@luxonis/visualizer-protobuf 2.11.2 → 2.13.0

package/dist/lib/src/messaging/deserialization/pointcloud/utils.js

@@ -0,0 +1,97 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+/// <reference types="@webgpu/types" />
+export function uint8ArrayToUint16Array(uint8Array) {
+    if (uint8Array.length % 2 !== 0) {
+        throw new Error("Uint8Array length must be a multiple of 2 for conversion to Uint16Array");
+    }
+    const uint16Array = new Uint16Array(uint8Array.length / 2);
+    for (let i = 0; i < uint16Array.length; i++) {
+        const lowByte = uint8Array[i * 2];
+        const highByte = uint8Array[i * 2 + 1];
+        // eslint-disable-next-line @foxglove/strict-equality
+        if (highByte === undefined || lowByte === undefined) {
+            throw new Error("Invalid data in uint8Array");
+        }
+        uint16Array[i] = (highByte << 8) | lowByte;
+    }
+    return uint16Array;
+}
+/* Use to extaract colors from  a RAW stream and apend it to pointcloud */
+export function nv12ToRgbaToPointcloud(nv12Data, nv12Width, nv12Height, depthWidth, depthHeight, data) {
+    const frameSize = nv12Width * nv12Height;
+    const pointCount = data.byteLength / 16;
+    const buffer = new ArrayBuffer(data.byteLength);
+    const view = new DataView(buffer);
+    const dataView = new DataView(data.buffer);
+    for (let i = 0; i < pointCount; i++) {
+        const depthX = i % depthWidth;
+        const depthY = Math.floor(i / depthWidth);
+        const nv12X = Math.round(depthX * (nv12Width / depthWidth));
+        const nv12Y = Math.round(depthY * (nv12Height / depthHeight));
+        if (nv12X >= nv12Width || nv12Y >= nv12Height) {
+            continue;
+        }
+        const index = nv12Y * nv12Width + nv12X;
+        const uvIndex = frameSize + Math.floor(nv12Y / 2) * nv12Width + Math.floor(nv12X / 2) * 2;
+        const Y = nv12Data[index] ?? 0;
+        const U = (nv12Data[uvIndex] ?? 128) - 128;
+        const V = (nv12Data[uvIndex + 1] ?? 128) - 128;
+        let R = Y + 1.402 * V;
+        let G = Y - 0.344136 * U - 0.714136 * V;
+        let B = Y + 1.772 * U;
+        R = Math.min(255, Math.max(0, R));
+        G = Math.min(255, Math.max(0, G));
+        B = Math.min(255, Math.max(0, B));
+        const offset = i * 16;
+        view.setFloat32(offset, dataView.getFloat32(offset, true), true); // x
+        view.setFloat32(offset + 4, dataView.getFloat32(offset + 4, true), true); // y
+        view.setFloat32(offset + 8, dataView.getFloat32(offset + 8, true), true); // z
+        view.setUint8(offset + 12, R); // Red
+        view.setUint8(offset + 13, G); // Green
+        view.setUint8(offset + 14, B); // Blue
+        view.setUint8(offset + 15, 255); // Alpha (fully opaque)
+    }
+    return new Uint8Array(buffer);
+}
+/* H264 (i420) to RGBA */
+export function i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWidth, depthHeight, data) {
+    const frameSize = i420Width * i420Height;
+    const uOffset = frameSize;
+    const vOffset = frameSize + (frameSize / 4);
+    const pointCount = data.byteLength / 16;
+    const buffer = new ArrayBuffer(data.byteLength);
+    const view = new DataView(buffer);
+    const dataView = new DataView(data.buffer);
+    for (let i = 0; i < pointCount; i++) {
+        const depthX = i % depthWidth;
+        const depthY = Math.floor(i / depthWidth);
+        const i420X = Math.round(depthX * (i420Width / depthWidth));
+        const i420Y = Math.round(depthY * (i420Height / depthHeight));
+        if (i420X >= i420Width || i420Y >= i420Height) {
+            continue;
+        }
+        const index = i420Y * i420Width + i420X;
+        const uvIndex = Math.floor(i420Y / 2) * (i420Width / 2) + Math.floor(i420X / 2);
+        const Y = i420Data[index] ?? 0;
+        const U = (i420Data[uOffset + uvIndex] ?? 128) - 128;
+        const V = (i420Data[vOffset + uvIndex] ?? 128) - 128;
+        let R = Y + 1.402 * V;
+        let G = Y - 0.344136 * U - 0.714136 * V;
+        let B = Y + 1.772 * U;
+        R = Math.min(255, Math.max(0, R));
+        G = Math.min(255, Math.max(0, G));
+        B = Math.min(255, Math.max(0, B));
+        const offset = i * 16;
+        view.setFloat32(offset, dataView.getFloat32(offset, true), true); // x
+        view.setFloat32(offset + 4, dataView.getFloat32(offset + 4, true), true); // y
+        view.setFloat32(offset + 8, dataView.getFloat32(offset + 8, true), true); // z
+        view.setUint8(offset + 12, R); // Red
+        view.setUint8(offset + 13, G); // Green
+        view.setUint8(offset + 14, B); // Blue
+        view.setUint8(offset + 15, 255); // Alpha (fully opaque)
+    }
+    return new Uint8Array(buffer);
+}
+//# sourceMappingURL=utils.js.map

