@luxonis/visualizer-protobuf 2.18.0 → 2.18.1

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

@@ -0,0 +1 @@
+{"version":3,"file":"pointcloudFromDepth.worker.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,uCAAuC;AACvC,OAAO,EAAE,MAAM,EAAE,MAAM,SAAS,CAAC;AAGjC,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,4DAA4D;YAC5D,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,CAAC,GAAG,CAAC,GAAG,EAAE,CAAC;YAC5B,MAAM,CAAC,IAAI,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC,CAAC;QACvB,CAAC;IACH,CAAC;IAED,MAAM,UAAU,GAAG,MAAM,CAAC,MAAM,GAAG,CAAC,CAAC;IACrC,MAAM,MAAM,GAAG,IAAI,WAAW,CAAC,UAAU,GAAG,EAAE,CAAC,CAAC;IAChD,MAAM,IAAI,GAAG,IAAI,QAAQ,CAAC,MAAM,CAAC,CAAC;IAElC,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,EAAE,CAAC,EAAE,EAAE,CAAC;QACpC,MAAM,MAAM,GAAG,CAAC,GAAG,EAAE,CAAC;QACtB,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,MAAM,CAAC,CAAC,GAAG,CAAC,CAAC,IAAG,CAAC,EAAE,IAAI,CAAE,CAAC,CAAC,GAAG;QACtD,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,IAAG,CAAC,EAAG,IAAI,CAAC,CAAC,CAAA,GAAG;QAC7D,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,MAAM,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,IAAE,CAAC,EAAE,IAAI,CAAE,CAAC,CAAA,GAAG;QAC5D,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI;QACnC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI;QACnC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,IAAI;QACnC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,GAAG,CAAC,CAAC,CAAC,IAAI;IACvC,CAAC;IAED,OAAO,IAAI,UAAU,CAAC,MAAM,CAAC,CAAC;AAChC,CAAC;AAED,MAAM,MAAM,GAAG;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAyCd,CAAC;AACF,KAAK,UAAU,oBAAoB,CAC/B,UAAuB,EACvB,KAAa,EACb,MAAc,EACd,EAAU,EACV,EAAU,EACV,EAAU,EACV,EAAU;IACV,uEAAuE;IACvE,IAAI,CAAC,SAAS,CAAC,GAAG,EAAE,CAAC;QACjB,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;IAC9E,CAAC;IAED,MAAM,OAAO,GAAG,MAAM,SAAS,CAAC,GAAG,CAAC,cAAc,EAAE,CAAC;IACrD,IAAI,CAAC,OAAO,EAAE,CAAC;QACX,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;IAC9E,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;QACpC,IAAI,EAAE,WAAW,CAAC,UAAU;QAC5B,KAAK,EAAE,cAAc,CAAC,OAAO,GAAG,cAAc,CAAC,QAAQ;KAC1D,CAAC,CAAC;IAEH,MAAM,gBAAgB,GAAG,MAAM,CAAC,YAAY,CAAC;QACzC,IAAI,EAAE,UAAU,CAAC,UAAU;QAC3B,KAAK,EAAE,cAAc,CAAC,OAAO,GAAG,cAAc,CAAC,QAAQ;KAC1D,CAAC,CAAC;IAEH,MAAM,cAAc,GAAG,MAAM,CAAC,YAAY,CAAC;QACvC,IAAI,EAAE,UAAU;QAChB,KAAK,EAAE,cAAc,CAAC,OAAO,GAAG,cAAc,CAAC,QAAQ;KAC1D,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;QACjD,OAAO,EAAE;YACL,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;SAClF;KACJ,CAAC,CAAC;IAEH,MAAM,SAAS,GAAG,MAAM,CAAC,eAAe,CAAC;QACrC,MAAM,EAAE,eAAe;QACvB,OAAO,EAAE;YACL,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;SACvD;KACJ,CAAC,CAAC;IAEH,MAAM,YAAY,GAAG,MAAM,CAAC,kBAAkB,CAAC;QAC3C,IAAI,EAAE,MAAM;KACf,CAAC,CAAC;IAEH,MAAM,QAAQ,GAAG,MAAM,CAAC,qBAAqB,CAAC;QAC1C,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;KACxD,CAAC,CAAC;IAEH,MAA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package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts

@@ -1,6 +1,14 @@
+import { type Remote } from "comlink";
 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 class i420ToRgbaToPoitcloudWorker {
+    protected lastUsedWorkerIndex: number;
+    protected workerApis: Remote<{
+        i420ToRgbaToPointcloud: (i420Data: Uint8Array, i420Width: number, i420Height: number, depthWidth: number, depthHeight: number, data: Uint8Array) => Promise<Uint8Array>;
+    }>[];
+    constructor();
+    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 @@
-{"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"}
+{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAGA,OAAO,EAAS,KAAK,MAAM,EAAE,MAAM,SAAS,CAAC;AAE7C,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;AAKD,qBAAa,2BAA2B;IACtC,SAAS,CAAC,mBAAmB,SAAK;IAClC,SAAS,CAAC,UAAU,EAAE,MAAM,CAAC;QAC3B,sBAAsB,EAAE,CACtB,QAAQ,EAAE,UAAU,EACpB,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,UAAU,KACb,OAAO,CAAC,UAAU,CAAC,CAAC;KAC1B,CAAC,EAAE,CAAC;;IAKU,4BAA4B,CACvC,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;CAOzB;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,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

@@ -1,7 +1,6 @@
 // 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 { wrap } from "comlink";
 export function uint8ArrayToUint16Array(uint8Array) {
     if (uint8Array.length % 2 !== 0) {
@@ -56,12 +55,19 @@ 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);
+const WORKER_COUNT = 4;
+export class i420ToRgbaToPoitcloudWorker {
+    lastUsedWorkerIndex = 0;
+    workerApis;
+    constructor() {
+        this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => wrap(new Worker(new URL("./i420ToRgbaToPoitcloud.worker.ts", import.meta.url), { type: "module" })));
+    }
+    async i420ToRgbaToPointcloudWorker(i420Data, i420Width, i420Height, depthWidth, depthHeight, data) {
+        // biome-ignore lint/style/noNonNullAssertion: This should work
+        const workerApi = this.workerApis[this.lastUsedWorkerIndex];
+        this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
+        return await workerApi.i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWidth, depthHeight, data);
+    }
 }
 /* H264 (i420) to RGBA */
 export function i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWidth, depthHeight, data) {

