMetrics.map((metric) => (_jsx(MetricItem, { ...metric }, metric.label))) }) })), panelOverlay, !hideToolbar && (_jsx(PanelToolbar, { kind: kind, topic: topic, setDetections: setDetections, disableAnnotations: disableAnnotations, targetFps: targetFps, toggleTopic: toggleTopic, toggleFullscreen: toggleFullscreenForThisPanel, triggerToast: triggerToast, canMoveUp: canMoveUp, moveUp: moveUp, canMoveDown: canMoveDown, moveDown: moveDown, touchesBreakpoint: sectionRef.current?.clientWidth ? sectionRef.current.clientWidth <= 550 : false, actions: panelToolbarActions, metrics: metrics, resolution: resolution })), _jsx(Suspense, { fallback: _jsx(EmptyState, { children: _jsx("span", { children: "Loading..." }) }), children: decodingError ? (_jsxs(EmptyState, { children: [_jsx("strong", { children: topic }), _jsx("br", {}), decodingError.message] })) : (_jsx(RemountOnValueChange, { value: detections, children: children })) })] }) }) }) }));
 };
 //# sourceMappingURL=Panel.js.map

package/dist/visualizer/components/Panel.js.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ 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package/dist/visualizer/components/shared-interval.d.ts CHANGED Viewed

@@ -1,2 +1,2 @@
-export declare function useSharedIntervalTick(intervalMs: number): number;
+export declare function useSharedIntervalTick(intervalMs: number, enabled?: boolean): number;
 //# sourceMappingURL=shared-interval.d.ts.map

package/dist/visualizer/components/shared-interval.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"shared-interval.d.ts","sourceRoot":"","sources":["../../../src/visualizer/components/shared-interval.ts"],"names":[],"mappings":"~~AA6DA~~,wBAAgB,qBAAqB,CAAC,UAAU,EAAE,MAAM,GAAG,MAAM,~~CAGhE~~"}
1	+ {"version":3,"file":"shared-interval.d.ts","sourceRoot":"","sources":["../../../src/visualizer/components/shared-interval.ts"],"names":[],"mappings":"AAkEA,wBAAgB,qBAAqB,CAAC,UAAU,EAAE,MAAM,EAAE,OAAO,UAAO,GAAG,MAAM,CAMhF"}

package/dist/visualizer/components/shared-interval.js CHANGED Viewed

@@ -43,8 +43,12 @@ function getOrCreateSharedTicker(intervalMs) {
     sharedTickers.set(intervalMs, ticker);
     return ticker;
 }
-export function useSharedIntervalTick(intervalMs) {
-    const ticker = React.useMemo(() => getOrCreateSharedTicker(intervalMs), [intervalMs]);
+const DISABLED_TICKER = {
+    getSnapshot: () => 0,
+    subscribe: () => () => { },
+};
+export function useSharedIntervalTick(intervalMs, enabled = true) {
+    const ticker = React.useMemo(() => (enabled ? getOrCreateSharedTicker(intervalMs) : DISABLED_TICKER), [enabled, intervalMs]);
     return React.useSyncExternalStore(ticker.subscribe, ticker.getSnapshot, ticker.getSnapshot);
 }
 //# sourceMappingURL=shared-interval.js.map

package/dist/visualizer/components/shared-interval.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/visualizer/connection/communicator.d.ts CHANGED Viewed

@@ -6,6 +6,7 @@ export type FoxgloveMessage = {
     topic: string;
     schema: string;
     buffer: DataView;
+    benchmarkIngressAt?: number;
 };
 export type WorkerInputMessage = {
     type: "open";

package/dist/visualizer/connection/communicator.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/visualizer/connection/communicator.js.map CHANGED Viewed