package/dist/lib/src/messaging/deserialization/pointcloud/utils.js.map

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package/dist/lib/src/messaging/deserialization/video/depth.d.ts

@@ -1,9 +1,14 @@
+import type { PointCloud } from "@foxglove/schemas";
 import { MessageEvent } from "@foxglove/studio-base/players/types";
 import { ImgFrame } from "../../../protobuf.generated/ImgFrame.js";
+export type PointCloudWithDimensions = PointCloud & {
+    width?: number;
+    height?: number;
+};
 export type DeserializeDepthFrameArgs = {
     topic: string;
     message: ImgFrame;
     callback: (event: MessageEvent) => void;
 };
-export declare function deserializeDepthFrame({ topic, message, callback }: DeserializeDepthFrameArgs): void;
+export declare function deserializeDepthFrame({ topic, message, callback }: DeserializeDepthFrameArgs): Promise<void>;
 //# sourceMappingURL=depth.d.ts.map

package/dist/lib/src/messaging/deserialization/video/depth.d.ts.map

@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization/video/depth.js

@@ -1,25 +1,203 @@
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
+/* eslint-disable no-underscore-dangle */
+import { NumericType } from "@foxglove/schemas";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
 import { parseMessage } from "../../utils.js";
-export function deserializeDepthFrame({ topic, message, callback }) {
-    const { receiveTime, encoding, step, width, height } = parseMessage(message);
+import { uint8ArrayToUint16Array } from "../pointcloud/utils.js";
+const shader = `
+@group(0) @binding(0) var<storage, read> depthBuffer: array<u32>; // Uint16 stored as u32
+@group(0) @binding(1) var<storage, read> intrinsicsBuffer: array<f32>;
+@group(0) @binding(2) var<storage, read_write> xyzColorBuffer: array<u32>; // Stores XYZ + RGBA
+
+@compute @workgroup_size(256, 1, 1)
+fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
+    let i = global_id.x;
+    let fx = intrinsicsBuffer[0];
+    let fy = intrinsicsBuffer[1];
+    let cx = intrinsicsBuffer[2];
+    let cy = intrinsicsBuffer[3];
+    let scale = intrinsicsBuffer[4];
+    let width = intrinsicsBuffer[5];
+    let height = intrinsicsBuffer[6];
+
+    if (i >= u32(width * height)) { return; }
+
+    let u = i % u32(width);
+    let v = i / u32(width);
+
+    // Convert uint16 depth value to float (stored as u32, so we bitwise mask)
+    let rawDepth = depthBuffer[i] & 0xFFFFu;
+    let z = f32(rawDepth) * scale;
+
+    let x = (cx - f32(u)) * z / fx;
+    let y = (cy - f32(v)) * z / fy;
+
+    let base = i * 4u; // 4 values per point (X, Y, Z, Color)
+
+    // Convert floats to u32 representation for storage
+    xyzColorBuffer[base] = bitcast<u32>(x);
+    xyzColorBuffer[base + 1u] = bitcast<u32>(y);
+    xyzColorBuffer[base + 2u] = bitcast<u32>(z);
+
+    // Example: RGB set based on depth, Alpha is fixed at 255
+    let r = u32(clamp(z * 255.0, 0.0, 255.0));
+    let g = u32(clamp(y * 255.0, 0.0, 255.0));
+    let b = u32(clamp(x * 255.0, 0.0, 255.0));
+    xyzColorBuffer[base + 3u] = (r & 0xFFu) | ((g & 0xFFu) << 8) | ((b & 0xFFu) << 16) | (255u << 24);
+}
+`;
+async function depthToPointcloudGPU(depthArray, width, height, fx, fy, cx, cy) {
+    // eslint-disable-next-line @typescript-eslint/no-unnecessary-condition
+    if (!navigator.gpu) {
+        console.warn("WebGPU not supported.");
+        return depthToPointCloudBuffer(depthArray, width, height, fx, fy, cx, cy);
+    }
+    const adapter = await navigator.gpu.requestAdapter();
+    if (!adapter) {
+        console.warn("Couldn't request WebGPU adapter.");
+        return depthToPointCloudBuffer(depthArray, width, height, fx, fy, cx, cy);
+    }
+    const device = await adapter.requestDevice();
+    const queue = device.queue;
+    const scale = 1.0;
+    const numPixels = width * height;
+    const outputSize = numPixels * 16;
+    const depthData32 = new Uint32Array(depthArray);
+    const intrinsics = new Float32Array([fx, fy, cx, cy, scale, width, height]);
+    const depthBuffer = device.createBuffer({
+        size: depthData32.byteLength,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+    });
+    const intrinsicsBuffer = device.createBuffer({
+        size: intrinsics.byteLength,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+    });
+    const xyzColorBuffer = device.createBuffer({
+        size: outputSize,
+        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_SRC,
+    });
+    queue.writeBuffer(depthBuffer, 0, depthData32);
+    queue.writeBuffer(intrinsicsBuffer, 0, intrinsics);
+    const bindGroupLayout = device.createBindGroupLayout({
+        entries: [
+            { binding: 0, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
+            { binding: 1, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
+            { binding: 2, visibility: GPUShaderStage.COMPUTE, buffer: { type: "storage" } },
+        ],
+    });
+    const bindGroup = device.createBindGroup({