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

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

@@ -6,7 +6,7 @@ import { parseMessage } from "../../utils.js";
 export function deserializeColorFrame({ topic, message, callback }) {
     const { receiveTime, encoding, step, width, height, stride, planeStride } = parseMessage(message);
     const foxgloveMessage = {
-        timestamp: receiveTime,
+        timestamp: message.tsDevice ?? receiveTime,
         frame_id: `color-${topic}-frame`,
         width,
         height,

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

@@ -1 +1 @@
-{"version":3,"file":"color.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/color.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAG1D,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAI9F,OAAO,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAC;AAQ9C,MAAM,UAAU,qBAAqB,CAAC,EACpC,KAAK,EACL,OAAO,EACP,QAAQ,EACsB;IAC9B,MAAM,EAAE,WAAW,EAAE,QAAQ,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;IAElG,MAAM,eAAe,GAAqB;QACxC,SAAS,EAAE,WAAW;QACtB,QAAQ,EAAE,SAAS,KAAK,QAAQ;QAChC,KAAK;QACL,MAAM;QACN,QAAQ;QACR,IAAI,EAAE,KAAK,GAAG,IAAI;QAClB,IAAI,EAAE,OAAO,CAAC,IAAI;QAClB,MAAM;QACN,WAAW;KACZ,CAAC;IAEF,QAAQ,CAAC;QACP,KAAK;QACL,WAAW;QACX,OAAO,EAAE,eAAe;QACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;QAChD,UAAU,EAAE,mBAAmB;KAChC,CAAC,CAAC;AACL,CAAC"}
+{"version":3,"file":"color.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/color.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAG1D,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAI9F,OAAO,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAC;AAQ9C,MAAM,UAAU,qBAAqB,CAAC,EACpC,KAAK,EACL,OAAO,EACP,QAAQ,EACsB;IAC9B,MAAM,EAAE,WAAW,EAAE,QAAQ,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;IAElG,MAAM,eAAe,GAAqB;QACxC,SAAS,EAAE,OAAO,CAAC,QAAQ,IAAI,WAAW;QAC1C,QAAQ,EAAE,SAAS,KAAK,QAAQ;QAChC,KAAK;QACL,MAAM;QACN,QAAQ;QACR,IAAI,EAAE,KAAK,GAAG,IAAI;QAClB,IAAI,EAAE,OAAO,CAAC,IAAI;QAClB,MAAM;QACN,WAAW;KACZ,CAAC;IAEF,QAAQ,CAAC;QACP,KAAK;QACL,WAAW;QACX,OAAO,EAAE,eAAe;QACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;QAChD,UAAU,EAAE,mBAAmB;KAChC,CAAC,CAAC;AACL,CAAC"}

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

@@ -1,6 +1,8 @@
+import { type Remote } from "comlink";
 import type { PointCloud } from "@foxglove/schemas";
-import { MessageEvent } from "@foxglove/studio-base/players/types";
-import { ImgFrame } from "../../../protobuf.generated/ImgFrame.js";
+import type { MessageEvent } from "@foxglove/studio-base/players/types";
+import type { ImgFrame } from "../../../protobuf.generated/ImgFrame.js";
+import { type NeuralCameraIntrinsics } from "../pointcloud/utils.js";
 export type PointCloudWithDimensions = PointCloud & {
     width?: number;
     height?: number;
@@ -9,6 +11,15 @@ export type DeserializeDepthFrameArgs = {
     topic: string;
     message: ImgFrame;
     callback: (event: MessageEvent) => void;
+    neuralCameraIntrinsics: NeuralCameraIntrinsics;
 };
-export declare function deserializeDepthFrame({ topic, message, callback }: DeserializeDepthFrameArgs): Promise<void>;
+export declare class depthToPointcloudWorkerPool {
+    protected lastUsedWorkerIndex: number;
+    protected workerApis: Remote<{
+        depthToPointcloudGPU: (depthArray: Uint16Array, width: number, height: number, fx: number, fy: number, cx: number, cy: number) => Promise<Uint8Array>;
+    }>[];
+    constructor();
+    depthToPointcloudGPU(depthArray: Uint16Array, width: number, height: number, fx: number, fy: number, cx: number, cy: number): Promise<Uint8Array>;
+}
+export declare function deserializeDepthFrame({ topic, message, callback, neuralCameraIntrinsics }: 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

@@ -2,177 +2,36 @@
 // 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 { wrap } from "comlink";
 import { NumericType } from "@foxglove/schemas";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
 import { parseMessage } from "../../utils.js";
 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 WORKER_COUNT = 3;
+export class depthToPointcloudWorkerPool {
+    lastUsedWorkerIndex = 0;
+    workerApis;
+    constructor() {
+        this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => wrap(new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.ts", import.meta.url), { type: "module" })));
     }
-    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
+    async depthToPointcloudGPU(depthArray, width, height, fx, fy, cx, cy) {
+        // biome-ignore lint/style/noNonNullAssertion: This should work
+        const workerApi = this.workerApis[this.lastUsedWorkerIndex];
+        this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
+        return await workerApi.depthToPointcloudGPU(depthArray, width, height, fx, fy, cx, cy);
     }
-    return new Uint8Array(buffer);
 }
-export async function deserializeDepthFrame({ topic, message, callback }) {
+const workerPool = new depthToPointcloudWorkerPool();
+export async function deserializeDepthFrame({ topic, message, callback, neuralCameraIntrinsics }) {
     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 pointCloudBufferGPU = workerPool.depthToPointcloudGPU(uint16Array, width, height, fx, fy, cx, cy);
     const foxgloveMessage = {
-        timestamp: receiveTime,
+        timestamp: message.tsDevice ?? receiveTime,
         frame_id: `pointcloud-${topic}-frame`,
         point_stride: 16,
         pose: {

