@luxonis/visualizer-protobuf 2.18.0 → 2.18.1

package/dist/{index-CR6XGTJc.js → index-DHft_1uY.js}

@@ -1,4 +1,4 @@
-import { d as dist$1, i as i420ToRgbaToPointcloudWorker, e as estimateObjectSize, r as reportError, A as AppError, b as baseFlatten, a as baseEach, c as baseIteratee, f as baseDifference, g as getTag, h as baseKeys, j as baseIsEqual, k as castPath, t as toKey, l as baseGet, m as hasIn, s as sendNotification, n as shallowequal, u as useGuaranteedContext, o as getPanelIdsInsideTabPanels, p as getPanelTypeFromId, T as TAB_PANEL_TYPE, q as removePanelFromTabPanel, v as getPanelIdForType, w as getPathFromNode, x as updateTabPanelLayout, y as getSaveConfigsPayloadForAddedPanel, z as replaceAndRemovePanels, B as inlineTabPanelLayouts, C as getAllPanelIds, D as getConfigsForNestedPanelsInsideTab, E as reorderTabWithinTabPanel, F as moveTabBetweenTabPanels, G as isTabPanelConfig, H as DEFAULT_TAB_PANEL_CONFIG, I as addPanelToTab, J as createAddUpdates, K as filterMap, L as Logger, M as uniq$2, N as useShallowMemo, O as CurrentLayoutContext, P as MessageOrderTracker, Q as AppConfigurationContext, _ as __assign$7, R as __rest$4, S as __spreadArray$4 } from './tslib.es6-D98N6tjc.js';
+import { i as i420ToRgbaToPoitcloudWorker, d as dist$1, e as estimateObjectSize, r as reportError, A as AppError, b as baseFlatten, a as baseEach, c as baseIteratee, f as baseDifference, g as getTag, h as baseKeys, j as baseIsEqual, k as castPath, t as toKey, l as baseGet, m as hasIn, s as sendNotification, n as shallowequal, u as useGuaranteedContext, o as getPanelIdsInsideTabPanels, p as getPanelTypeFromId, T as TAB_PANEL_TYPE, q as removePanelFromTabPanel, v as getPanelIdForType, w as getPathFromNode, x as updateTabPanelLayout, y as getSaveConfigsPayloadForAddedPanel, z as replaceAndRemovePanels, B as inlineTabPanelLayouts, C as getAllPanelIds, D as getConfigsForNestedPanelsInsideTab, E as reorderTabWithinTabPanel, F as moveTabBetweenTabPanels, G as isTabPanelConfig, H as DEFAULT_TAB_PANEL_CONFIG, I as addPanelToTab, J as createAddUpdates, K as filterMap, L as Logger, M as uniq$2, N as useShallowMemo, O as CurrentLayoutContext, P as MessageOrderTracker, Q as AppConfigurationContext, _ as __assign$7, R as __rest$4, S as __spreadArray$4 } from './tslib.es6-D1dICxG6.js';
 import { w as wrap$3, p as proxy } from './comlink-DHMAu6X7.js';
 import { B as BinaryOpcode } from './FoxgloveServer-C39Uooyk.js';
 import { g as getDefaultExportFromCjs, c as commonjsGlobal } from './_commonjsHelpers-E-ZsRS8r.js';
@@ -443,13 +443,14 @@ class Condvar {
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