+        layout: bindGroupLayout,
+        entries: [
+            { binding: 0, resource: { buffer: depthBuffer } },
+            { binding: 1, resource: { buffer: intrinsicsBuffer } },
+            { binding: 2, resource: { buffer: xyzColorBuffer } },
+        ],
+    });
+    const shaderModule = device.createShaderModule({
+        code: shader
+    });
+    const pipeline = device.createComputePipeline({
+        layout: device.createPipelineLayout({ bindGroupLayouts: [bindGroupLayout] }),
+        compute: { module: shaderModule, entryPoint: "main" },
+    });
+    const commandEncoder = device.createCommandEncoder();
+    const passEncoder = commandEncoder.beginComputePass();
+    passEncoder.setPipeline(pipeline);
+    passEncoder.setBindGroup(0, bindGroup);
+    passEncoder.dispatchWorkgroups(Math.ceil(numPixels / 256));
+    passEncoder.end();
+    device.queue.submit([commandEncoder.finish()]);
+    const outputBuffer = device.createBuffer({
+        size: xyzColorBuffer.size,
+        usage: GPUBufferUsage.COPY_DST | GPUBufferUsage.MAP_READ,
+    });
+    const copyEncoder = device.createCommandEncoder();
+    copyEncoder.copyBufferToBuffer(xyzColorBuffer, 0, outputBuffer, 0, xyzColorBuffer.size);
+    device.queue.submit([copyEncoder.finish()]);
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
+    await outputBuffer.mapAsync(GPUMapMode.READ);
+    const mappedRange = outputBuffer.getMappedRange();
+    const result = new Uint8Array(mappedRange.byteLength);
+    result.set(new Uint8Array(mappedRange));
+    outputBuffer.unmap();
+    return result;
+}
+function depthToPointCloudBuffer(uint16Array, width, height, fx, fy, cx, cy) {
+    const depthData = Array.from({ length: height }, () => new Array(width));
+    for (let v = 0; v < height; v++) {
+        depthData[v] = depthData[v] ?? [];
+        for (let u = 0; u < width; u++) {
+            const d = uint16Array[v * width + u] ?? -1;
+            depthData[v][u] = d > 0 ? d : -1;
+        }
+    }
+    const points = [];
+    // Accumulate the x, y, z values for each pixel.
+    for (let v = 0; v < height; v++) {
+        const row = depthData[v];
+        if (!row) {
+            continue;
+        }
+        for (let u = 0; u < width; u++) {
+            const z = row[u] ?? 0;
+            const x = (cx - u) * z / fx;
+            const y = (cy - v) * z / fy;
+            points.push(x, y, z);
+        }
+    }
+    const pointCount = points.length / 3;
+    const buffer = new ArrayBuffer(pointCount * 16);
+    const view = new DataView(buffer);
+    for (let i = 0; i < pointCount; i++) {
+        const offset = i * 16;
+        view.setFloat32(offset, points[i * 3] ?? 0, true); //X
+        view.setFloat32(offset + 4, points[i * 3 + 1] ?? 0, true); //Y
+        view.setFloat32(offset + 8, points[i * 3 + 2] ?? 0, true); //Z
+        view.setUint8(offset + 12, 0); // R
+        view.setUint8(offset + 13, 0); // G
+        view.setUint8(offset + 14, 0); // B
+        view.setUint8(offset + 15, 255); // A
+    }
+    return new Uint8Array(buffer);
+}
+export async function deserializeDepthFrame({ topic, message, callback }) {
+    const { receiveTime, width, height } = parseMessage(message);
+    const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
+    const uint16Array = uint8ArrayToUint16Array(message.data);
+    const fx = neuralCameraIntrinsics.right.focalLenght.x;
+    const fy = neuralCameraIntrinsics.right.focalLenght.y;
+    const cx = neuralCameraIntrinsics.right.principalPoint.x;
+    const cy = neuralCameraIntrinsics.right.principalPoint.y;
+    const pointCloudBufferGPU = depthToPointcloudGPU(uint16Array, width, height, fx, fy, cx, cy);
     const foxgloveMessage = {
         timestamp: receiveTime,
-        frame_id: `depth-${topic}-frame`,
+        frame_id: `pointcloud-${topic}-frame`,
+        point_stride: 16,
+        pose: {
+            position: { x: 0, y: 0, z: 0 },
+            orientation: { x: 0, y: 0, z: 1, w: 0 }
+        },
         width,
         height,
-        encoding,
-        step: width * step,
-        data: message.data
+        fields: [
+            { name: "x", offset: 0, type: NumericType.FLOAT32 },
+            { name: "y", offset: 4, type: NumericType.FLOAT32 },
+            { name: "z", offset: 8, type: NumericType.FLOAT32 },
+            { name: "red", offset: 12, type: NumericType.UINT8 },
+            { name: "green", offset: 13, type: NumericType.UINT8 },
+            { name: "blue", offset: 14, type: NumericType.UINT8 },
+            { name: "alpha", offset: 15, type: NumericType.UINT8 },
+        ],
+        data: await pointCloudBufferGPU
     };
     callback({
         topic,
         receiveTime,
         message: foxgloveMessage,
         sizeInBytes: estimateObjectSize(foxgloveMessage),
-        schemaName: "foxglove.RawImage"
+        schemaName: "foxglove.PointCloud"
     });
 }
 //# sourceMappingURL=depth.js.map

