@luxonis/visualizer-protobuf 2.15.0 → 2.16.1

package/dist/{index-u_8JsVuJ.js → index-Fxi-epuT.js}

@@ -1,13 +1,14 @@
-import { aI as EditorView, aJ as EditorSelection, as as LRLanguage, aq as styleTags, ar as tags, an as indentNodeProp, aA as delimitedIndent, ap as foldNodeProp, at as LanguageSupport, av as LRParser, ay as syntaxTree, aK as html, aL as parseMixed, au as ExternalTokenizer } from './index-XshD358Z.js';
-import './FoxgloveServer-DiLI7KZU.js';
+import { aI as EditorView, aJ as EditorSelection, as as LRLanguage, aq as styleTags, ar as tags, an as indentNodeProp, aA as delimitedIndent, ap as foldNodeProp, at as LanguageSupport, av as LRParser, ay as syntaxTree, aK as html, aL as parseMixed, au as ExternalTokenizer } from './index-DZlfOfTk.js';
+import './FoxgloveServer-tJZcJH5-.js';
 import 'protobufjs/minimal';
 import 'ms';
+import './comlink-D0blLC4P.js';
 import 'react';
 import 'zustand';
 import 'react-mosaic-component';
 import '@mui/material';
 import './i18next-C5Qe4-E1.js';
-import './foxglove-protocol-RZlF5fna.js';
+import './foxglove-protocol-RBwoTi12.js';
 import 'react-dnd';
 import 'react-dnd-html5-backend';
 import '@emotion/react';

package/dist/{index-BlTiOUx8.js → index-QKUoKEdA.js}

@@ -1,13 +1,14 @@
-import { aC as ContextTracker, au as ExternalTokenizer, aq as styleTags, ar as tags, av as LRParser, as as LRLanguage, an as indentNodeProp, ap as foldNodeProp, aM as bracketMatchingHandle, at as LanguageSupport, aI as EditorView, ay as syntaxTree, aJ as EditorSelection } from './index-XshD358Z.js';
-import './FoxgloveServer-DiLI7KZU.js';
+import { aC as ContextTracker, au as ExternalTokenizer, aq as styleTags, ar as tags, av as LRParser, as as LRLanguage, an as indentNodeProp, ap as foldNodeProp, aM as bracketMatchingHandle, at as LanguageSupport, aI as EditorView, ay as syntaxTree, aJ as EditorSelection } from './index-DZlfOfTk.js';
+import './FoxgloveServer-tJZcJH5-.js';
 import 'protobufjs/minimal';
 import 'ms';
+import './comlink-D0blLC4P.js';
 import 'react';
 import 'zustand';
 import 'react-mosaic-component';
 import '@mui/material';
 import './i18next-C5Qe4-E1.js';
-import './foxglove-protocol-RZlF5fna.js';
+import './foxglove-protocol-RBwoTi12.js';
 import 'react-dnd';
 import 'react-dnd-html5-backend';
 import '@emotion/react';

package/dist/{index-DVFtn83p.js → index-eGfSIJKq.js}

@@ -1,13 +1,14 @@
-import { aq as styleTags, ar as tags, av as LRParser, as as LRLanguage, an as indentNodeProp, ao as continuedIndent, ap as foldNodeProp, aB as foldInside, at as LanguageSupport } from './index-XshD358Z.js';
-import './FoxgloveServer-DiLI7KZU.js';
+import { aq as styleTags, ar as tags, av as LRParser, as as LRLanguage, an as indentNodeProp, ao as continuedIndent, ap as foldNodeProp, aB as foldInside, at as LanguageSupport } from './index-DZlfOfTk.js';
+import './FoxgloveServer-tJZcJH5-.js';
 import 'protobufjs/minimal';
 import 'ms';
+import './comlink-D0blLC4P.js';
 import 'react';
 import 'zustand';
 import 'react-mosaic-component';
 import '@mui/material';
 import './i18next-C5Qe4-E1.js';
-import './foxglove-protocol-RZlF5fna.js';
+import './foxglove-protocol-RBwoTi12.js';
 import 'react-dnd';
 import 'react-dnd-html5-backend';
 import '@emotion/react';