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

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package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"h264.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h264.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAC3E,OAAO,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACnE,OAAO,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;AAIlE,MAAM,MAAM,aAAa,GAAG,GAAG,CAAC,MAAM,EAAE;IACtC,OAAO,EAAE,YAAY,CAAC;IACtB,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;CAChC,CAAC,CAAC;AA8CH,KAAK,+BAA+B,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,YAAY,GAAG,QAAQ,CAAC;IACjC,aAAa,EAAE,aAAa,CAAC;IAC7B,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,CAAC;AAEF,wBAAsB,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACT,EAAE,+BAA+B,GAAG,OAAO,CAAC,IAAI,CAAC,CAgDjD"}

package/dist/lib/src/messaging/deserialization/video/h264.js.map

@@ -1 +1 @@
-{"version":3,"file":"h264.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h264.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAE/C,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAM9F,OAAO,EAAE,wBAAwB,EAAE,MAAM,iCAAiC,CAAC;AAC3E,OAAO,EAAE,YAAY,EAAE,gBAAgB,EAAE,MAAM,gBAAgB,CAAC;AAahE,SAAS,kBAAkB,CAAC,EAAE,KAAK,EAAE,QAAQ,EAAE,aAAa,EAA0B;IACpF,OAAO,IAAI,YAAY,CAAC;QACtB,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE;YACtB,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,KAAK,CAAC,cAAc,EAAE,CAAC,CAAC;YACtD,MAAM,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;YAE3B,MAAM,WAAW,GACf,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,SAAS,CAAC;;oBAErD,UAAU,CAAC,KAAK,CAAC,SAAS,CAAC,CAAC;YAE9B,MAAM,CAAC,QAAQ,EAAE,IAAI,CAAC,GAAG,gBAAgB,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;YAExD,MAAM,eAAe,GAAa;gBAChC,SAAS,EAAE,WAAW;gBACtB,QAAQ,EAAE,QAAQ,KAAK,QAAQ;gBAC/B,KAAK,EAAE,KAAK,CAAC,YAAY;gBACzB,MAAM,EAAE,KAAK,CAAC,aAAa;gBAC3B,IAAI,EAAE,MAAM;gBACZ,QAAQ;gBACR,IAAI,EAAE,KAAK,CAAC,YAAY,GAAG,IAAI;aAChC,CAAC;YAGF,QAAQ,CAAC;gBACP,KAAK;gBACL,WAAW;gBACX,OAAO,EAAE,eAAe;gBACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;gBAChD,UAAU,EAAE,mBAAmB;aAChC,CAAC,CAAC;YAEH,KAAK,CAAC,KAAK,EAAE,CAAC;QAChB,CAAC;QACD,KAAK,EAAE,OAAO,CAAC,KAAK;KACrB,CAAC,CAAC;AACL,CAAC;AASD,MAAM,CAAC,KAAK,UAAU,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACwB;IAChC,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;IAE9C,MAAM,SAAS,GAAG,wBAAwB,CAAC,cAAc,CAAC,CAAC;IAC3D,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,OAAO;IACT,CAAC;IAED,IAAI,CAAC,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;QAC9B,MAAM,OAAO,GAAG,kBAAkB,CAAC,EAAE,KAAK,EAAE,QAAQ,EAAE,aAAa,EAAE,CAAC,CAAC;QAEvE,OAAO,CAAC,SAAS,CAAC;YAChB,KAAK,EAAE,aAAa;YACpB,kBAAkB,EAAE,IAAI;SACzB,CAAC,CAAC;QAEH,aAAa,CAAC,GAAG,CAAC,KAAK,EAAE;YACvB,OAAO;YACP,MAAM,EAAE,IAAI,GAAG,EAAE;SAClB,CAAC,CAAC;IACL,CAAC;IAED,MAAM,WAAW,GAAG,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC7C,IAAI,CAAC,WAAW,EAAE,CAAC;QACjB,OAAO;IACT,CAAC;IAED,IAAI,WAAW,CAAC,OAAO,CAAC,eAAe,GAAG,EAAE,EAAE,CAAC;QAC7C,WAAW,CAAC,OAAO,CAAC,KAAK,EAAE,CAAC;QAC5B,OAAO;IACT,CAAC;IAED,MAAM,cAAc,GAAG,WAAW,CAAC,GAAG,GAAG,SAAS,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC,IAAI,GAAG,KAAK,CAAC,CAAC;IAC1F,WAAW,CAAC,MAAM,CAAC,GAAG,CAAC,cAAc,EAAE,WAAW,CAAC,CAAC;IAEpD,MAAM,KAAK,GAA0B;QACnC,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,OAAO,CAAC,IAAI;QAClB,SAAS,EAAE,cAAc;KAC1B,CAAC;IAEF,IAAI,CAAC;QACH,MAAM,KAAK,GAAG,IAAI,iBAAiB,CAAC,KAAK,CAAC,CAAC;QAC3C,WAAW,CAAC,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;IACpC,CAAC;IAAC,MAAM,CAAC;QACP,aAAa,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;IAC9B,CAAC;AACH,CAAC"}
+{"version":3,"file":"h264.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h264.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAE/C,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAM9F,OAAO,EAAE,wBAAwB,EAAE,MAAM,iCAAiC,CAAC;AAC3E,OAAO,EAAE,YAAY,EAAE,gBAAgB,EAAE,MAAM,gBAAgB,CAAC;AAahE,SAAS,kBAAkB,CAAC,EAAE,KAAK,EAAE,QAAQ,EAAE,aAAa,EAA0B;IACpF,OAAO,IAAI,YAAY,CAAC;QACtB,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE;YACtB,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,KAAK,CAAC,cAAc,EAAE,CAAC,CAAC;YACtD,MAAM,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;YAE3B,MAAM,WAAW,GACf,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,SAAS,CAAC;;oBAErD,UAAU,CAAC,KAAK,CAAC,SAAS,CAAC,CAAC;YAE9B,MAAM,CAAC,QAAQ,EAAE,IAAI,CAAC,GAAG,gBAAgB,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;YAExD,MAAM,eAAe,GAAa;gBAChC,SAAS,EAAE,WAAW;gBACtB,QAAQ,EAAE,QAAQ,KAAK,QAAQ;gBAC/B,KAAK,EAAE,KAAK,CAAC,YAAY;gBACzB,MAAM,EAAE,KAAK,CAAC,aAAa;gBAC3B,IAAI,EAAE,MAAM;gBACZ,QAAQ;gBACR,IAAI,EAAE,KAAK,CAAC,YAAY,GAAG,IAAI;aAChC,CAAC;YAGF,QAAQ,CAAC;gBACP,KAAK;gBACL,WAAW;gBACX,OAAO,EAAE,eAAe;gBACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;gBAChD,UAAU,EAAE,mBAAmB;aAChC,CAAC,CAAC;YAEH,KAAK,CAAC,KAAK,EAAE,CAAC;QAChB,CAAC;QACD,KAAK,EAAE,OAAO,CAAC,KAAK;KACrB,CAAC,CAAC;AACL,CAAC;AASD,MAAM,CAAC,KAAK,UAAU,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACwB;IAChC,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;IAE9C,MAAM,SAAS,GAAG,wBAAwB,CAAC,cAAc,CAAC,CAAC;IAC3D,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,OAAO;IACT,CAAC;IAED,IAAI,CAAC,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;QAC9B,MAAM,OAAO,GAAG,kBAAkB,CAAC,EAAE,KAAK,EAAE,QAAQ,EAAE,aAAa,EAAE,CAAC,CAAC;QAEvE,OAAO,CAAC,SAAS,CAAC;YAChB,KAAK,EAAE,aAAa;YACpB,kBAAkB,EAAE,IAAI;SACzB,CAAC,CAAC;QAEH,aAAa,CAAC,GAAG,CAAC,KAAK,EAAE;YACvB,OAAO;YACP,MAAM,EAAE,IAAI,GAAG,EAAE;SAClB,CAAC,CAAC;IACL,CAAC;IAED,MAAM,WAAW,GAAG,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC7C,IAAI,CAAC,WAAW,EAAE,CAAC;QACjB,OAAO;IACT,CAAC;IAED,IAAI,WAAW,CAAC,OAAO,CAAC,eAAe,GAAG,EAAE,EAAE,CAAC;QAC7C,WAAW,CAAC,OAAO,CAAC,KAAK,EAAE,CAAC;QAC5B,OAAO;IACT,CAAC;IAED,MAAM,cAAc,GAAG,WAAW,CAAC,GAAG,GAAG,SAAS,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC,IAAI,GAAG,KAAK,CAAC,CAAC;IAC1F,WAAW,CAAC,MAAM,CAAC,GAAG,CAAC,cAAc,EAAE,WAAW,CAAC,CAAC;IAGpD,MAAM,KAAK,GAA0B;QACnC,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,OAAO,CAAC,IAAI;QAClB,SAAS,EAAE,cAAc;KAC1B,CAAC;IAEF,IAAI,CAAC;QACH,MAAM,KAAK,GAAG,IAAI,iBAAiB,CAAC,KAAK,CAAC,CAAC;QAC3C,WAAW,CAAC,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;IACpC,CAAC;IAAC,MAAM,CAAC;QACP,aAAa,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;IAC9B,CAAC;AACH,CAAC"}