 function initWorker(callback) {
-  const workerWrap = wrap$3(new Worker(new URL("deserialization.worker-DsG76nP8.js", import.meta.url), {
+  const workerWrap = wrap$3(new Worker(new URL("deserialization.worker-C9dXbAlS.js", import.meta.url), {
     type: "module",
     name: `message-decoder`
   }));
   workerWrap.initCallback(proxy(callback));
   return workerWrap;
 }
+const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
 function createMessageHandler(callback) {
   const workerPool = new Map();
   return {
@@ -467,7 +468,8 @@ function createMessageHandler(callback) {
       worker.handleMessageToDecode({
         schema,
         buffer,
-        topic
+        topic,
+        neuralCameraIntrinsics
       });
     }
   };
@@ -530,9 +532,15 @@ class PoitCloudSyncFramework {
       // biome-ignore lint/style/noNonNullAssertion: 
       const midKey = arr[mid].timestamp.nsec;
       if (midKey === targetKey) {
+        if (Math.abs(midKey - targetKey) / 10 ** 9 < this.#MAX_DELAY_SEC) {
+          return {
+            res: bestMatch,
+            index: left
+          };
+        }
         return {
-          res: bestMatch,
-          index: left
+          res: null,
+          index: mid
         };
       }
       if (midKey < targetKey) {
@@ -542,13 +550,20 @@ class PoitCloudSyncFramework {
         right = mid - 1;
       }
     }
+    if (bestMatch && Math.abs(bestMatch.timestamp.nsec - targetKey) / 10 ** 9 < this.#MAX_DELAY_SEC) {
+      return {
+        res: bestMatch,
+        index: left
+      };
+    }
     return {
-      res: bestMatch,
+      res: null,
       index: left
     };
   }
   storedFrames = [];
-  #MAX_STORED_FRAMES = 10;
+  #MAX_DELAY_SEC = 0.01;
+  #MAX_STORED_FRAMES = 15;
   getFrame(nsec) {
     const {
       res,
@@ -561,8 +576,14 @@ class PoitCloudSyncFramework {
     if (res) {
       return res;
     }
-    // biome-ignore lint/style/noNonNullAssertion: We somehow need to return 
-    return this.storedFrames.pop();
+    const popedFrame = this.storedFrames.pop();
+    if (popedFrame) {
+      if (Math.abs(popedFrame.timestamp.nsec - nsec) / 10 ** 9 < this.#MAX_DELAY_SEC) {
+        return popedFrame;
+      }
+      this.storedFrames.push(popedFrame);
+    }
+    return null;
   }
   addFrame(frame) {
     if (Object.keys(this.storedFrames).length > this.#MAX_STORED_FRAMES) {
@@ -605,6 +626,7 @@ class FoxgloveConnection {
   inputMetrics = new MetricsManager();
   decodeMetrics = new MetricsManager();
   PoitCloudSyncFramework = new PoitCloudSyncFramework();
+  i420ToRgbaToPoitcloudWorkerPool = new i420ToRgbaToPoitcloudWorker();
   // message handler
 