package/dist/lib/src/messaging/deserialization/video/depth.js.map

@@ -1 +1 @@
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+{"version":3,"file":"depth.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/depth.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,yCAAyC;AAGzC,OAAO,EAAE,WAAW,EAAE,MAAM,mBAAmB,CAAC;AAEhD,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAI9F,OAAO,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAC;AAC9C,OAAO,EAA0B,uBAAuB,EAAE,MAAM,wBAAwB,CAAC;AAUzF,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAyCd,CAAC;AAEF,KAAK,UAAU,oBAAoB,CACjC,UAAuB,EACvB,KAAa,EACb,MAAc,EACd,EAAU,EACV,EAAU,EACV,EAAU,EACV,EAAU;IAEV,uEAAuE;IACvE,IAAI,CAAC,SAAS,CAAC,GAAG,EAAE,CAAC;QACnB,OAAO,CAAC,IAAI,CAAC,uBAAuB,CAAC,CAAC;QACtC,OAAO,uBAAuB,CAAC,UAAU,EAAE,KAAK,EAAE,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;IAC5E,CAAC;IAED,MAAM,OAAO,GAAG,MAAM,SAAS,CAAC,GAAG,CAAC,cAAc,EAAE,CAAC;IACrD,IAAI,CAAC,OAAO,EAAE,CAAC;QACb,OAAO,CAAC,IAAI,CAAC,kCAAkC,CAAC,CAAC;QACjD,OAAO,uBAAuB,CAAC,UAAU,EAAE,KAAK,EAAE,MAAM,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,CAAC,CAAC;IAC5E,CAAC;IAED,MAAM,MAAM,GAAG,MAAM,OAAO,CAAC,aAAa,EAAE,CAAC;IAC7C,MAAM,KAAK,GAAG,MAAM,CAAC,KAAK,CAAC;IAG3B,MAAM,KAAK,GAAG,GAAG,CAAC;IAClB,MAAM,SAAS,GAAG,KAAK,GAAG,MAAM,CAAC;IACjC,MAAM,UAAU,GAAG,SAAS,GAAG,EAAE,CAAC;IAElC,MAAM,WAAW,GAAG,IAAI,WAAW,CAAC,UAAU,CAAC,CAAC;IAEhD,MAAM,UAAU,GAAG,IAAI,YAAY,CAAC,CAAC,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,EAAE,KAAK,EAAE,KAAK,EAAE,MAAM,CAAC,CAAC,CAAC;IAE5E,MAAM,WAAW,GAAG,MAAM,CAAC,YAAY,CAAC;QACtC,IAAI,EAAE,WAAW,CAAC,UAAU;QAC5B,KAAK,EAAE,cAAc,CAAC,OAAO,GAAG,cAAc,CAAC,QAAQ;KACxD,CAAC,CAAC;IAEH,MAAM,gBAAgB,GAAG,MAAM,CAAC,YAAY,CAAC;QAC3C,IAAI,EAAE,UAAU,CAAC,UAAU;QAC3B,KAAK,EAAE,cAAc,CAAC,OAAO,GAAG,cAAc,CAAC,QAAQ;KACxD,CAAC,CAAC;IAEH,MAAM,cAAc,GAAG,MAAM,CAAC,YAAY,CAAC;QACzC,IAAI,EAAE,UAAU;QAChB,KAAK,EAAE,cAAc,CAAC,OAAO,GAAG,cAAc,CAAC,QAAQ;KACxD,CAAC,CAAC;IAEH,KAAK,CAAC,WAAW,CAAC,WAAW,EAAE,CAAC,EAAE,WAAW,CAAC,CAAC;IAC/C,KAAK,CAAC,WAAW,CAAC,gBAAgB,EAAE,CAAC,EAAE,UAAU,CAAC,CAAC;IAEnD,MAAM,eAAe,GAAG,MAAM,CAAC,qBAAqB,CAAC;QACnD,OAAO,EAAE;YACP,EAAE,OAAO,EAAE,CAAC,EAAE,UAAU,EAAE,cAAc,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE,IAAI,EAAE,mBAAmB,EAAE,EAAE;YACzF,EAAE,OAAO,EAAE,CAAC,EAAE,UAAU,EAAE,cAAc,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE,IAAI,EAAE,mBAAmB,EAAE,EAAE;YACzF,EAAE,OAAO,EAAE,CAAC,EAAE,UAAU,EAAE,cAAc,CAAC,OAAO,EAAE,MAAM,EAAE,EAAE,IAAI,EAAE,SAAS,EAAE,EAAE;SAChF;KACF,CAAC,CAAC;IAEH,MAAM,SAAS,GAAG,MAAM,CAAC,eAAe,CAAC;QACvC,MAAM,EAAE,eAAe;QACvB,OAAO,EAAE;YACP,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,EAAE,MAAM,EAAE,WAAW,EAAE,EAAE;YACjD,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,EAAE,MAAM,EAAE,gBAAgB,EAAE,EAAE;YACtD,EAAE,OAAO,