package/dist/lib/src/messaging/deserialization.worker.d.ts

@@ -1,16 +1,18 @@
-import { MessageEvent } from "@foxglove/studio-base/players/types";
-import { TopicSizes } from "./deserialization/detections/detection.js";
-import { TopicDecoders } from "./deserialization/video/h264.js";
-import { EncodedFrame } from "../protobuf.generated/EncodedFrame.js";
-import { ImageAnnotations } from "../protobuf.generated/ImageAnnotations.js";
-import { ImgDetections } from "../protobuf.generated/ImgDetections.js";
-import { ImgFrame } from "../protobuf.generated/ImgFrame.js";
-import { PointCloudData } from "../protobuf.generated/PointCloudData.js";
-import { SpatialImgDetections } from "../protobuf.generated/SpatialImgDetections.js";
-import { FoxgloveMessage } from "../connection/communicator";
+import type { MessageEvent } from "@foxglove/studio-base/players/types";
+import { type TopicSizes } from "./deserialization/detections/detection.js";
+import type { NeuralCameraIntrinsics } from "./deserialization/pointcloud/utils.js";
+import { type TopicDecoders } from "./deserialization/video/h264.js";
+import type { FoxgloveMessage } from "../connection/communicator";
+import { type EncodedFrame } from "../protobuf.generated/EncodedFrame.js";
+import type { ImageAnnotations } from "../protobuf.generated/ImageAnnotations.js";
+import type { ImgDetections } from "../protobuf.generated/ImgDetections.js";
+import { type ImgFrame } from "../protobuf.generated/ImgFrame.js";
+import type { PointCloudData } from "../protobuf.generated/PointCloudData.js";
+import type { SpatialImgDetections } from "../protobuf.generated/SpatialImgDetections.js";
 export type DeserializeDepthAiMessageArgs = {
     topic: string;
     topicDecoders: TopicDecoders;
+    neuralCameraIntrinsics: NeuralCameraIntrinsics;
     topicSizes: TopicSizes;
     callback: (event: MessageEvent) => void;
 } & ({
@@ -34,6 +36,8 @@ export type DeserializeDepthAiMessageArgs = {
 });
 export type DeserializationWorkerApi = {
     initCallback: (cb: (event: MessageEvent) => void) => void;
-    handleMessageToDecode: ({ schema, buffer, topic }: FoxgloveMessage) => void;
+    handleMessageToDecode: ({ schema, buffer, topic, neuralCameraIntrinsics }: FoxgloveMessage & {
+        neuralCameraIntrinsics: NeuralCameraIntrinsics;
+    }) => void;
 };
 //# sourceMappingURL=deserialization.worker.d.ts.map