   topics = {};
@@ -632,9 +654,18 @@ class FoxgloveConnection {
   async handleParsePoitcloudMessage(coloredEvent) {
     const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime.nsec);
     if (poitcloudFrame) {
+      /* Useful for debugging
+      if (Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9) {
+        console.log("Sync delay under 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/ 10 **9);
+      }
+      else {
+        console.log("Sync delay over 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9);
+      }
+      */
+
       // @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);
+      const message = await this.i420ToRgbaToPoitcloudWorkerPool.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;
@@ -84813,7 +84844,7 @@ function legacy(parser) {
     return new LanguageSupport(StreamLanguage.define(parser));
 }
 function sql$1(dialectName) {
-    return import('./index-DdKOhCXT.js').then(m => m.sql({ dialect: m[dialectName] }));
+    return import('./index-BRTt63KE.js').then(m => m.sql({ dialect: m[dialectName] }));
 }
 /**
 An array of language descriptions for known language packages.
@@ -84824,7 +84855,7 @@ const languages = [
         name: "C",
         extensions: ["c", "h", "ino"],
         load() {
-            return import('./index-DchGURxJ.js').then(m => m.cpp());
+            return import('./index-WMQ28NAM.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84832,7 +84863,7 @@ const languages = [
         alias: ["cpp"],
         extensions: ["cpp", "c++", "cc", "cxx", "hpp", "h++", "hh", "hxx"],
         load() {
-            return import('./index-DchGURxJ.js').then(m => m.cpp());
+            return import('./index-WMQ28NAM.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84852,7 +84883,7 @@ const languages = [
         name: "Go",
         extensions: ["go"],
         load() {
-            return import('./index-CcP1Qppv.js').then(m => m.go());
+            return import('./index-hFI4BOol.js').then(m => m.go());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84867,7 +84898,7 @@ const languages = [
         name: "Java",
         extensions: ["java"],
         load() {
-            return import('./index-ByIsztCr.js').then(m => m.java());
+            return import('./index-CZ83vGC_.js').then(m => m.java());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84883,7 +84914,7 @@ const languages = [
         alias: ["json5"],
         extensions: ["json", "map"],
         load() {
-            return import('./index-CcIi7pJR.js').then(m => m.json());
+            return import('./index-Cn-9uas1.js').then(m => m.json());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84897,14 +84928,14 @@ const languages = [
         name: "LESS",
         extensions: ["less"],
         load() {
-            return import('./index-4PQpGzhb.js').then(m => m.less());
+            return import('./index-CWyWOStx.js').then(m => m.less());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Liquid",
         extensions: ["liquid"],
         load() {
-            return import('./index-BFMXTxLw.js').then(m => m.liquid());
+            return import('./index-B-Q9SHDe.js').then(m => m.liquid());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84930,7 +84961,7 @@ const languages = [
         name: "PHP",
         extensions: ["php", "php3", "php4", "php5", "php7", "phtml"],
         load() {
-            return import('./index-Ci0X5xT3.js').then(m => m.php());
+            return import('./index-BY93INKj.js').then(m => m.php());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84947,28 +84978,28 @@ const languages = [
         extensions: ["BUILD", "bzl", "py", "pyw"],
         filename: /^(BUCK|BUILD)$/,
         load() {
-            return import('./index-DUUnuN10.js').then(m => m.python());
+            return import('./index-DD1GBu5y.js').then(m => m.python());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Rust",
         extensions: ["rs"],
         load() {
-            return import('./index-CXThSQcL.js').then(m => m.rust());
+            return import('./index-DQCgeYB2.js').then(m => m.rust());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Sass",
         extensions: ["sass"],
         load() {
-            return import('./index-BomoqOv5.js').then(m => m.sass({ indented: true }));
+            return import('./index-Bw0wb_7x.js').then(m => m.sass({ indented: true }));
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "SCSS",
         extensions: ["scss"],
         load() {
-            return import('./index-BomoqOv5.js').then(m => m.sass());
+            return import('./index-Bw0wb_7x.js').then(m => m.sass());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84999,7 +85030,7 @@ const languages = [
         name: "WebAssembly",
         extensions: ["wat", "wast"],
         load() {
-            return import('./index-CrtBH66u.js').then(m => m.wast());
+            return import('./index-ClVSD2eR.js').then(m => m.wast());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85007,7 +85038,7 @@ const languages = [
         alias: ["rss", "wsdl", "xsd"],
         extensions: ["xml", "xsl", "xsd", "svg"],
         load() {
-            return import('./index-CJRhjhJ0.js').then(m => m.xml());
+            return import('./index-DuOl-R4e.js').then(m => m.xml());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85015,7 +85046,7 @@ const languages = [
         alias: ["yml"],
         extensions: ["yaml", "yml"],
         load() {
-            return import('./index-BQecGu9I.js').then(m => m.yaml());
+            return import('./index-lMTiVIpT.js').then(m => m.yaml());
         }
     }),
     // Legacy modes ported from CodeMirror 5
@@ -85811,13 +85842,13 @@ const languages = [
         name: "Vue",
         extensions: ["vue"],
         load() {
-            return import('./index-BWittpbR.js').then(m => m.vue());
+            return import('./index-B_wE-TAZ.js').then(m => m.vue());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Angular Template",
         load() {
-            return import('./index-BeQ1w8aW.js').then(m => m.angular());
+            return import('./index-IroDl_1U.js').then(m => m.angular());
         }
     })
 ];
@@ -156922,7 +156953,7 @@ function createRenderDelaySampler() {
   };
 }
 