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1	+ {"version":3,"file":"connection.d.ts","sourceRoot":"","sources":["../../../src/visualizer/connection/connection.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,4BAA4B,CAAC;AAC/D,OAAO,KAAK,EAAE,4BAA4B,EAAE,MAAM,wCAAwC,CAAC;AAC3F,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAO7D,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAK9D,MAAM,MAAM,iBAAiB,GAAG;IAC9B,KAAK,EAAE,MAAM,CAAC;IACd,IAAI,EAAE,YAAY,CAAC;CACpB,CAAC;AAEF,MAAM,MAAM,kBAAkB,GAAG;IAC/B,IAAI,EAAE,MAAM,IAAI,CAAC;IACjB,KAAK,EAAE,MAAM,IAAI,CAAC;IAClB,SAAS,EAAE,MAAM,IAAI,CAAC;IACtB,QAAQ,EAAE,CAAC,QAAQ,EAAE,YAAY,CAAC,iBAAiB,EAAE,CAAC,KAAK,IAAI,CAAC;IAChE,QAAQ,EAAE,CAAC,QAAQ,EAAE,YAAY,CAAC,MAAM,EAAE,CAAC,KAAK,IAAI,CAAC;IACrD,0BAA0B,EAAE,CAAC,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;IACpD,UAAU,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACpC,CAAC;AAEF,MAAM,MAAM,kBAAkB,GAAG;IAC/B,IAAI,EAAE,MAAM,CAAC;IACb,OAAO,CAAC,EAAE,MAAM,CAAC;IACjB,IAAI,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,GAAG,CAAC,GAAG,MAAM,GAAG,MAAM,CAAC;IAC7C,cAAc,CAAC,EAAE,OAAO,CAAC;CAC1B,CAAC;AAEF,MAAM,MAAM,wBAAwB,GAAG,CACnC;IACE,IAAI,EAAE,IAAI,CAAC;IACX,IAAI,EAAE;QAAE,aAAa,EAAE,MAAM,CAAA;KAAE,CAAC;CACjC,GACD;IACE,IAAI,EAAE,QAAQ,CAAC;IACf,IAAI,EAAE;QAAE,MAAM,EAAE,YAAY,CAAC;QAAC,qBAAqB,CAAC,EAAE,CAAC,KAAK,EAAE,MAAM,KAAK,IAAI,CAAA;KAAE,CAAC;CACjF,CACJ,GAAG;IACF,aAAa,CAAC,EAAE,4BAA4B,CAAC;IAC7C,SAAS,CAAC,EAAE,OAAO,CAAC;CACrB,CAAC;AAEF,qBAAa,oBAAqB,SAAQ,kBAAkB;;gBAMvC,EAAE,IAAI,EAAE,IAAI,EAAE,aAAa,EAAE,SAAS,EAAE,EAAE,wBAAwB;IAyB9E,KAAK,IAAI,IAAI;IAoBb,EAAE,CAAC,CAAC,SAAS,MAAM,kBAAkB,EAAE,IAAI,EAAE,CAAC,EAAE,QAAQ,EAAE,kBAAkB,CAAC,CAAC,CAAC,GAAG,IAAI;IAItF,GAAG,CAAC,CAAC,SAAS,MAAM,kBAAkB,EAAE,IAAI,EAAE,CAAC,EAAE,QAAQ,EAAE,kBAAkB,CAAC,CAAC,CAAC,GAAG,IAAI;IAIjF,OAAO,CAAC,IAAI,EAAE,kBAAkB,GAAG,OAAO,CAAC,QAAQ,GAAG,IAAI,CAAC;IAKjE,SAAS,CAAC,IAAI,EAAE;QAAE,MAAM,EAAE,MAAM,EAAE,CAAA;KAAE,GAAG,IAAI;IAkB3C,WAAW,CAAC,IAAI,EAAE;QAAE,MAAM,EAAE,MAAM,EAAE,CAAA;KAAE,GAAG,IAAI;IAqBpD,IAAW,SAAS,IAAI,OAAO,CAE9B;CAyEF"}