package/dist/{index-duY9KDhj.js → index-rGnzrljf.js}

@@ -1,13 +1,14 @@
-import { au as ExternalTokenizer, aq as styleTags, ar as tags, av as LRParser, as as LRLanguage, an as indentNodeProp, ao as continuedIndent, aA as delimitedIndent, ap as foldNodeProp, aB as foldInside, aK as html, at as LanguageSupport, aL as parseMixed } from './index-XshD358Z.js';
-import './FoxgloveServer-DiLI7KZU.js';
+import { au as ExternalTokenizer, aq as styleTags, ar as tags, av as LRParser, as as LRLanguage, an as indentNodeProp, ao as continuedIndent, aA as delimitedIndent, ap as foldNodeProp, aB as foldInside, aK as html, at as LanguageSupport, aL as parseMixed } from './index-DZlfOfTk.js';
+import './FoxgloveServer-tJZcJH5-.js';
 import 'protobufjs/minimal';
 import 'ms';
+import './comlink-D0blLC4P.js';
 import 'react';
 import 'zustand';
 import 'react-mosaic-component';
 import '@mui/material';
 import './i18next-C5Qe4-E1.js';
-import './foxglove-protocol-RZlF5fna.js';
+import './foxglove-protocol-RBwoTi12.js';
 import 'react-dnd';
 import 'react-dnd-html5-backend';
 import '@emotion/react';

package/dist/index.js

@@ -1,13 +1,14 @@
-export { aR as ImagePanel, aQ as PanelLayout, aS as PointCloudPanel, aO as VisualizerConnection, aP as VisualizerContext } from './index-XshD358Z.js';
-import './FoxgloveServer-DiLI7KZU.js';
+export { aR as ImagePanel, aQ as PanelLayout, aS as PointCloudPanel, aO as VisualizerConnection, aP as VisualizerContext } from './index-DZlfOfTk.js';
+import './FoxgloveServer-tJZcJH5-.js';
 import 'protobufjs/minimal';
 import 'ms';
+import './comlink-D0blLC4P.js';
 import 'react';
 import 'zustand';
 import 'react-mosaic-component';
 import '@mui/material';
 import './i18next-C5Qe4-E1.js';
-import './foxglove-protocol-RZlF5fna.js';
+import './foxglove-protocol-RBwoTi12.js';
 import 'react-dnd';
 import 'react-dnd-html5-backend';
 import '@emotion/react';

package/dist/lib/src/components/Panel.d.ts

@@ -1,4 +1,4 @@
-import { ProtobufKind } from "../messaging/protobuf.js";
+import type { ProtobufKind } from "../messaging/protobuf.js";
 import '../fonts/fonts.css';
 export type PanelTopic = {
     name: string;
@@ -15,6 +15,7 @@ export type PanelProps = React.PropsWithChildren<{
     triggerToast?: () => void;
     renderedFps?: number;
     renderDelay?: number;
+    toggleTopic?: (topic: string) => void;
 }>;
 export type PanelDetections = Record<string, boolean>;
 export type AllDetections = {

package/dist/lib/src/components/Panel.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"Panel.d.ts","sourceRoot":"","sources":["../../../../src/components/Panel.tsx"],"names":[],"mappings":"AAYA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAE7D,OAAO,oBAAoB,CAAC;AAE5B,MAAM,MAAM,UAAU,GAAG;IACvB,IAAI,EAAE,MAAM,CAAC;IACb,KAAK,EAAE,OAAO,CAAC;IACf,OAAO,EAAE,OAAO,CAAC;CAClB,CAAC;AAEF,MAAM,MAAM,UAAU,GAAG,KAAK,CAAC,iBAAiB,CAAC;IAC/C,KAAK,EAAE,MAAM,CAAC;IACd,IAAI,EAAE,YAAY,CAAC;IACnB,kBAAkB,CAAC,EAAE,OAAO,CAAC;IAC7B,gBAAgB,CAAC,EAAE,MAAM,EAAE,CAAC;IAC5B,qBAAqB,CAAC,EAAE,MAAM,EAAE,CAAC;IACjC,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,YAAY,CAAC,EAAE,MAAM,IAAI,CAAC;IAC1B,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,WAAW,CAAC,EAAE,CAAC,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;CACvC,CAAC,CAAC;AAEH,MAAM,MAAM,eAAe,GAAG,MAAM,CAAC,MAAM,EAAE,OAAO,CAAC,CAAC;AAEtD,MAAM,MAAM,aAAa,GAAG;IAC1B,UAAU,EAAE,UAAU,EAAE,CAAC;CAC1B,CAAC;AAIF,eAAO,MAAM,aAAa,QAAO,aAEhC,CAAC;AASF,eAAO,MAAM,KAAK,EAAE,KAAK,CAAC,EAAE,CAAC,UAAU,CA4DtC,CAAC"}