EAAE,CAAC,EAAE,QAAQ,EAAE,EAAE,MAAM,EAAE,cAAc,EAAE,EAAE;SACrD;KACF,CAAC,CAAC;IAEH,MAAM,YAAY,GAAG,MAAM,CAAC,kBAAkB,CAAC;QAC7C,IAAI,EAAE,MAAM;KACb,CAAC,CAAC;IAEH,MAAM,QAAQ,GAAG,MAAM,CAAC,qBAAqB,CAAC;QAC5C,MAAM,EAAE,MAAM,CAAC,oBAAoB,CAAC,EAAE,gBAAgB,EAAE,CAAC,eAAe,CAAC,EAAE,CAAC;QAC5E,OAAO,EAAE,EAAE,MAAM,EAAE,YAAY,EAAE,UAAU,EAAE,MAAM,EAAE;KACtD,CAAC,CAAC;IAEH,MAAM,cAAc,GAAG,MAAM,CAAC,oBAAoB,EAAE,CAAC;IACrD,MAAM,WAAW,GAAG,cAAc,CAAC,gBAAgB,EAAE,CAAC;IACtD,WAAW,CAAC,WAAW,CAAC,QAAQ,CAAC,CAAC;IAClC,WAAW,CAAC,YAAY,CAAC,CAAC,EAAE,SAAS,CAAC,CAAC;IACvC,WAAW,CAAC,kBAAkB,CAAC,IAAI,CAAC,IAAI,CAAC,SAAS,GAAG,GAAG,CAAC,CAAC,CAAC;IAC3D,WAAW,CAAC,GAAG,EAAE,CAAC;IAClB,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,cAAc,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC;IAE/C,MAAM,YAAY,GAAG,MAAM,CAAC,YAAY,CAAC;QACvC,IAAI,EAAE,cAAc,CAAC,IAAI;QACzB,KAAK,EAAE,cAAc,CAAC,QAAQ,GAAG,cAAc,CAAC,QAAQ;KACzD,CAAC,CAAC;IAEH,MAAM,WAAW,GAAG,MAAM,CAAC,oBAAoB,EAAE,CAAC;IAClD,WAAW,CAAC,kBAAkB,CAAC,cAAc,EAAE,CAAC,EAAE,YAAY,EAAE,CAAC,EAAE,cAAc,CAAC,IAAI,CAAC,CAAC;IACxF,MAAM,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC,WAAW,CAAC,MAAM,EAAE,CAAC,CAAC,CAAC;IAE5C,iEAAiE;IACjE,MAAM,YAAY,CAAC,QAAQ,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC;IAC7C,MAAM,WAAW,GAAG,YAAY,CAAC,cAAc,EAAE,CAAC;IAClD,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,WAAW,CAAC,UAAU,CAAC,CAAC;IACtD,MAAM,CAAC,GAAG,CAAC,IAAI,UAAU,CAAC,WAAW,CAAC,CAAC,CAAC;IACxC,YAAY,CAAC,KAAK,EAAE,CAAC;IACrB,OAAO,MAAM,CAAC;AAChB,CAAC;AAOD,SAAS,uBAAuB,CAC9B,WAAwB,EACxB,KAAa,EACb,MAAc,EACd,EAAU,EACV,EAAU,EACV,EAAU,EACV,EAAU;IAGV,MAAM,SAAS,GAAe,KAAK,CAAC,IAAI,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,EAAE,GAAG,EAAE,CAChE,IAAI,KAAK,CAAC,KAAK,CAAC,CACjB,CAAC;IAEF,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;QAChC,SAAS,CAAC,CAAC,CAAC,GAAG,SAAS,CAAC,CAAC,CAAC,IAAI,EAAE,CAAC;QAClC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,KAAK,EAAE,CAAC,EAAE,EAAE,CAAC;YAC/B,MAAM,CAAC,GAAG,WAAW,CAAC,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC,IAAI,CAAC,CAAC,CAAC;YAC3C,SAAS,CAAC,CAAC,CAAE,CAAC,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC,CAAC;QACpC,CAAC;IACH,CAAC;IACD,MAAM,MAAM,GAAa,EAAE,CAAC;IAC5B,gDAAgD;IAChD,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;QAChC,MAAM,GAAG,GAAG,SAAS,CAAC,CAAC,CAAC,CAAC;QACzB,IAAI,CAAC,GAAG,EAAE,CAAC;YAAA,SAAS;QAAA,CAAC;QACrB,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,KAAK,EAAE,CAAC,EAAE,EAAE,CAAC;YAC/B,MAAM,CAAC,GAAG,GAAG,CAAC,CAAC,CAAC,IAAI,CAAC,CAAC;YACtB,MAAM,CAAC,GAAG,CAAC,EAAE,GAAG,CAAC,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC;YAC5B,MAAM,CAAC,GAAG,CAAC,EAAE,GAAG,CAAC,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package/dist/lib/src/messaging/deserialization.js