package/dist/visualizer/connection/connection.js CHANGED Viewed

@@ -41,7 +41,8 @@ export class VisualizerConnection extends FoxgloveConnection {
         // Clean up message handler workers
         this.messageHandler.cleanup();
         // Clean up pointcloud worker pool
-        this.depthToPointcloudWorkerPool.destroy();
+        this.depthToPointcloudWorkerPool?.destroy();
+        this.depthToPointcloudWorkerPool = undefined;
     }
     #cleanupEventListeners() {
         if (this.#adapter) {
@@ -112,7 +113,8 @@ export class VisualizerConnection extends FoxgloveConnection {
             // Clean up message handler workers on close
             this.messageHandler.cleanup();
             // Clean up pointcloud worker pool
-            this.depthToPointcloudWorkerPool.destroy();
+            this.depthToPointcloudWorkerPool?.destroy();
+            this.depthToPointcloudWorkerPool = undefined;
         });
         const errorListener = ((_event) => {
             this.messageEvents = [];
@@ -124,7 +126,8 @@ export class VisualizerConnection extends FoxgloveConnection {
             // Clean up message handler workers on error
             this.messageHandler.cleanup();
             // Clean up pointcloud worker pool
-            this.depthToPointcloudWorkerPool.destroy();
+            this.depthToPointcloudWorkerPool?.destroy();
+            this.depthToPointcloudWorkerPool = undefined;
         });
         const wrappedErrorCallback = (errorCode, topic, errorData) => {
             const shouldForwardError = this.handleDeserializationError(errorCode, topic, errorData);
@@ -132,13 +135,11 @@ export class VisualizerConnection extends FoxgloveConnection {
                 errorCallback?.(errorCode, topic, errorData);
             }
         };
-        const handleMessagePacket = this.onMessagePacket.bind(this);
+        const handleMessagePackets = this.onMessagePackets.bind(this);
         const messageListener = ((event) => {
             const typedEvent = event;
             const messages = Array.isArray(typedEvent.data) ? typedEvent.data : [typedEvent.data];
-            for (const message of messages) {
-                handleMessagePacket({ ...typedEvent, data: message }, wrappedErrorCallback);
-            }
+            handleMessagePackets(messages, wrappedErrorCallback);
         });
         this.#adapter.addEventListener("open", openListener);
         this.#adapter.addEventListener("close", closeListener);

package/dist/visualizer/connection/connection.js.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ 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package/dist/visualizer/connection/foxglove-connection.d.ts CHANGED Viewed

@@ -48,7 +48,7 @@ export declare abstract class FoxgloveConnection {
     protected decodeMetrics: import("../utils/metrics-manager.js").EventMetricsManager;
     protected throughputMetrics: import("../utils/metrics-manager.js").ThroughputMetricsManager;
     protected PoitCloudSyncFramework: PoitCloudSyncFramework;
-    protected depthToPointcloudWorkerPool: DepthToPointcloudWorkerPool;
+    protected depthToPointcloudWorkerPool: DepthToPointcloudWorkerPool | undefined;
     protected IMUEventEmitter: import("../utils/imu-manager.js").IMUEvent;
     protected messageHandler: MessageHandler;
     protected topics: {
@@ -63,6 +63,7 @@ export declare abstract class FoxgloveConnection {
     }[];
     constructor(id: string);
     protected createDepthToPointcloudWorkerPool(): DepthToPointcloudWorkerPool;
+    protected getDepthToPointcloudWorkerPool(): DepthToPointcloudWorkerPool;
     protected resetPointCloudTransientState(topics: readonly string[]): void;
     setListener(listener: (playerState: PlayerState) => Promise<void>): void;
     setLiveMessageListener(listener: ((messages: readonly VisualizerMessageEvent[], lastSeekTime: number | undefined) => void) | undefined): void;
@@ -71,8 +72,9 @@ export declare abstract class FoxgloveConnection {
     protected getCurrentTime(): Time;
     protected getNeuralCameraIntrinsics(): NeuralCameraIntrinsics | undefined;
     protected onMessagePacket(event: globalThis.MessageEvent<FoxgloveMessage>, errorCallback?: DeserializationErrorCallback): void;
+    protected onMessagePackets(messages: readonly FoxgloveMessage[], errorCallback?: DeserializationErrorCallback): void;
     protected submitPointcloudFrameCallback(coloredEvent: VisualizerMessageEvent, poitcloudFrame: PointCloudWithDimensions, message: unknown): void;
-    protected handleParsePointcloudMessage(coloredEvent: VisualizerMessageEvent): Promise<void>;
+    protected handleParsePointcloudMessage(coloredEvent: VisualizerMessageEvent, copyColorFrameData?: boolean): Promise<void>;
     protected parseResolutionFromMessage(message: unknown, topic: string): {
         width: number | undefined;
         height: number | undefined;