package/dist/lib/src/components/Panel.js

@@ -18,7 +18,7 @@ const rawToAnnotations = (rawAnnotations, kind, current) => rawAnnotations.map((
     extra: kind === 'extra',
     enabled: current.find(({ name }) => name === annotationTopic)?.enabled ?? kind === 'main'
 }));
-export const Panel = ({ children, kind, topic, disableAnnotations = false, annotationTopics = [], extraAnnotationTopics = [], targetFps, renderedFps, renderDelay, triggerToast }) => {
+export const Panel = ({ children, kind, topic, disableAnnotations = false, annotationTopics = [], extraAnnotationTopics = [], targetFps, renderedFps, renderDelay, toggleTopic, triggerToast }) => {
     const [detections, setDetections] = React.useState([]);
     React.useEffect(() => {
         if (!disableAnnotations) {
@@ -29,6 +29,6 @@ export const Panel = ({ children, kind, topic, disableAnnotations = false, annot
         }
         // eslint-disable-next-line react-hooks/exhaustive-deps
     }, [JSON.stringify(annotationTopics), JSON.stringify(extraAnnotationTopics)]);
-    return (_jsx(RemountOnValueChange, { value: "internal-player", children: _jsx(ErrorBoundary, { children: _jsx(DetectionContext.Provider, { value: { detections }, children: _jsxs(Stack, { flexGrow: 1, overflow: "hidden", border: "1px solid #d3d3d3d9", style: { borderRadius: "8px" }, children: [_jsx(PanelToolbar, { kind: kind, topic: topic, setDetections: setDetections, disableAnnotations: disableAnnotations, targetFps: targetFps, renderedFps: renderedFps, renderDelay: renderDelay, triggerToast: triggerToast }), _jsx(Suspense, { fallback: _jsx(EmptyState, { children: _jsx("div", { children: "Loading..." }) }), children: _jsx(RemountOnValueChange, { value: detections, children: children }) })] }) }) }) }));
+    return (_jsx(RemountOnValueChange, { value: "internal-player", children: _jsx(ErrorBoundary, { children: _jsx(DetectionContext.Provider, { value: { detections }, children: _jsxs(Stack, { flexGrow: 1, overflow: "hidden", border: "1px solid #d3d3d3d9", style: { borderRadius: "8px" }, children: [_jsx(PanelToolbar, { kind: kind, topic: topic, setDetections: setDetections, disableAnnotations: disableAnnotations, targetFps: targetFps, renderedFps: renderedFps, renderDelay: renderDelay, toggleTopic: toggleTopic, triggerToast: triggerToast }), _jsx(Suspense, { fallback: _jsx(EmptyState, { children: _jsx("div", { children: "Loading..." }) }), children: _jsx(RemountOnValueChange, { value: detections, children: children }) })] }) }) }) }));
 };
 //# sourceMappingURL=Panel.js.map

package/dist/lib/src/components/Panel.js.map

@@ -1 +1 @@
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package/dist/lib/src/components/PanelToolbar.d.ts

@@ -1,5 +1,5 @@
 import { type PanelTopic } from "./Panel.js";
-import { ProtobufKind } from "../messaging/protobuf.js";
+import type { ProtobufKind } from "../messaging/protobuf.js";
 import "@luxonis/common-fe-components/styles";
 export type PanelToolbarProps = {
     topic: string;
@@ -10,6 +10,7 @@ export type PanelToolbarProps = {
     renderedFps?: number;
     renderDelay?: number;
     triggerToast?: () => void;
+    toggleTopic?: (topic: string) => void;
 };
 export declare const PanelToolbar: React.FC<PanelToolbarProps>;
 //# sourceMappingURL=PanelToolbar.d.ts.map

package/dist/lib/src/components/PanelToolbar.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"PanelToolbar.d.ts","sourceRoot":"","sources":["../../../../src/components/PanelToolbar.tsx"],"names":[],"mappings":"AAwBA,OAAO,EAAE,KAAK,UAAU,EAAiB,MAAM,YAAY,CAAC;AAG5D,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,0BAA0B,CAAC;AAC7D,OAAO,sCAAsC,CAAC;AA4B9C,MAAM,MAAM,iBAAiB,GAAG;IAC9B,KAAK,EAAE,MAAM,CAAC;IACd,IAAI,EAAE,YAAY,CAAC;IACnB,kBAAkB,CAAC,EAAE,OAAO,CAAC;IAC7B,aAAa,CAAC,EAAE,CAAC,EAAE,EAAE,CAAC,MAAM,EAAE,UAAU,EAAE,KAAK,UAAU,EAAE,KAAK,IAAI,CAAC;IACrE,SAAS,CAAC,EAAE,MAAM,CAAC;IACnB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,WAAW,CAAC,EAAE,MAAM,CAAC;IACrB,YAAY,CAAC,EAAE,MAAM,IAAI,CAAC;IAC1B,WAAW,CAAC,EAAE,CAAC,KAAK,EAAE,MAAM,KAAK,IAAI,CAAC;CACvC,CAAC;AAEF,eAAO,MAAM,YAAY,EAAE,KAAK,CAAC,EAAE,CAAC,iBAAiB,CAyMpD,CAAC"}