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

@@ -1 +1 @@
-{"version":3,"file":"deserialization.worker.d.ts","sourceRoot":"","sources":["../../../../src/messaging/deserialization.worker.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAGnE,OAAO,EAA4B,UAAU,EAAE,MAAM,2CAA2C,CAAC;AAIjG,OAAO,EAA+B,aAAa,EAAE,MAAM,iCAAiC,CAAC;AAG7F,OAAO,EAAE,YAAY,EAAW,MAAM,uCAAuC,CAAC;AAC9E,OAAO,EAAE,gBAAgB,EAAE,MAAM,2CAA2C,CAAC;AAC7E,OAAO,EAAE,aAAa,EAAE,MAAM,wCAAwC,CAAC;AACvE,OAAO,EAAE,QAAQ,EAAQ,MAAM,mCAAmC,CAAC;AACnE,OAAO,EAAE,cAAc,EAAE,MAAM,yCAAyC,CAAC;AACzE,OAAO,EAAE,oBAAoB,EAAE,MAAM,+CAA+C,CAAC;AACrF,OAAO,EAAE,eAAe,EAAE,MAAM,4BAA4B,CAAC;AAG7D,MAAM,MAAM,6BAA6B,GAAG;IAC1C,KAAK,EAAE,MAAM,CAAC;IACd,aAAa,EAAE,aAAa,CAAC;IAC7B,UAAU,EAAE,UAAU,CAAC;IACvB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,GAAG,CACE;IAAE,IAAI,EAAE,YAAY,CAAC;IAAC,OAAO,EAAE,QAAQ,CAAA;CAAE,GACzC;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,OAAO,EAAE,YAAY,CAAA;CAAE,GAC/C;IAAE,IAAI,EAAE,iBAAiB,CAAC;IAAC,OAAO,EAAE,aAAa,CAAA;CAAE,GACnD;IAAE,IAAI,EAAE,uBAAuB,CAAC;IAAC,OAAO,EAAE,gBAAgB,CAAA;CAAE,GAC5D;IAAE,IAAI,EAAE,wBAAwB,CAAC;IAAC,OAAO,EAAE,oBAAoB,CAAA;CAAE,GACjE;IAAE,IAAI,EAAE,YAAY,CAAC;IAAC,OAAO,EAAE,cAAc,CAAA;CAAE,CAClD,CAAC;AAkGJ,MAAM,MAAM,wBAAwB,GAAG;IACrC,YAAY,EAAE,CAAC,EAAE,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,KAAK,IAAI,CAAC;IAC1D,qBAAqB,EAAE,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAG,EAAE,eAAe,KAAK,IAAI,CAAC;CAC9E,CAAA"}
+{"version":3,"file":"deserialization.worker.d.ts","sourceRoot":"","sources":["../../../../src/messaging/deserialization.worker.ts"],"names":[],"mappings":"AAKA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAGxE,OAAO,EAA4B,KAAK,UAAU,EAAE,MAAM,2CAA2C,CAAC;AAEtG,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,uCAAuC,CAAC;AAGpF,OAAO,EAA+B,KAAK,aAAa,EAAE,MAAM,iCAAiC,CAAC;AAIlG,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,4BAA4B,CAAC;AAClE,OAAO,EAAE,KAAK,YAAY,EAAW,MAAM,uCAAuC,CAAC;AACnF,OAAO,KAAK,EAAE,gBAAgB,EAAE,MAAM,2CAA2C,CAAC;AAClF,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,wCAAwC,CAAC;AAC5E,OAAO,EAAE,KAAK,QAAQ,EAAQ,MAAM,mCAAmC,CAAC;AACxE,OAAO,KAAK,EAAE,cAAc,EAAE,MAAM,yCAAyC,CAAC;AAC9E,OAAO,KAAK,EAAE,oBAAoB,EAAE,MAAM,+CAA+C,CAAC;AAE1F,MAAM,MAAM,6BAA6B,GAAG;IAC1C,KAAK,EAAE,MAAM,CAAC;IACd,aAAa,EAAE,aAAa,CAAC;IAC7B,sBAAsB,EAAE,sBAAsB,CAAC;IAC/C,UAAU,EAAE,UAAU,CAAC;IACvB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,GAAG,CACE;IAAE,IAAI,EAAE,YAAY,CAAC;IAAC,OAAO,EAAE,QAAQ,CAAA;CAAE,GACzC;IAAE,IAAI,EAAE,cAAc,CAAC;IAAC,OAAO,EAAE,YAAY,CAAA;CAAE,GAC/C;IAAE,IAAI,EAAE,iBAAiB,CAAC;IAAC,OAAO,EAAE,aAAa,CAAA;CAAE,GACnD;IAAE,IAAI,EAAE,uBAAuB,CAAC;IAAC,OAAO,EAAE,gBAAgB,CAAA;CAAE,GAC5D;IAAE,IAAI,EAAE,wBAAwB,CAAC;IAAC,OAAO,EAAE,oBAAoB,CAAA;CAAE,GACjE;IAAE,IAAI,EAAE,YAAY,CAAC;IAAC,OAAO,EAAE,cAAc,CAAA;CAAE,CAClD,CAAC;AAmGJ,MAAM,MAAM,wBAAwB,GAAG;IACrC,YAAY,EAAE,CAAC,EAAE,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,KAAK,IAAI,CAAC;IAC1D,qBAAqB,EAAE,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAC,sBAAsB,EAAG,EAAE,eAAe,GAAG;QAAE,sBAAsB,EAAE,sBAAsB,CAAA;KAAE,KAAK,IAAI,CAAC;CAC1J,CAAA"}

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

@@ -9,17 +9,17 @@ import { deserializeColorFrame } from "./deserialization/video/color.js";
 import { deserializeDepthFrame } from "./deserialization/video/depth.js";
 import { deserializeEncodedFrameH264 } from "./deserialization/video/h264.js";
 import { deserializeMJPEGFrame } from "./deserialization/video/mjpeg.js";
+import { protobufsBySchema } from "./protobuf";
 import { parseMessage } from "./utils.js";
 import { Profile } from "../protobuf.generated/EncodedFrame.js";
 import { Type } from "../protobuf.generated/ImgFrame.js";
-import { protobufsBySchema } from "./protobuf";
 const topicDecoders = new Map();
 const topicSizes = new Map();
 let callback;
 function initCallback(cb) {
     callback = cb;
 }
-function handleMessageToDecode({ schema, buffer, topic }) {
+function handleMessageToDecode({ schema, buffer, topic, neuralCameraIntrinsics }) {
     const protobufSchema = protobufsBySchema[schema];
     if (!protobufSchema) {
         console.warn(`Unsupported message schema "${schema}"`);
@@ -33,11 +33,12 @@ function handleMessageToDecode({ schema, buffer, topic }) {
         topicDecoders,
         message,
         callback,
-        type: protobufSchema.type
+        type: protobufSchema.type,
+        neuralCameraIntrinsics
     });
 }
 async function deserializeDepthAiMessage(args) {
-    const { topicDecoders, topicSizes, type, message, callback, topic } = args;
+    const { topicDecoders, topicSizes, type, message, callback, topic, neuralCameraIntrinsics } = args;
     switch (type) {
         case "encodedFrame": {
             topicSizes.set(topic, { width: message.width, height: message.height });
@@ -61,7 +62,7 @@ async function deserializeDepthAiMessage(args) {
                     break;
                 }
                 case Type.RAW16: {
-                    await deserializeDepthFrame({ topic, message, callback });
+                    await deserializeDepthFrame({ topic, message, callback, neuralCameraIntrinsics });
                     break;
                 }
                 default: {