package/dist/visualizer/connection/foxglove-connection.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"foxglove-connection.d.ts","sourceRoot":"","sources":["../../../src/visualizer/connection/foxglove-connection.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,2BAA2B,EAAE,MAAM,iEAAiE,CAAC;AAC9G,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,kDAAkD,CAAC;AAC/F,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,6CAA6C,CAAC;AAC5F,OAAO,KAAK,EAAE,4BAA4B,EAAE,MAAM,wCAAwC,CAAC;AAC3F,OAAO,EAEL,KAAK,sBAAsB,EAC5B,MAAM,+BAA+B,CAAC;AACvC,OAAO,EAAwB,KAAK,cAAc,EAAE,MAAM,iCAAiC,CAAC;AAK5F,OAAO,EAAuB,KAAK,aAAa,EAAE,KAAK,iBAAiB,EAAE,MAAM,mBAAmB,CAAC;AAYpG,OAAO,EAEL,cAAc,EACd,KAAK,aAAa,EAClB,KAAK,WAAW,EACjB,MAAM,0BAA0B,CAAC;AAClC,OAAO,EAAE,sBAAsB,EAAE,MAAM,4BAA4B,CAAC;AAEpE,OAAO,EAAyC,KAAK,IAAI,EAAE,MAAM,kBAAkB,CAAC;AACpF,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AAIzD,MAAM,MAAM,OAAO,GAAG;IACpB,WAAW,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,SAAS,CAAC,CAAC;IAC7C,mBAAmB,EAAE,MAAM,GAAG,SAAS,CAAC;IACxC,kBAAkB,EAAE,MAAM,GAAG,SAAS,CAAC;IACvC,iBAAiB,EAAE,MAAM,GAAG,SAAS,CAAC;CACvC,CAAC;AAEF,KAAK,iBAAiB,GAAG;IACvB,OAAO,CAAC,EAAE,MAAM,CAAC;CAClB,CAAC;AAoBF,cAAM,cAAc;IAClB,SAAS,CAAC,QAAQ,EAAE,aAAa,EAAE,CAAM;IAElC,UAAU,CAAC,OAAO,EAAE,aAAa,GAAG,IAAI;IAIxC,aAAa,IAAI,IAAI;IAIrB,WAAW,IAAI,aAAa,EAAE;CAGtC;AAED,8BAAsB,kBAAkB;IACtC,SAAS,CAAC,QAAQ,CAAC,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;IACjE,SAAS,CAAC,mBAAmB,CAAC,EAAE,CAC9B,QAAQ,EAAE,SAAS,sBAAsB,EAAE,EAC3C,YAAY,EAAE,MAAM,GAAG,SAAS,KAC7B,IAAI,CAAC;IACV,SAAS,CAAC,2BAA2B,UAAQ;IAE7C,SAAS,CAAC,EAAE,EAAE,MAAM,CAAC;IAGrB,SAAS,CAAC,cAAc,EAAE,cAAc,CAA8B;IACtE,SAAS,CAAC,kBAAkB,sBAAwC;IAGpE,SAAS,CAAC,aAAa,EAAE,sBAAsB,EAAE,CAAM;IACvD,SAAS,CAAC,gBAAgB,CAAC,EAAE,sBAAsB,CAAC;IAEpD,SAAS,CAAC,aAAa,SAAK;IAE5B,SAAS,CAAC,SAAS,CAAC,EAAE,IAAI,CAAC;IAC3B,SAAS,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IAEzB,SAAS,CAAC,UAAU,gBAAa;IACjC,SAAS,CAAC,eAAe,gBAAa;IACtC,