package/dist/lib/src/components/PanelToolbar.js

@@ -2,7 +2,7 @@ import { jsx as _jsx, jsxs as _jsxs, Fragment as _Fragment } from "react/jsx-run
 // 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/
-import { ArrowDownIcon, ArrowUpIcon, Button, DropdownMenu, DropdownMenuContent, DropdownMenuItem, DropdownMenuTrigger, Flex, HelpIcon, Icon, Label, NormalText, SubHeader, Tooltip, } from "@luxonis/common-fe-components";
+import { ArrowDownIcon, ArrowUpIcon, Button, CloseIcon, DropdownMenu, DropdownMenuContent, DropdownMenuItem, DropdownMenuTrigger, Flex, HelpIcon, Icon, Label, NormalText, SubHeader, Tooltip, } from "@luxonis/common-fe-components";
 import { ImCheckboxChecked, ImCheckboxUnchecked } from "react-icons/im";
 import { useDetections } from "./Panel.js";
 import { useConnections } from "../context/ConnectionsProvider.js";
@@ -15,7 +15,7 @@ const PanelAnnotationButton = ({ topic, onClick }) => {
     }, [onClick]);
     return (_jsx(DropdownMenuItem, { onClick: handleClick, children: _jsxs(Flex, { align: "center", gap: "sm", children: [_jsx(Icon, { color: "active", icon: topic.enabled ? ImCheckboxChecked : ImCheckboxUnchecked }), _jsx(NormalText, { text: topic.name })] }) }));
 };
-export const PanelToolbar = ({ topic, kind, setDetections, disableAnnotations = false, targetFps, triggerToast, renderedFps, renderDelay }) => {
+export const PanelToolbar = ({ topic, kind, setDetections, disableAnnotations = false, targetFps, triggerToast, renderedFps, toggleTopic }) => {
     const [metrics, setMetrics] = React.useState();
     const { detections } = useDetections();
     const connections = useConnections();
@@ -56,13 +56,16 @@ export const PanelToolbar = ({ topic, kind, setDetections, disableAnnotations =
             };
         }
         return;
-    }, [targetFps, metrics?.incomingMessagesFps]);
+    }, [targetFps, metrics?.incomingMessagesFps, triggerToast]);
     const makeDetection = React.useCallback((detection, { extra }) => (extra ? detection.extra && !detection.enabled : !detection.extra || detection.enabled) && (_jsx(PanelAnnotationButton, { topic: detection, onClick: () => {
             onToggleTopic(detection.name);
         } }, detection.name)), [onToggleTopic]);
+    const descriptionRef = React.useRef(null);
     return (_jsxs(Flex, { direction: "row", gap: "sm", align: "center", justify: "space-between", style: {
             paddingLeft: 16,
-        }, children: [_jsxs(Flex, { direction: "column", gap: "xxs", align: "start", justify: "start", paddingY: "xs", children: [_jsx(SubHeader, { text: name }), _jsxs(Flex, { direction: "row", gap: "sm", align: "start", justify: "start", children: [_jsx(Label, { text: `Camera: ${targetFps ? `${targetFps} FPS` : "-"}` }), _jsx(Label, { text: `Network: ${metrics?.incomingMessagesFps ? `${metrics.incomingMessagesFps} FPS` : "-"}` }), _jsx(Label, { text: `Decoding: ${metrics?.decodedMessagesFps ? `${metrics.decodedMessagesFps} FPS` : "-"}` }), _jsx(Label, { text: `Rendering: ${renderedFps ? `${renderedFps} FPS` : "-"}` }), _jsx(Label, { text: `Frontend Delay: ${eventLoopDelay ? `${Math.ceil(eventLoopDelay)} ms` : "-"}` })] })] }), !disableAnnotations && kind === "image" && (_jsxs(DropdownMenu, { onOpenChange: setAnnotationsOpened, children: [_jsx(DropdownMenuTrigger, { asChild: true, disabled: detections.length === 0, children: _jsx(Button, { variant: "outline", label: "Annotations", "aria-controls": annotationsOpened ? "basic-menu" : undefined, "aria-haspopup": "true", "aria-expanded": annotationsOpened ? "true" : undefined, icon: annotationsOpened ? ArrowUpIcon : ArrowDownIcon, disabled: detections.length === 0, style: {
+        }, children: [_jsxs(Flex, { direction: "column", gap: "xxs", align: "start", justify: "start", paddingY: "xs", children: [_jsxs(Flex, { direction: "row", gap: "sm", align: "center", justify: "start", children: [_jsx(SubHeader, { text: name }), _jsx(Button, { variant: "outline", colorVariant: "white", size: "xs", p: "2", icon: CloseIcon, onClick: () => {