-const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-CXIVXFcJ.js'));
+const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-hGphzS2C.js'));
 const ImagePanelBody = ({
   topic,
   frameRenderedEvent
@@ -156991,7 +157022,7 @@ const ImagePanel = /*#__PURE__*/React__default.memo(function ImagePanel(props) {
 // 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/
 
-const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-BT9CBn7l.js'));
+const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-C1DjWsph.js'));
 const PointCloudPanelBody = ({
   topic,
   frameRenderedEvent

package/dist/{index-CXThSQcL.js → index-DQCgeYB2.js}

@@ -1,5 +1,5 @@
-import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-CR6XGTJc.js';
-import './tslib.es6-D98N6tjc.js';
+import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-DHft_1uY.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-CJRhjhJ0.js → index-DuOl-R4e.js}

@@ -1,5 +1,5 @@
-import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, M as foldNodeProp, ac as bracketMatchingHandle, T as LanguageSupport, a8 as EditorView, Z as syntaxTree, a9 as EditorSelection } from './index-CR6XGTJc.js';
-import './tslib.es6-D98N6tjc.js';
+import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, M as foldNodeProp, ac as bracketMatchingHandle, T as LanguageSupport, a8 as EditorView, Z as syntaxTree, a9 as EditorSelection } from './index-DHft_1uY.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-BeQ1w8aW.js → index-IroDl_1U.js}

@@ -1,5 +1,5 @@
-import { N as styleTags, O as tags, ad as javascriptLanguage, Q as LRLanguage, T as LanguageSupport, V as LRParser, aa as html, ab as parseMixed, U as ExternalTokenizer } from './index-CR6XGTJc.js';
-import './tslib.es6-D98N6tjc.js';
+import { N as styleTags, O as tags, ad as javascriptLanguage, Q as LRLanguage, T as LanguageSupport, V as LRParser, aa as html, ab as parseMixed, U as ExternalTokenizer } from './index-DHft_1uY.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-DchGURxJ.js → index-WMQ28NAM.js}

@@ -1,5 +1,5 @@
-import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-CR6XGTJc.js';
-import './tslib.es6-D98N6tjc.js';
+import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-DHft_1uY.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-CcP1Qppv.js → index-hFI4BOol.js}

@@ -1,5 +1,5 @@
-import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, a3 as LocalTokenGroup, a4 as snippetCompletion, Z as syntaxTree, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, X as ifNotIn, Y as completeFromList, a5 as IterMode, a6 as NodeWeakMap } from './index-CR6XGTJc.js';
-import './tslib.es6-D98N6tjc.js';
+import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, a3 as LocalTokenGroup, a4 as snippetCompletion, Z as syntaxTree, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, X as ifNotIn, Y as completeFromList, a5 as IterMode, a6 as NodeWeakMap } from './index-DHft_1uY.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-CXIVXFcJ.js → index-hGphzS2C.js}

@@ -1,14 +1,14 @@
-import { ImagePanel } from './index-BT9CBn7l.js';
+import { ImagePanel } from './index-C1DjWsph.js';
 import 'react';
 import 'react-dom';
-import './tslib.es6-D98N6tjc.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
 import 'zustand';
-import './index-CR6XGTJc.js';
+import './index-DHft_1uY.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';
@@ -24,7 +24,7 @@ import 'rehype-sanitize';
 import 'extend';
 import 'react-icons';
 import '@pandacss/dev';
-import './useMessageReducer-Cg30zaG9.js';
+import './useMessageReducer--GRvgQq6.js';
 import '@mui/icons-material/FullscreenExit';
 import '@mui/icons-material/Settings';
 import '@mui/icons-material/ChevronRight';

package/dist/{index-BQecGu9I.js → index-lMTiVIpT.js}

@@ -1,5 +1,5 @@
-import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, ab as parseMixed } from './index-CR6XGTJc.js';
-import './tslib.es6-D98N6tjc.js';
+import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, ab as parseMixed } from './index-DHft_1uY.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/index.js