SAAS,CAAC,gBAAgB,gBAAa;IACvC,SAAS,CAAC,iBAAiB,cAAqB;IAChD,SAAS,CAAC,mBAAmB,6BAAoC;IACjE,SAAS,CAAC,kBAAkB,gBAAa;IACzC,SAAS,CAAC,QAAQ,iBAAwB;IAC1C,SAAS,CAAC,WAAW,gBAAa;IAClC,SAAS,CAAC,YAAY,4DAAkC;IACxD,SAAS,CAAC,aAAa,4DAA8B;IACrD,SAAS,CAAC,iBAAiB,iEAAkC;IAC7D,SAAS,CAAC,sBAAsB,yBAAgC;IAChE,SAAS,CAAC,2BAA2B,EAAE,2BAA2B,GAAG,SAAS,CAAC;IAC/E,SAAS,CAAC,eAAe,6CAAwB;IAEjD,SAAS,CAAC,cAAc,EAAE,cAAc,CAAC;IACzC,SAAS,CAAC,MAAM,EAAE;QAChB,CAAC,GAAG,EAAE,MAAM,GAAG;YACb,IAAI,EAAE,MAAM,CAAC;YACb,UAAU,EAAE,MAAM,CAAC;SACpB,CAAC;KACH,CAAM;IACP,SAAS,CAAC,SAAS,EAAE;QAAE,IAAI,EAAE,MAAM,CAAC;QAAC,UAAU,EAAE,MAAM,CAAA;KAAE,EAAE,CAAM;gBAE9C,EAAE,EAAE,MAAM;IAgC7B,SAAS,CAAC,iCAAiC,IAAI,2BAA2B;IAQ1E,SAAS,CAAC,8BAA8B,IAAI,2BAA2B;IAKvE,SAAS,CAAC,6BAA6B,CAAC,MAAM,EAAE,SAAS,MAAM,EAAE,GAAG,IAAI;IAUjE,WAAW,CAAC,QAAQ,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI;IAKxE,sBAAsB,CAC3B,QAAQ,EACJ,CAAC,CAAC,QAAQ,EAAE,SAAS,sBAAsB,EAAE,EAAE,YAAY,EAAE,MAAM,GAAG,SAAS,KAAK,IAAI,CAAC,GACzF,SAAS,GACZ,IAAI;IAIA,8BAA8B,CAAC,OAAO,EAAE,OAAO,GAAG,IAAI;IAItD,eAAe,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO;IAW9C,SAAS,CAAC,cAAc,IAAI,IAAI;IAIhC,SAAS,CAAC,yBAAyB,IAAI,sBAAsB,GAAG,SAAS;IAIzE,SAAS,CAAC,eAAe,CACvB,KAAK,EAAE,UAAU,CAAC,YAAY,CAAC,eAAe,CAAC,EAC/C,aAAa,CAAC,EAAE,4BAA4B,GAC3C,IAAI;IAIP,SAAS,CAAC,gBAAgB,CACxB,QAAQ,EAAE,SAAS,eAAe,EAAE,EACpC,aAAa,CAAC,EAAE,4BAA4B,GAC3C,IAAI;IAiCP,SAAS,CAAC,6BAA6B,CACrC,YAAY,EAAE,sBAAsB,EACpC,cAAc,EAAE,wBAAwB,EACxC,OAAO,EAAE,OAAO,GACf,IAAI;cAiCS,4BAA4B,CAC1C,YAAY,EAAE,sBAAsB,EACpC,kBAAkB,UAAQ,GACzB,OAAO,CAAC,IAAI,CAAC;IAiDhB,SAAS,CAAC,0BAA0B,CAClC,OAAO,EAAE,OAAO,EAChB,KAAK,EAAE,MAAM,GACZ;QAAE,KAAK,EAAE,MAAM,GAAG,SAAS,CAAC;QAAC,MAAM,EAAE,MAAM,GAAG,SAAS,CAAA;KAAE;IAa5D,SAAS,CAAC,UAAU,CAAC,KAAK,EAAE,MAAM,EAAE,UAAU,EAAE,MAAM,GAAG,IAAI;IAY7D,SAAS,CAAC,mBAAmB,CAAC,KAAK,EAAE,sBAAsB,GAAG,IAAI;IA6DlE,SAAS,CAAC,SAAS,sBA4DhB;IAEH,SAAS,CAAC,0BAA0B,CAClC,SAAS,EAAE,iBAAiB,EAC5B,KAAK,EAAE,MAAM,EACb,SAAS,CAAC,EAAE,iBAAiB,GAC5B,OAAO;CAgBX"}