+                                    toggleTopic?.(name);
+                                } })] }), _jsx(Flex, { direction: "row", gap: "sm", align: "start", justify: "start", children: _jsxs(Flex, { direction: "row", gap: "sm", align: "start", justify: "start", ref: descriptionRef, children: [targetFps && (_jsx(Label, { text: `Camera: ${targetFps} FPS` })), metrics?.incomingMessagesFps && (_jsx(Label, { text: `Network: ${metrics.incomingMessagesFps} FPS` })), metrics?.decodedMessagesFps && (_jsx(Label, { text: `Decoding: ${metrics.decodedMessagesFps} FPS` })), renderedFps && (_jsx(Label, { text: `Rendering: ${renderedFps} ${Math.round(renderedFps / 2)} FPS` })), eventLoopDelay && (_jsx(Label, { text: `Frontend Delay: ${Math.ceil(eventLoopDelay)} ms` }))] }) })] }), !disableAnnotations && kind === "image" && (_jsxs(DropdownMenu, { onOpenChange: setAnnotationsOpened, children: [_jsx(DropdownMenuTrigger, { asChild: true, disabled: detections.length === 0, children: _jsx(Button, { variant: "outline", label: "Annotations", "aria-controls": annotationsOpened ? "basic-menu" : undefined, "aria-haspopup": "true", "aria-expanded": annotationsOpened ? "true" : undefined, icon: annotationsOpened ? ArrowUpIcon : ArrowDownIcon, disabled: detections.length === 0, style: {
                                 borderRadius: 0,
                                 borderTopRightRadius: 8,
                                 height: "100%",
@@ -71,9 +74,8 @@ export const PanelToolbar = ({ topic, kind, setDetections, disableAnnotations =
                                 }, icon: extraVisible ? ArrowUpIcon : ArrowDownIcon, style: {
                                     borderRadius: 4,
                                 }, children: extraVisible ? "Less" : "More" })), extraVisible &&
-                                detections.map((detection) => makeDetection(detection, { extra: true }))] })] })), kind === "pointCloud" && (_jsx(Tooltip, { content: _jsxs(_Fragment, { children: [_jsx(Label, { text: "To move camera:" }), _jsxs("ul", { children: [_jsx("li", { children: "w - Move camera forward" }), _jsx("li", { children: "a - Move camera backward" }), _jsx("li", { children: "s - Move camera to the left" }), _jsx("li", { children: "d - Move camera to the right" }), _jsx("li", { children: "Scroll \u2013 Zoom in and out" }), _jsx("li", { children: "Drag \u2013 Move camera parallel to the ground" }), _jsx("li", { children: `Right-click + Drag horizontally – Rotate the camera around the world's z-axis` }), _jsx("li", { children: `Right-click + Drag vertically – Pan the camera around the world's x- and y- axes` })] })] }), children: _jsx(Button, { variant: "ghost", colorVariant: "white", cursor: "help", icon: HelpIcon, style: {
-                        borderRadius: 0,
-                        borderTopRightRadius: 8,
-                    } }) }))] }));
+                                detections.map((detection) => makeDetection(detection, { extra: true }))] })] })), kind === "pointCloud" && (_jsx(Flex, { style: {
+                    paddingRight: 16,
+                }, children: _jsx(Tooltip, { content: _jsxs(_Fragment, { children: [_jsx(Label, { text: "To move camera:" }), _jsxs("ul", { children: [_jsx("li", { children: "W - Move camera forward" }), _jsx("li", { children: "A - Move camera backward" }), _jsx("li", { children: "S - Move camera to the left" }), _jsx("li", { children: "D - Move camera to the right" }), _jsx("li", { children: "Scroll \u2013 Zoom in and out" }), _jsx("li", { children: "Drag \u2013 Move camera parallel to the ground" }), _jsx("li", { children: `Right-click + Drag horizontally – Rotate the camera around the world's z-axis` }), _jsx("li", { children: `Right-click + Drag vertically – Pan the camera around the world's x- and y- axes` })] })] }), children: _jsx(Icon, { icon: HelpIcon, size: "sm", color: "gray", cursor: "help" }) }) }))] }));
 };
 //# sourceMappingURL=PanelToolbar.js.map