@@ -13,7 +13,7 @@ import { Profile } from "../protobuf.generated/EncodedFrame.js";
 import { Type } from "../protobuf.generated/ImgFrame.js";
 export async function deserializeDepthAiMessage(args) {
     const { topicDecoders, topicSizes, type, message, callback, topic } = args;
-    console.log(`Encoded "${type}" message at ${new Date().toLocaleString()}`, message);
+    //console.log(`Encoded "${type}" message at ${new Date().toLocaleString()}`, message);
     switch (type) {
         case "encodedFrame": {
             topicSizes.set(topic, { width: message.width, height: message.height });
@@ -37,7 +37,7 @@ export async function deserializeDepthAiMessage(args) {
                     break;
                 }
                 case Type.RAW16: {
-                    deserializeDepthFrame({ topic, message, callback });
+                    await deserializeDepthFrame({ topic, message, callback });
                     break;
                 }
                 default: {

package/dist/lib/src/messaging/deserialization.js.map

@@ -1 +1 @@
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package/dist/lib/src/panels/ImagePanel.d.ts

@@ -2,6 +2,7 @@ import React from "react";
 import { PanelProps } from "../components/Panel.js";
 type ImagePanelBodyProps = {
     topic: string;
+    frameRenderedEvent?: (currentTime: number) => void;
 };
 export type ImagePanelProps = Omit<PanelProps, 'kind' | 'metrics'> & ImagePanelBodyProps;
 export declare const ImagePanel: React.NamedExoticComponent<Omit<PanelProps, "kind" | "metrics"> & ImagePanelBodyProps & {