package/dist/visualizer/connection/foxglove-connection.js CHANGED Viewed

@@ -6,6 +6,7 @@ import { getKnownMessageSizeInBytes, } from "../messaging/message-event.js";
 import { createMessageHandler } from "../messaging/message-handler.js";
 import { protobufSchemaNameToType, protobufsBySchema } from "../messaging/protobuf.js";
 import { debouncePromise } from "../utils/async.js";
+import { recordBenchmarkDecoded, recordBenchmarkIngress } from "../utils/benchmark-metrics.js";
 import { createDecodingError } from "../utils/error.js";
 import { estimateObjectSize } from "../utils/estimate-object-size.js";
 import { FrameStore } from "../utils/frame-store.js";
@@ -27,6 +28,10 @@ const POINT_CLOUD_TRANSIENT_TOPICS = new Set([
     "_Point Cloud Color",
     "H.264 Stream",
 ]);
+const POINT_CLOUD_OUTPUT_TOPICS = ["Point Cloud", "PointCloud", "pointCloud"];
+function isPointCloudOutputTopic(topic) {
+    return POINT_CLOUD_OUTPUT_TOPICS.some((outputTopic) => topic === outputTopic || topic.startsWith(`${outputTopic} #`));
+}
 class ProblemManager {
     problems = [];
     addProblem(problem) {
@@ -65,7 +70,7 @@ export class FoxgloveConnection {
     decodeMetrics = globalDecodeMetricsManager;
     throughputMetrics = globalThroughputMetricsManager;
     PoitCloudSyncFramework = new PoitCloudSyncFramework();
-    depthToPointcloudWorkerPool = this.createDepthToPointcloudWorkerPool();
+    depthToPointcloudWorkerPool;
     IMUEventEmitter = getIMUEventEmitter();
     // message handler
     messageHandler;
@@ -73,20 +78,45 @@ export class FoxgloveConnection {
     topicList = [];
     constructor(id) {
         this.id = id;
-        this.messageHandler = createMessageHandler(this.handleParsedMessage.bind(this));
+        this.messageHandler = createMessageHandler(this.handleParsedMessage.bind(this), (topic) => {
+            if (!isPointCloudOutputTopic(topic)) {
+                const hasPointCloudConsumer = POINT_CLOUD_OUTPUT_TOPICS.some((outputTopic) => this.subscribedTopics.has(outputTopic));
+                const hasDedicatedPointCloudColor = this.subscribedTopics.has("_Point Cloud Color");
+                const feedsLegacyPointCloudColor = topic === "_Point Cloud Color" ||
+                    (topic === "H.264 Stream" && hasPointCloudConsumer && !hasDedicatedPointCloudColor);
+                return {
+                    pointCloud: true,
+                    depthPreview: true,
+                    // Visible encoded streams stay as transferable VideoFrames. The hidden legacy
+                    // point-cloud color stream is consumed by a CPU worker that requires planar bytes.
+                    encodedVideoOutputMode: feedsLegacyPointCloudColor ? "i420" : "native",
+                };
+            }
+            return {
+                pointCloud: this.subscribedTopics.has(topic) ||
+                    POINT_CLOUD_OUTPUT_TOPICS.some((outputTopic) => this.subscribedTopics.has(outputTopic)),
+                depthPreview: POINT_CLOUD_OUTPUT_TOPICS.includes(topic) &&
+                    (this.subscribedTopics.has("Depth Stream") || this.subscribedTopics.has(topic)),
+                encodedVideoOutputMode: "native",
+            };
+        });
     }
     createDepthToPointcloudWorkerPool() {
         return new DepthToPointcloudWorkerPool((event, frame, message) => {
             this.submitPointcloudFrameCallback(event, frame, message);
         });
     }
+    getDepthToPointcloudWorkerPool() {
+        this.depthToPointcloudWorkerPool ??= this.createDepthToPointcloudWorkerPool();
+        return this.depthToPointcloudWorkerPool;
+    }
     resetPointCloudTransientState(topics) {
         if (!topics.some((topic) => POINT_CLOUD_TRANSIENT_TOPICS.has(topic))) {
             return;
         }
         this.PoitCloudSyncFramework = new PoitCloudSyncFramework();
-        this.depthToPointcloudWorkerPool.destroy();
-        this.depthToPointcloudWorkerPool = this.createDepthToPointcloudWorkerPool();
+        this.depthToPointcloudWorkerPool?.destroy();
+        this.depthToPointcloudWorkerPool = undefined;
     }
     setListener(listener) {
         this.listener = listener;
@@ -113,23 +143,32 @@ export class FoxgloveConnection {
         return getNeuralCameraIntrinsics();
     }
     onMessagePacket(event, errorCallback) {
-        const [imageFrameMetricsKey, annotationsFrameMetricsKey, pointCloudFrameMetricsKey] = [