@@ -1,5 +1,5 @@
-export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-CR6XGTJc.js';
-import './tslib.es6-D98N6tjc.js';
+export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-DHft_1uY.js';
+import './tslib.es6-D1dICxG6.js';
 import './comlink-DHMAu6X7.js';
 import 'react';
 import 'react-mosaic-component';

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

@@ -1,9 +1,10 @@
 import { type Time } from "@foxglove/rostime";
 import { type MessageEvent, PlayerPresence, type PlayerProblem, type PlayerState } from "@foxglove/studio-base/players/types";
+import type { FoxgloveMessage } from "./communicator.js";
+import { i420ToRgbaToPoitcloudWorker } from "../messaging/deserialization/pointcloud/utils.js";
 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;
@@ -33,6 +34,7 @@ export declare abstract class FoxgloveConnection {
     protected inputMetrics: MetricsManager;
     protected decodeMetrics: MetricsManager;
     protected PoitCloudSyncFramework: PoitCloudSyncFramework;
+    protected i420ToRgbaToPoitcloudWorkerPool: i420ToRgbaToPoitcloudWorker;
     protected messageHandler: MessageHandler;
     protected topics: {
         [key: string]: {

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;AAE7C,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,2BAA2B,EAAE,MAAM,kDAAkD,CAAC;AAE/F,OAAO,EAAE,KAAK,cAAc,EAAwB,MAAM,iCAAiC,CAAC;AAC5F,OAAO,EAAE,cAAc,EAAE,MAAM,6BAA6B,CAAC;AAC7D,OAAO,EAAE,sBAAsB,EAAE,MAAM,4BAA4B,CAAC;AAGpE,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;IAChE,SAAS,CAAC,+BAA+B,8BAAoC;IAE7E,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;IAkCtF,SAAS,CAAC,mBAAmB,CAAC,KAAK,EAAE,YAAY,GAAG,IAAI;IAgBxD,SAAS,CAAC,SAAS;;MAyDhB;CACJ"}

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

@@ -5,7 +5,7 @@ import { debouncePromise } from "@foxglove/den/async";
 import { fromMillis, isGreaterThan, isLessThan } from "@foxglove/rostime";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation";
 import { PlayerCapabilities, PlayerPresence } from "@foxglove/studio-base/players/types";
-import { i420ToRgbaToPointcloudWorker } from '../messaging/deserialization/pointcloud/utils.js';
+import { i420ToRgbaToPoitcloudWorker } 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";
@@ -42,6 +42,7 @@ export class FoxgloveConnection {
     inputMetrics = new MetricsManager();
     decodeMetrics = new MetricsManager();
     PoitCloudSyncFramework = new PoitCloudSyncFramework();
+    i420ToRgbaToPoitcloudWorkerPool = new i420ToRgbaToPoitcloudWorker();
     // message handler
     messageHandler;
     topics = {};
@@ -69,9 +70,17 @@ export class FoxgloveConnection {
     async handleParsePoitcloudMessage(coloredEvent) {
         const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime.nsec);
         if (poitcloudFrame) {
+            /* Useful for debugging
+            if (Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9) {
+              console.log("Sync delay under 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/ 10 **9);
+            }
+            else {
+              console.log("Sync delay over 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9);
+            }
+            */
             // @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);
+            const message = await this.i420ToRgbaToPoitcloudWorkerPool.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;

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

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

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

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

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

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

@@ -0,0 +1,164 @@
+// 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" />
+import { expose } from "comlink";
+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;
+            // biome-ignore lint/style/noNonNullAssertion: <explanation>
+            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);
+}
+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;
+}
+expose({ depthToPointcloudGPU });
+//# sourceMappingURL=pointcloudFromDepth.worker.js.map