package/dist/lib/src/panels/ImagePanel.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"ImagePanel.d.ts","sourceRoot":"","sources":["../../../../src/panels/ImagePanel.tsx"],"names":[],"mappings":"AAIA,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAS,UAAU,EAAiB,MAAM,wBAAwB,CAAC;AAM1E,KAAK,mBAAmB,GAAG;IACzB,KAAK,EAAE,MAAM,CAAC;CACf,CAAC;AAyBF,MAAM,MAAM,eAAe,GAAG,IAAI,CAAC,UAAU,EAAE,MAAM,GAAG,SAAS,CAAC,GAAG,mBAAmB,CAAC;AAEzF,eAAO,MAAM,UAAU;gBAAyE,MAAM;mBAAiB,MAAM,IAAI;EAM/H,CAAC"}
+{"version":3,"file":"ImagePanel.d.ts","sourceRoot":"","sources":["../../../../src/panels/ImagePanel.tsx"],"names":[],"mappings":"AAIA,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAS,UAAU,EAAiB,MAAM,wBAAwB,CAAC;AAQ1E,KAAK,mBAAmB,GAAG;IACzB,KAAK,EAAE,MAAM,CAAC;IACd,kBAAkB,CAAC,EAAE,CAAC,WAAW,EAAE,MAAM,KAAK,IAAI,CAAC;CACpD,CAAC;AAyBF,MAAM,MAAM,eAAe,GAAG,IAAI,CAAC,UAAU,EAAE,MAAM,GAAG,SAAS,CAAC,GAAG,mBAAmB,CAAC;AAEzF,eAAO,MAAM,UAAU;gBAAyE,MAAM;mBAAiB,MAAM,IAAI;EAmC/H,CAAC"}

package/dist/lib/src/panels/ImagePanel.js

@@ -4,8 +4,10 @@ import { jsx as _jsx } from "react/jsx-runtime";
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 import React from "react";
 import { Panel, useDetections } from "../components/Panel.js";
+import { MetricsManager } from "../utils/metrics-manager";
+import { createRenderDelaySampler } from "../components/measure-render-delay";
 const ImagePanelComponent = React.lazy(async () => await import("@foxglove/studio-base/panels/Image"));
-const ImagePanelBody = ({ topic }) => {
+const ImagePanelBody = ({ topic, frameRenderedEvent }) => {
     const { detections } = useDetections();
     const defaultConfig = React.useMemo(() => ({
         imageMode: {
@@ -18,9 +20,31 @@ const ImagePanelBody = ({ topic }) => {
             colorMode: "colormap"
         }
     }), [detections, topic]);
-    return _jsx(ImagePanelComponent, { overrideConfig: defaultConfig });
+    return _jsx(ImagePanelComponent, { overrideConfig: defaultConfig, frameRenderedEvent: frameRenderedEvent });
 };
 export const ImagePanel = React.memo(function ImagePanel(props) {
-    return (_jsx(Panel, { kind: "image", ...props, children: _jsx(ImagePanelBody, { topic: props.topic }) }));
+    const renderedFpsMetricsManagerRef = React.useRef(null);
+    const [renderedFps, setRenderedFps] = React.useState(undefined);
+    const { averageFrameDelay, addFrameTime } = createRenderDelaySampler();
+    React.useEffect(() => {
+        renderedFpsMetricsManagerRef.current = new MetricsManager();
+    }, []);
+    React.useEffect(() => {
+        const interval = setInterval(() => {
+            if (!renderedFpsMetricsManagerRef.current) {
+                console.warn('renderedFpsMetricsManagerRef is null');
+                return;
+            }
+            setRenderedFps(renderedFpsMetricsManagerRef.current.calculate('render'));
+        }, 500);
+        return () => {
+            clearInterval(interval);
+        };
+    }, [renderedFpsMetricsManagerRef]);
+    const handleFrameRendered = React.useCallback((frameTime) => {
+        renderedFpsMetricsManagerRef.current?.registerEvent('render');
+        addFrameTime(frameTime);
+    }, [addFrameTime]);
+    return (_jsx(Panel, { kind: "image", ...props, renderedFps: renderedFps, renderDelay: averageFrameDelay, children: _jsx(ImagePanelBody, { topic: props.topic, frameRenderedEvent: handleFrameRendered }) }));
 });
 //# sourceMappingURL=ImagePanel.js.map