-            constructKeyForTopicRenderMetrics("incomingImageFrame", event.data.topic),
-            constructKeyForTopicRenderMetrics("incomingAnnotationsFrame", event.data.topic),
-            constructKeyForTopicRenderMetrics("incomingPointCloudFrame", event.data.topic),
-        ];
-        const specificProtobuf = protobufsBySchema[event.data.schema]?.type;
-        if (!specificProtobuf) {
-            throw new Error(`Unsupported protobuf schema: ${event.data.schema}`);
+        this.onMessagePackets([event.data], errorCallback);
+    }
+    onMessagePackets(messages, errorCallback) {
+        for (const message of messages) {
+            const benchmarkIngressAt = recordBenchmarkIngress(message.topic);
+            if (benchmarkIngressAt != undefined) {
+                message.benchmarkIngressAt = benchmarkIngressAt;
+            }
+            const [imageFrameMetricsKey, annotationsFrameMetricsKey, pointCloudFrameMetricsKey] = [
+                constructKeyForTopicRenderMetrics("incomingImageFrame", message.topic),
+                constructKeyForTopicRenderMetrics("incomingAnnotationsFrame", message.topic),
+                constructKeyForTopicRenderMetrics("incomingPointCloudFrame", message.topic),
+            ];
+            const specificProtobuf = protobufsBySchema[message.schema]?.type;
+            if (!specificProtobuf) {
+                throw new Error(`Unsupported protobuf schema: ${message.schema}`);
+            }
+            const packetType = protobufSchemaNameToType(specificProtobuf);
+            this.inputMetrics.registerEvent(packetType === "image"
+                ? imageFrameMetricsKey
+                : packetType === "pointCloud"
+                    ? pointCloudFrameMetricsKey
+                    : annotationsFrameMetricsKey);
+            this.throughputMetrics.registerEvent(message.topic, message.buffer.byteLength);
         }
-        const packetType = protobufSchemaNameToType(specificProtobuf);
-        this.inputMetrics.registerEvent(packetType === "image"
-            ? imageFrameMetricsKey
-            : packetType === "pointCloud"
-                ? pointCloudFrameMetricsKey
-                : annotationsFrameMetricsKey);
-        this.throughputMetrics.registerEvent(event.data.topic, event.data.buffer.byteLength);
-        this.messageHandler.handle(event.data, errorCallback);
+        this.messageHandler.handleBatch(messages, errorCallback);
     }
     submitPointcloudFrameCallback(coloredEvent, poitcloudFrame, message) {
         coloredEvent.topic = "Point Cloud";
@@ -154,7 +193,7 @@ export class FoxgloveConnection {
             this.emitState();
         }
     }
-    async handleParsePointcloudMessage(coloredEvent) {
+    async handleParsePointcloudMessage(coloredEvent, copyColorFrameData = false) {
         const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime);
         const { width: colorWith, height: colorHeight } = this.parseResolutionFromMessage(coloredEvent.message, coloredEvent.topic);
         if (poitcloudFrame) {
@@ -174,7 +213,7 @@ export class FoxgloveConnection {
                     ? { ...coloredEvent.message }
                     : coloredEvent.message,
             };
-            await this.depthToPointcloudWorkerPool.queueDepthFrame({
+            await this.getDepthToPointcloudWorkerPool().queueDepthFrame({
                 depthFrame: poitcloudFrame,
                 width: poitcloudFrame.width ?? 0,
                 height: poitcloudFrame.height ?? 0,
@@ -183,7 +222,11 @@ export class FoxgloveConnection {
                 cx: neuralCameraIntrinsics.right.principalPoint.x,
                 cy: neuralCameraIntrinsics.right.principalPoint.y,
                 colorFrame: pointCloudColorEvent,
-                colorFrameData: new Uint8Array(colorFrameMessage.data),
+                // The hidden color event is not published to a panel, so its transferred decoder
+                // buffer can move straight into the point-cloud worker without another full-frame copy.
+                colorFrameData: copyColorFrameData
+                    ? new Uint8Array(colorFrameMessage.data)
+                    : colorFrameMessage.data,
                 i420Width: colorWith ?? poitcloudFrame.width ?? 0,
                 i420Height: colorHeight ?? poitcloudFrame.height ?? 0,