package/dist/lib/src/components/PanelToolbar.js.map

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package/dist/lib/src/connection/foxglove-connection.d.ts

@@ -1,8 +1,9 @@
-import { Time } from "@foxglove/rostime";
-import { MessageEvent, PlayerState, PlayerPresence, PlayerProblem } from "@foxglove/studio-base/players/types";
-import { FoxgloveMessage } from "./communicator.js";
-import { MessageHandler } from "../messaging/message-handler.js";
+import { type Time } from "@foxglove/rostime";
+import { type MessageEvent, PlayerPresence, type PlayerProblem, type PlayerState } from "@foxglove/studio-base/players/types";
+import { type MessageHandler } from "../messaging/message-handler.js";
 import { MetricsManager } from "../utils/metrics-manager.js";
+import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
+import type { FoxgloveMessage } from "./communicator.js";
 export type Metrics = {
     incomingMessagesFps: number;
     decodedMessagesFps: number;
@@ -27,9 +28,11 @@ export declare abstract class FoxgloveConnection {
     protected publishedTopics: Map<any, any>;
     protected subscribedTopics: Map<any, any>;
     protected advertisedServices: Map<any, any>;
+    protected skipPoitcloud: boolean;
     protected problems: ProblemManager;
     protected inputMetrics: MetricsManager;
     protected decodeMetrics: MetricsManager;
+    protected PoitCloudSyncFramework: PoitCloudSyncFramework;
     protected messageHandler: MessageHandler;
     protected topics: {
         [key: string]: {
@@ -42,6 +45,7 @@ export declare abstract class FoxgloveConnection {
     getTopicMetrics(topic: string): Metrics;
     protected getCurrentTime(): Time;
     protected onMessagePacket(event: globalThis.MessageEvent<FoxgloveMessage>): void;
+    protected handleParsePoitcloudMessage(coloredEvent: MessageEvent): Promise<void>;
     protected handleParsedMessage(event: MessageEvent): void;
     protected emitState: (() => void) & {
         currentPromise?: Promise<void>;

package/dist/lib/src/connection/foxglove-connection.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"foxglove-connection.d.ts","sourceRoot":"","sources":["../../../../src/connection/foxglove-connection.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,KAAK,IAAI,EAAyC,MAAM,mBAAmB,CAAC;AAErF,OAAO,EACL,KAAK,YAAY,EAEjB,cAAc,EACd,KAAK,aAAa,EAClB,KAAK,WAAW,EACjB,MAAM,qCAAqC,CAAC;AAI7C,OAAO,EAAE,KAAK,cAAc,EAAwB,MAAM,iCAAiC,CAAC;AAC5F,OAAO,EAAE,cAAc,EAAE,MAAM,6BAA6B,CAAC;AAC7D,OAAO,EAAE,sBAAsB,EAAE,MAAM,4BAA4B,CAAC;AACpE,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AAGzD,MAAM,MAAM,OAAO,GAAG;IACpB,mBAAmB,EAAE,MAAM,CAAC;IAC5B,kBAAkB,EAAE,MAAM,CAAC;CAC5B,CAAC;AAEF,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;IAEjE,SAAS,CAAC,EAAE,EAAE,MAAM,CAAC;IAGrB,SAAS,CAAC,cAAc,EAAE,cAAc,CAA8B;IACtE,SAAS,CAAC,kBAAkB,WAAwC;IAGpE,SAAS,CAAC,aAAa,EAAE,YAAY,EAAE,CAAM;IAC7C,SAAS,CAAC,gBAAgB,CAAC,EAAE,YAAY,CAAC;IAE1C,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,kBAAkB,gBAAa;IACzC,SAAS,CAAC,aAAa,UAAS;IAChC,SAAS,CAAC,QAAQ,iBAAwB;IAC1C,SAAS,CAAC,YAAY,iBAAwB;IAC9C,SAAS,CAAC,aAAa,iBAAwB;IAC/C,SAAS,CAAC,sBAAsB,yBAAgC;IAEhE,SAAS,CAAC,cAAc,EAAE,cAAc,CAAC;IAEzC,SAAS,CAAC,MAAM,EAAE;QAChB,CAAC,GAAG,EAAE,MAAM,GAAG;YACb,IAAI,EAAE,MAAM,CAAC;YACb,UAAU,EAAE,MAAM,CAAC;SACpB,CAAC;KACH,CAAM;gBAGY,EAAE,EAAE,MAAM;IAKtB,WAAW,CAAC,QAAQ,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI;IAKxE,eAAe,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO;IAO9C,SAAS,CAAC,cAAc,IAAI,IAAI;IAIhC,SAAS,CAAC,eAAe,CAAC,KAAK,EAAE,UAAU,CAAC,YAAY,CAAC,eAAe,CAAC,GAAG,IAAI;cAKhE,2BAA2B,CAAC,YAAY,EAAE,YAAY,GAAG,OAAO,CAAC,IAAI,CAAC;IAqBtF,SAAS,CAAC,mBAAmB,CAAC,KAAK,EAAE,YAAY,GAAG,IAAI;IAexD,SAAS,CAAC,SAAS;;MAyDhB;CACJ"}