package/dist/lib/src/panels/ImagePanel.js.map

@@ -1 +1 @@
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+{"version":3,"file":"ImagePanel.js","sourceRoot":"","sources":["../../../../src/panels/ImagePanel.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAE,KAAK,EAAc,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAC1E,OAAO,EAAE,cAAc,EAAE,MAAM,0BAA0B,CAAC;AAC1D,OAAO,EAAE,wBAAwB,EAAE,MAAM,oCAAoC,CAAC;AAE9E,MAAM,mBAAmB,GAAG,KAAK,CAAC,IAAI,CACpC,KAAK,IAAI,EAAE,CAAC,MAAM,MAAM,CAAC,oCAAoC,CAAC,CAC/D,CAAC;AAOF,MAAM,cAAc,GAAkC,CAAC,EAAE,KAAK,EAAE,kBAAkB,EAAE,EAAE,EAAE;IACtF,MAAM,EAAE,UAAU,EAAE,GAAG,aAAa,EAAE,CAAC;IAEvC,MAAM,aAAa,GAAG,KAAK,CAAC,OAAO,CACjC,GAAG,EAAE,CAAC,CAAC;QACL,SAAS,EAAE;YACT,UAAU,EAAE,KAAK;YACjB,WAAW,EAAE,IAAI;YACjB,WAAW,EAAE,MAAM,CAAC,WAAW,CAC7B,UAAU,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC;gBAC5B,SAAS,CAAC,IAAI,EAAE,EAAE;gBAClB,EAAE,OAAO,EAAE,SAAS,CAAC,OAAO,EAAE;aAC/B,CAAC,CACH;YACD,SAAS,EAAE,UAAmB;SAC/B;KACF,CAAC,EACF,CAAC,UAAU,EAAE,KAAK,CAAC,CACpB,CAAC;IAEF,OAAO,KAAC,mBAAmB,IAAC,cAAc,EAAE,aAAa,EAAE,kBAAkB,EAAE,kBAAkB,GAAI,CAAC;AACxG,CAAC,CAAC;AAIF,MAAM,CAAC,MAAM,UAAU,GAAG,KAAK,CAAC,IAAI,CAAC,SAAS,UAAU,CAAC,KAA0E;IACjI,MAAM,4BAA4B,GAAG,KAAK,CAAC,MAAM,CAAiB,IAAI,CAAC,CAAC;IACxE,MAAM,CAAC,WAAW,EAAE,cAAc,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAqB,SAAS,CAAC,CAAC;IAEpF,MAAM,EAAE,iBAAiB,EAAE,YAAY,EAAE,GAAG,wBAAwB,EAAE,CAAC;IAEvE,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,4BAA4B,CAAC,OAAO,GAAG,IAAI,cAAc,EAAE,CAAC;IAC9D,CAAC,EAAE,EAAE,CAAC,CAAC;IAEP,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,MAAM,QAAQ,GAAG,WAAW,CAAC,GAAG,EAAE;YAChC,IAAI,CAAC,4BAA4B,CAAC,OAAO,EAAE,CAAC;gBAC1C,OAAO,CAAC,IAAI,CAAC,sCAAsC,CAAC,CAAC;gBACrD,OAAO;YACT,CAAC;YAED,cAAc,CAAC,4BAA4B,CAAC,OAAO,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC;QAC3E,CAAC,EAAE,GAAG,CAAC,CAAC;QAER,OAAO,GAAG,EAAE;YACV,aAAa,CAAC,QAAQ,CAAC,CAAC;QAC1B,CAAC,CAAC;IACJ,CAAC,EAAE,CAAC,4BAA4B,CAAC,CAAC,CAAC;IAEnC,MAAM,mBAAmB,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,SAAiB,EAAE,EAAE;QAClE,4BAA4B,CAAC,OAAO,EAAE,aAAa,CAAC,QAAQ,CAAC,CAAC;QAC9D,YAAY,CAAC,SAAS,CAAC,CAAC;IAC1B,CAAC,EAAE,CAAC,YAAY,CAAC,CAAC,CAAC;IAEnB,OAAO,CACL,KAAC,KAAK,IAAC,IAAI,EAAC,OAAO,KAAK,KAAK,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,iBAAiB,YACrF,KAAC,cAAc,IAAC,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,kBAAkB,EAAE,mBAAmB,GAAI,GACzE,CACT,CAAC;AACJ,CAAC,CAAC,CAAC"}

package/dist/lib/src/panels/PointCloudPanel.js

@@ -20,8 +20,8 @@ const PointCloudPanelBody = ({ topic }) => {
             distance: -2000,
             perspective: true,
             phi: 0,
-            target: [0, 0, 0],
-            targetOffset: [0, 0, 0],
+            target: [-2000, 0, 0],
+            targetOffset: [-500, -500, 0],
             targetOrientation: [0, 0, 0, 1],
             thetaOffset: 0,
             fovy: 45,

package/dist/lib/src/panels/PointCloudPanel.js.map

@@ -1 +1 @@
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package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.d.ts.map

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package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js

@@ -893,6 +893,7 @@ export class Renderer extends EventEmitter {
             camera.layers.set(LAYER_SELECTED);
             this.gl.render(this.#scene, camera);
         }
+        // TODO - check that this isn't causing a memory leak!
         this.emit("endFrame", currentTime, this);
         this.gl.info.reset();
     };