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

@@ -1 +1 @@
-{"version":3,"file":"deserialization.worker.js","sourceRoot":"","sources":["../../../../src/messaging/deserialization.worker.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,OAAO,KAAK,OAAO,MAAM,SAAS,CAAC;AAInC,OAAO,EAAE,8BAA8B,EAAE,MAAM,wCAAwC,CAAC;AACxF,OAAO,EAAE,wBAAwB,EAAc,MAAM,2CAA2C,CAAC;AACjG,OAAO,EAAE,yBAAyB,EAAE,MAAM,6CAA6C,CAAC;AACxF,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,2BAA2B,EAAiB,MAAM,iCAAiC,CAAC;AAC7F,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,YAAY,EAAE,MAAM,YAAY,CAAC;AAC1C,OAAO,EAAgB,OAAO,EAAE,MAAM,uCAAuC,CAAC;AAG9E,OAAO,EAAY,IAAI,EAAE,MAAM,mCAAmC,CAAC;AAInE,OAAO,EAAE,iBAAiB,EAAE,MAAM,YAAY,CAAC;AAgB/C,MAAM,aAAa,GAAkB,IAAI,GAAG,EAAE,CAAC;AAC/C,MAAM,UAAU,GAAe,IAAI,GAAG,EAAE,CAAC;AACzC,IAAI,QAAuC,CAAC;AAE5C,SAAS,YAAY,CAAC,EAAiC;IACrD,QAAQ,GAAG,EAAE,CAAC;AAChB,CAAC;AAED,SAAS,qBAAqB,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAoB;IACxE,MAAM,cAAc,GAAG,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAEjD,IAAI,CAAC,cAAc,EAAE,CAAC;QACpB,OAAO,CAAC,IAAI,CAAC,+BAA+B,MAAM,GAAG,CAAC,CAAC;QACvD,OAAO;IACT,CAAC;IAED,MAAM,WAAW,GAAG,IAAI,UAAU,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,UAAU,EAAE,MAAM,CAAC,UAAU,CAAC,CAAC;IACxF,MAAM,OAAO,GAAG,cAAc,CAAC,OAAO,CAAC,MAAM,CAAC,WAAW,CAAC,CAAC;IAE3D,KAAK,yBAAyB,CAAC;QAC7B,KAAK;QACL,UAAU;QACV,aAAa;QACb,OAAO;QACP,QAAQ;QACR,IAAI,EAAE,cAAc,CAAC,IAAI;KACO,CAAC,CAAC;AACtC,CAAC;AAED,KAAK,UAAU,yBAAyB,CACtC,IAAmC;IAEnC,MAAM,EAAE,aAAa,EAAE,UAAU,EAAE,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,KAAK,EAAE,GAAG,IAAI,CAAC;IAE3E,QAAQ,IAAI,EAAE,CAAC;QACb,KAAK,cAAc,CAAC,CAAC,CAAC;YACpB,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,KAAK,EAAE,OAAO,CAAC,KAAK,EAAE,MAAM,EAAE,OAAO,CAAC,MAAM,EAAE,CAAC,CAAC;YACxE,IAAI,OAAO,CAAC,OAAO,KAAK,OAAO,CAAC,GAAG,EAAE,CAAC;gBACpC,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,CAAC,CAAC;YACjF,CAAC;iBAAM,IAAI,OAAO,CAAC,OAAO,KAAK,OAAO,CAAC,IAAI,EAAE,CAAC;gBAC5C,MAAM,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;YAC5D,CAAC;iBAAM,CAAC;gBACN,kCAAkC;YACpC,CAAC;YACD,MAAM;QACR,CAAC;QACD,KAAK,YAAY,CAAC,CAAC,CAAC;YAClB,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;YACnE,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,KAAK,EAAE,MAAM,EAAE,CAAC,CAAC;YACzC,QAAQ,WAAW,EAAE,CAAC;gBACpB,KAAK,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;oBACpB,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,CAAC,CAAC;oBAC/E,MAAM;gBACR,CAAC;gBACD,KAAK,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;oBAChB,MAAM,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;oBAC1D,MAAM;gBACR,CAAC;gBACD,OAAO,CAAC,CAAC,CAAC;oBACR,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;gBACtD,CAAC;YACH,CAAC;YACD,MAAM;QACR,CAAC;QACD,KAAK,iBAAiB,CAAC,CAAC,CAAC;YACvB,wBAAwB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,CAAC;YACnE,MAAM;QACR,CAAC;QACD,KAAK,uBAAuB,CAAC,CAAC,CAAC;YAC7B,8BAA8B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,CAAC;YACzE,MAAM;QACR,CAAC;QACD,KAAK,wBAAwB,CAAC,CAAC,CAAC;YAC9B,+CAA+C;YAC/C,wBAAwB,CAAC;gBACvB,KAAK;gBACL,UAAU;gBACV,OAAO,EAAE;oBACP,GAAG,OAAO;oBACV,UAAU,EAAE,OAAO,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,SAAU,CAAC;iBAC1E;gBACD,QAAQ;aACT,CAAC,CAAC;YACH,MAAM;QACR,CAAC;QACD,KAAK,YAAY,CAAC,CAAC,CAAC;YAClB,yBAAyB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;YACxD,MAAM;QACR,CAAC;QACD,OAAO,CAAC,CAAC,CAAC;YACR,OAAO,CAAC,IAAI,CAAC,8CAA8C,IAAI,GAAG,CAAC,CAAC;YACpE,MAAM;QACR,CAAC;IACH,CAAC;AACH,CAAC;AAOD,OAAO,CAAC,MAAM,CAAC,EAAE,YAAY,EAAE,qBAAqB,EAAE,CAAC,CAAC"}