package/dist/lib/src/connection/foxglove-connection.js

@@ -4,10 +4,11 @@
 import { debouncePromise } from "@foxglove/den/async";
 import { fromMillis, isGreaterThan, isLessThan } from "@foxglove/rostime";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation";
-import { PlayerPresence, PlayerCapabilities } from "@foxglove/studio-base/players/types";
-import { i420ToRgbaToPointcloud } from '../messaging/deserialization/pointcloud/utils.js';
+import { PlayerCapabilities, PlayerPresence } from "@foxglove/studio-base/players/types";
+import { i420ToRgbaToPointcloudWorker } from '../messaging/deserialization/pointcloud/utils.js';
 import { createMessageHandler } from "../messaging/message-handler.js";
 import { MetricsManager } from "../utils/metrics-manager.js";
+import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
 class ProblemManager {
     problems = [];
     addProblem(problem) {
@@ -36,9 +37,11 @@ export class FoxgloveConnection {
     publishedTopics = new Map();
     subscribedTopics = new Map();
     advertisedServices = new Map();
+    skipPoitcloud = false;
     problems = new ProblemManager();
     inputMetrics = new MetricsManager();
     decodeMetrics = new MetricsManager();
+    PoitCloudSyncFramework = new PoitCloudSyncFramework();
     // message handler
     messageHandler;
     topics = {};
@@ -63,25 +66,37 @@ export class FoxgloveConnection {
         this.inputMetrics.registerEvent(event.data.topic);
         this.messageHandler.handle(event.data);
     }
+    async handleParsePoitcloudMessage(coloredEvent) {
+        const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime.nsec);
+        if (poitcloudFrame) {
+            // @ts-expect-error - ITS unknow
+            // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
+            const message = await i420ToRgbaToPointcloudWorker(coloredEvent.message.data, coloredEvent.message.width, coloredEvent.message.height, poitcloudFrame.width, poitcloudFrame.height, poitcloudFrame.data);
+            coloredEvent.topic = "Point Cloud";
+            coloredEvent.schemaName = "foxglove.PointCloud";
+            coloredEvent.message = poitcloudFrame;
+            // @ts-expect-error - ITS unknow
+            // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
+            coloredEvent.message.data = message;
+            const messageSize = estimateObjectSize(coloredEvent.message);
+            coloredEvent.sizeInBytes = messageSize;
+            this.messageEvents.push(coloredEvent);
+            this.emitState();
+        }
+    }
     handleParsedMessage(event) {
         this.decodeMetrics.registerEvent(event.topic);
-        if (event.topic === "H.264 Stream") {
-            this.lastEncodedFrame = event;
-        }
         if (event.topic === "Point Cloud") {
-            if (!this.lastEncodedFrame) {
-                console.warn("didnt find H.264 Stream");
-            }
-            else {
-                // @ts-expect-error - ITS unknow
-                // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
-                event.message.data = i420ToRgbaToPointcloud(this.lastEncodedFrame.message.data, this.lastEncodedFrame.message.width, this.lastEncodedFrame.message.height, event.message.width, event.message.height, event.message.data);
-            }
+            this.PoitCloudSyncFramework.addFrame(event.message);
+            return;
         }
         const messageSize = estimateObjectSize(event.message);
         event.sizeInBytes = messageSize;
         this.messageEvents.push(event);
         this.emitState();
+        if (event.topic === "H.264 Stream") {
+            void this.handleParsePoitcloudMessage(event);
+        }
     }
     emitState = debouncePromise(async () => {
         const messages = this.messageEvents;

package/dist/lib/src/connection/foxglove-connection.js.map

@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=i420ToRgbaToPoitcloud.worker.d.ts.map

package/dist/lib/src/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"i420ToRgbaToPoitcloud.worker.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.ts"],"names":[],"mappings":""}

package/dist/lib/src/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.js

@@ -0,0 +1,45 @@
+// 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/
+import { expose } from "comlink";
+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);
+}
+// Expose the function using Comlink
+expose({ i420ToRgbaToPointcloud });
+//# sourceMappingURL=i420ToRgbaToPoitcloud.worker.js.map

package/dist/lib/src/messaging/deserialization/pointcloud/i420ToRgbaToPoitcloud.worker.js.map

@@ -0,0 +1 @@
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package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts

@@ -1,5 +1,6 @@
 export declare function uint8ArrayToUint16Array(uint8Array: Uint8Array): Uint16Array;
 export declare function nv12ToRgbaToPointcloud(nv12Data: Uint8Array, nv12Width: number, nv12Height: number, depthWidth: number, depthHeight: number, data: Uint8Array): Uint8Array;
+export declare function i420ToRgbaToPointcloudWorker(i420Data: Uint8Array, i420Width: number, i420Height: number, depthWidth: number, depthHeight: number, data: Uint8Array): Promise<Uint8Array>;
 export declare function i420ToRgbaToPointcloud(i420Data: Uint8Array, i420Width: number, i420Height: number, depthWidth: number, depthHeight: number, data: Uint8Array): Uint8Array;
 type NeuralCameraIntrinsic = {
     focalLenght: {

package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAMA,wBAAgB,uBAAuB,CAAC,UAAU,EAAE,UAAU,GAAG,WAAW,CAmB3E;AAID,wBAAgB,sBAAsB,CACpC,QAAQ,EAAE,UAAU,EACpB,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,UAAU,GACf,UAAU,CA2CZ;AAiBD,wBAAsB,4BAA4B,CAChD,QAAQ,EAAE,UAAU,EACpB,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,UAAU,GACf,OAAO,CAAC,UAAU,CAAC,CAErB;AAGD,wBAAgB,sBAAsB,CACpC,QAAQ,EAAE,UAAU,EACpB,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,UAAU,GACf,UAAU,CA4CZ;AAED,KAAK,qBAAqB,GAAG;IAC3B,WAAW,EAAE;QACX,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;IACF,cAAc,EAAE;QACd,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;CACH,CAAC;AACF,MAAM,MAAM,sBAAsB,GAAI;IACpC,IAAI,EAAE,qBAAqB,CAAC;IAC5B,KAAK,EAAE,qBAAqB,CAAC;CAC9B,CAAC"}

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

@@ -2,6 +2,7 @@
 // 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" />
+import { wrap } from "comlink";
 export function uint8ArrayToUint16Array(uint8Array) {
     if (uint8Array.length % 2 !== 0) {
         throw new Error("Uint8Array length must be a multiple of 2 for conversion to Uint16Array");
@@ -55,6 +56,13 @@ export function nv12ToRgbaToPointcloud(nv12Data, nv12Width, nv12Height, depthWid
     }
     return new Uint8Array(buffer);
 }
+const worker = new Worker(new URL("./i420ToRgbaToPoitcloud.worker.ts", import.meta.url), {
+    type: "module",
+});
+const workerApi = wrap(worker);
+export async function i420ToRgbaToPointcloudWorker(i420Data, i420Width, i420Height, depthWidth, depthHeight, data) {
+    return await workerApi.i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWidth, depthHeight, data);
+}
 /* H264 (i420) to RGBA */
 export function i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWidth, depthHeight, data) {
     const frameSize = i420Width * i420Height;

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

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

@@ -1,11 +1,15 @@
 import React from "react";
-import { PanelProps } from "../components/Panel.js";
+import { type PanelProps } from "../components/Panel.js";
 type ImagePanelBodyProps = {
     topic: string;
     frameRenderedEvent?: (currentTime: number) => void;
 };
-export type ImagePanelProps = Omit<PanelProps, 'kind' | 'metrics'> & ImagePanelBodyProps;
+export type ImagePanelProps = Omit<PanelProps, 'kind' | 'metrics'> & ImagePanelBodyProps & {
+    toggleTopic?: (topic: string) => void;
+};
 export declare const ImagePanel: React.NamedExoticComponent<Omit<PanelProps, "kind" | "metrics"> & ImagePanelBodyProps & {
+    toggleTopic?: (topic: string) => void;
+} & {
     targetFps?: number;
     triggerToast?: () => void;
 }>;

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;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"}
+{"version":3,"file":"ImagePanel.d.ts","sourceRoot":"","sources":["../../../../src/panels/ImagePanel.tsx"],"names":[],"mappings":"AAIA,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAS,KAAK,UAAU,EAAiB,MAAM,wBAAwB,CAAC;AAQ/E,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,GAAG;IAAE,WAAW,CAAC,EAAE,CAAC,KAAK,EAAE,MAAM,KAAK,IAAI,CAAA;CAAE,CAAC;AAErI,eAAO,MAAM,UAAU;kBAFoF,CAAC,KAAK,EAAE,MAAM,KAAK,IAAI;;gBAElC,MAAM;mBAAiB,MAAM,IAAI;EAmC/H,CAAC"}

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

@@ -4,8 +4,8 @@ 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";
+import { MetricsManager } from "../utils/metrics-manager";
 const ImagePanelComponent = React.lazy(async () => await import("@foxglove/studio-base/panels/Image"));
 const ImagePanelBody = ({ topic, frameRenderedEvent }) => {
     const { detections } = useDetections();
@@ -45,6 +45,6 @@ export const ImagePanel = React.memo(function ImagePanel(props) {
         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 }) }));
+    return (_jsx(Panel, { kind: "image", ...props, toggleTopic: props.toggleTopic, renderedFps: renderedFps, renderDelay: averageFrameDelay, children: _jsx(ImagePanelBody, { topic: props.topic, frameRenderedEvent: handleFrameRendered }) }));
 });
 //# sourceMappingURL=ImagePanel.js.map