             });
@@ -212,6 +255,7 @@ export class FoxgloveConnection {
         this.topicList = Object.values(this.topics);
     }
     handleParsedMessage(event) {
+        recordBenchmarkDecoded(event.topic, event.benchmarkIngressAt);
         this.topicDecodingErrors.delete(event.topic);
         this.decodeMetrics.registerEvent(event.topic);
         this.trackTopic(event.topic, event.schemaName);
@@ -221,20 +265,37 @@ export class FoxgloveConnection {
         }
         this.parseResolutionFromMessage(event.message, event.topic);
         if (event.schemaName === "foxglove.PointCloud") {
-            for (const topic of ["Point Cloud", "PointCloud", "pointCloud"]) {
-                FrameStore.getInstance().registerFrame(topic, event);
+            if (POINT_CLOUD_OUTPUT_TOPICS.some((topic) => this.subscribedTopics.has(topic))) {
+                for (const topic of POINT_CLOUD_OUTPUT_TOPICS) {
+                    FrameStore.getInstance().registerFrame(topic, event);
+                }
+                this.PoitCloudSyncFramework.addFrame(event.message);
             }
-            this.PoitCloudSyncFramework.addFrame(event.message);
             return;
         }
         if (event.schemaName === "foxglove.PointCloud.Colored") {
-            for (const topic of ["Point Cloud", "PointCloud", "pointCloud"]) {
+            for (const topic of POINT_CLOUD_OUTPUT_TOPICS) {
                 FrameStore.getInstance().registerFrame(topic, event);
             }
         }
         if (event.schemaName === "foxglove.PointClouds.Colored") {
             event.schemaName = "foxglove.PointClouds";
         }
+        const hasDedicatedPointCloudColor = this.subscribedTopics.has("_Point Cloud Color");
+        if (hasDedicatedPointCloudColor && event.topic === "_Point Cloud Color") {
+            // This frame only exists to color the legacy depth point cloud. Publishing it into the
+            // React message pipeline retains a large planar frame and adds dispatch work with no UI
+            // consumer.
+            void this.handleParsePointcloudMessage(event);
+            return;
+        }
+        if (!hasDedicatedPointCloudColor &&
+            event.topic === "H.264 Stream" &&
+            POINT_CLOUD_OUTPUT_TOPICS.some((topic) => this.subscribedTopics.has(topic))) {
+            // Older pipelines reuse the visible H.264 stream for point-cloud color. Preserve its
+            // bytes for the image panel while moving a copy to the legacy point-cloud worker.
+            void this.handleParsePointcloudMessage(event, true);
+        }
         const messageSize = Number.isFinite(event.sizeInBytes) && event.sizeInBytes > 0
             ? event.sizeInBytes
             : (getKnownMessageSizeInBytes(event.message) ?? estimateObjectSize(event.message));
@@ -244,19 +305,6 @@ export class FoxgloveConnection {
             this.messageEvents.push(event);
             this.emitState();
         }
-        const poitcloudColorFrameName = this.subscribedTopics.get("_Point Cloud Color")
-            ? "_Point Cloud Color"
-            : "H.264 Stream";
-        if (event.topic === poitcloudColorFrameName) {
-            /* Good for performance testing
-            const date = Date.now();
-            event.publishTime= {
-              sec: Math.floor(date / 1000),
-              nsec: date *10 ** 6,
-            };
-            */
-            void this.handleParsePointcloudMessage(event);
-        }
     }
     emitState = debouncePromise(async () => {
         const messages = this.messageEvents;

package/dist/visualizer/connection/foxglove-connection.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/visualizer/context/MessagePipelineProvider.d.ts CHANGED Viewed

@@ -1,6 +1,6 @@
 import { type PropsWithChildren } from "react";
 import { type StoreApi } from "zustand";
-import type { VisualizerMessageEvent } from "../messaging/message-event.js";
+import { type VisualizerMessageEvent } from "../messaging/message-event.js";
 import { type MessagePipelineInternalState } from "./message-pipeline-store.js";
 import type { MessagePipelineContext } from "./message-pipeline-types.js";
 export type { MessagePipelineContext };

package/dist/visualizer/context/MessagePipelineProvider.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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