+{"version":3,"file":"deserialization.worker.js","sourceRoot":"","sources":["../../../../src/messaging/deserialization.worker.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,OAAO,KAAK,OAAO,MAAM,SAAS,CAAC;AAInC,OAAO,EAAE,8BAA8B,EAAE,MAAM,wCAAwC,CAAC;AACxF,OAAO,EAAE,wBAAwB,EAAmB,MAAM,2CAA2C,CAAC;AACtG,OAAO,EAAE,yBAAyB,EAAE,MAAM,6CAA6C,CAAC;AAExF,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,2BAA2B,EAAsB,MAAM,iCAAiC,CAAC;AAClG,OAAO,EAAE,qBAAqB,EAAE,MAAM,kCAAkC,CAAC;AACzE,OAAO,EAAE,iBAAiB,EAAE,MAAM,YAAY,CAAC;AAC/C,OAAO,EAAE,YAAY,EAAE,MAAM,YAAY,CAAC;AAE1C,OAAO,EAAqB,OAAO,EAAE,MAAM,uCAAuC,CAAC;AAGnF,OAAO,EAAiB,IAAI,EAAE,MAAM,mCAAmC,CAAC;AAmBxE,MAAM,aAAa,GAAkB,IAAI,GAAG,EAAE,CAAC;AAC/C,MAAM,UAAU,GAAe,IAAI,GAAG,EAAE,CAAC;AACzC,IAAI,QAAuC,CAAC;AAE5C,SAAS,YAAY,CAAC,EAAiC;IACrD,QAAQ,GAAG,EAAE,CAAC;AAChB,CAAC;AAED,SAAS,qBAAqB,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAC,sBAAsB,EAAyE;IACpJ,MAAM,cAAc,GAAG,iBAAiB,CAAC,MAAM,CAAC,CAAC;IAEjD,IAAI,CAAC,cAAc,EAAE,CAAC;QACpB,OAAO,CAAC,IAAI,CAAC,+BAA+B,MAAM,GAAG,CAAC,CAAC;QACvD,OAAO;IACT,CAAC;IAED,MAAM,WAAW,GAAG,IAAI,UAAU,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,UAAU,EAAE,MAAM,CAAC,UAAU,CAAC,CAAC;IACxF,MAAM,OAAO,GAAG,cAAc,CAAC,OAAO,CAAC,MAAM,CAAC,WAAW,CAAC,CAAC;IAE3D,KAAK,yBAAyB,CAAC;QAC7B,KAAK;QACL,UAAU;QACV,aAAa;QACb,OAAO;QACP,QAAQ;QACR,IAAI,EAAE,cAAc,CAAC,IAAI;QACzB,sBAAsB;KACU,CAAC,CAAC;AACtC,CAAC;AAED,KAAK,UAAU,yBAAyB,CACtC,IAAmC;IAEnC,MAAM,EAAE,aAAa,EAAE,UAAU,EAAE,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,KAAK,EAAC,sBAAsB,EAAE,GAAG,IAAI,CAAC;IAElG,QAAQ,IAAI,EAAE,CAAC;QACb,KAAK,cAAc,CAAC,CAAC,CAAC;YACpB,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,KAAK,EAAE,OAAO,CAAC,KAAK,EAAE,MAAM,EAAE,OAAO,CAAC,MAAM,EAAE,CAAC,CAAC;YACxE,IAAI,OAAO,CAAC,OAAO,KAAK,OAAO,CAAC,GAAG,EAAE,CAAC;gBACpC,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,CAAC,CAAC;YACjF,CAAC;iBAAM,IAAI,OAAO,CAAC,OAAO,KAAK,OAAO,CAAC,IAAI,EAAE,CAAC;gBAC5C,MAAM,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;YAC5D,CAAC;iBAAM,CAAC;gBACN,kCAAkC;YACpC,CAAC;YACD,MAAM;QACR,CAAC;QACD,KAAK,YAAY,CAAC,CAAC,CAAC;YAClB,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,IAAI,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;YACnE,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,EAAE,KAAK,EAAE,MAAM,EAAE,CAAC,CAAC;YACzC,QAAQ,WAAW,EAAE,CAAC;gBACpB,KAAK,IAAI,CAAC,SAAS,CAAC,CAAC,CAAC;oBACpB,MAAM,2BAA2B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,aAAa,EAAE,QAAQ,EAAE,CAAC,CAAC;oBAC/E,MAAM;gBACR,CAAC;gBACD,KAAK,IAAI,CAAC,KAAK,CAAC,CAAC,CAAC;oBAChB,MAAM,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAC,sBAAsB,EAAE,CAAC,CAAC;oBACjF,MAAM;gBACR,CAAC;gBACD,OAAO,CAAC,CAAC,CAAC;oBACR,qBAAqB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;gBACtD,CAAC;YACH,CAAC;YACD,MAAM;QACR,CAAC;QACD,KAAK,iBAAiB,CAAC,CAAC,CAAC;YACvB,wBAAwB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,CAAC;YACnE,MAAM;QACR,CAAC;QACD,KAAK,uBAAuB,CAAC,CAAC,CAAC;YAC7B,8BAA8B,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,UAAU,EAAE,CAAC,CAAC;YACzE,MAAM;QACR,CAAC;QACD,KAAK,wBAAwB,CAAC,CAAC,CAAC;YAC9B,+CAA+C;YAC/C,wBAAwB,CAAC;gBACvB,KAAK;gBACL,UAAU;gBACV,OAAO,EAAE;oBACP,GAAG,OAAO;oBACV,UAAU,EAAE,OAAO,CAAC,UAAU,CAAC,GAAG,CAAC,CAAC,UAAU,EAAE,EAAE,CAAC,UAAU,CAAC,SAAU,CAAC;iBAC1E;gBACD,QAAQ;aACT,CAAC,CAAC;YACH,MAAM;QACR,CAAC;QACD,KAAK,YAAY,CAAC,CAAC,CAAC;YAClB,yBAAyB,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,QAAQ,EAAE,CAAC,CAAC;YACxD,MAAM;QACR,CAAC;QACD,OAAO,CAAC,CAAC,CAAC;YACR,OAAO,CAAC,IAAI,CAAC,8CAA8C,IAAI,GAAG,CAAC,CAAC;YACpE,MAAM;QACR,CAAC;IACH,CAAC;AACH,CAAC;AAOD,OAAO,CAAC,MAAM,CAAC,EAAE,YAAY,EAAE,qBAAqB,EAAE,CAAC,CAAC"}

package/dist/lib/src/messaging/message-handler.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"message-handler.d.ts","sourceRoot":"","sources":["../../../../src/messaging/message-handler.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAKnE,OAAO,EAAE,eAAe,EAAE,MAAM,+BAA+B,CAAC;AAEhE,MAAM,MAAM,cAAc,GAAG;IAC3B,MAAM,EAAE,CAAC,OAAO,EAAE,eAAe,KAAK,IAAI,CAAC;CAC5C,CAAC;AAYF,wBAAgB,oBAAoB,CAAC,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,GAAG,cAAc,CAgB5F"}
+{"version":3,"file":"message-handler.d.ts","sourceRoot":"","sources":["../../../../src/messaging/message-handler.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAKnE,OAAO,EAAE,eAAe,EAAE,MAAM,+BAA+B,CAAC;AAGhE,MAAM,MAAM,cAAc,GAAG;IAC3B,MAAM,EAAE,CAAC,OAAO,EAAE,eAAe,KAAK,IAAI,CAAC;CAC5C,CAAC;AAaF,wBAAgB,oBAAoB,CAAC,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,GAAG,cAAc,CAgB5F"}

package/dist/lib/src/messaging/message-handler.js

@@ -7,6 +7,7 @@ function initWorker(callback) {
     workerWrap.initCallback(Comlink.proxy(callback));
     return workerWrap;
 }
+const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
 export function createMessageHandler(callback) {
     const workerPool = new Map();
     return {
@@ -17,7 +18,7 @@ export function createMessageHandler(callback) {
                 worker = newWorker;
                 workerPool.set(topic, newWorker);
             }
-            worker.handleMessageToDecode({ schema, buffer, topic });
+            worker.handleMessageToDecode({ schema, buffer, topic, neuralCameraIntrinsics });
         }),
     };
 }

package/dist/lib/src/messaging/message-handler.js.map

@@ -1 +1 @@
-{"version":3,"file":"message-handler.js","sourceRoot":"","sources":["../../../../src/messaging/message-handler.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,OAAO,MAAM,SAAS,CAAC;AAYnC,SAAS,UAAU,CAAC,QAAuC;IACzD,MAAM,UAAU,GAA6B,OAAO,CAAC,IAAI,CACvD,IAAI,MAAM,CAAC,IAAI,GAAG,CAAC,0BAA0B,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,iBAAiB,EAAE,CAAC,CAC9G,CAAC;IAEF,UAAU,CAAC,YAAY,CAAC,OAAO,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;IAEjD,OAAO,UAAU,CAAC;AACpB,CAAC;AAED,MAAM,UAAU,oBAAoB,CAAC,QAAuC;IAC1E,MAAM,UAAU,GAA0C,IAAI,GAAG,EAAE,CAAC;IAEpE,OAAO;QACL,MAAM,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,EAAE,EAAE;YACrC,IAAI,MAAM,GAAG,UAAU,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;YAEnC,IAAI,CAAC,MAAM,EAAE,CAAC;gBACZ,MAAM,SAAS,GAAG,UAAU,CAAC,QAAQ,CAAC,CAAC;gBACvC,MAAM,GAAG,SAAS,CAAC;gBACnB,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,SAAS,CAAC,CAAC;YACnC,CAAC;YAED,MAAO,CAAC,qBAAqB,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,CAAC,CAAC;QAC3D,CAAC,CAA6B;KAC/B,CAAC;AACJ,CAAC"}
+{"version":3,"file":"message-handler.js","sourceRoot":"","sources":["../../../../src/messaging/message-handler.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,OAAO,MAAM,SAAS,CAAC;AAanC,SAAS,UAAU,CAAC,QAAuC;IACzD,MAAM,UAAU,GAA6B,OAAO,CAAC,IAAI,CACvD,IAAI,MAAM,CAAC,IAAI,GAAG,CAAC,0BAA0B,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,EAAE,iBAAiB,EAAE,CAAC,CAC9G,CAAC;IAEF,UAAU,CAAC,YAAY,CAAC,OAAO,CAAC,KAAK,CAAC,QAAQ,CAAC,CAAC,CAAC;IAEjD,OAAO,UAAU,CAAC;AACpB,CAAC;AAED,MAAM,sBAAsB,GAAI,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,OAAO,CAAC,wBAAwB,CAAC,IAAI,IAAI,CAA0B,CAAC;AAC5H,MAAM,UAAU,oBAAoB,CAAC,QAAuC;IAC1E,MAAM,UAAU,GAA0C,IAAI,GAAG,EAAE,CAAC;IAEpE,OAAO;QACL,MAAM,EAAE,CAAC,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAE,EAAE,EAAE;YACrC,IAAI,MAAM,GAAG,UAAU,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;YAEnC,IAAI,CAAC,MAAM,EAAE,CAAC;gBACZ,MAAM,SAAS,GAAG,UAAU,CAAC,QAAQ,CAAC,CAAC;gBACvC,MAAM,GAAG,SAAS,CAAC;gBACnB,UAAU,CAAC,GAAG,CAAC,KAAK,EAAE,SAAS,CAAC,CAAC;YACnC,CAAC;YAED,MAAO,CAAC,qBAAqB,CAAC,EAAE,MAAM,EAAE,MAAM,EAAE,KAAK,EAAC,sBAAsB,EAAE,CAAC,CAAC;QAClF,CAAC,CAA6B;KAC/B,CAAC;AACJ,CAAC"}

package/dist/lib/src/utils/poitcloud-sync.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"poitcloud-sync.d.ts","sourceRoot":"","sources":["../../../../src/utils/poitcloud-sync.ts"],"names":[],"mappings":"AAGA,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,0CAA0C,CAAC;AAEzF,qBAAa,sBAAsB;;IA+B1B,YAAY,EAAE,wBAAwB,EAAE,CAAM;IAE9C,QAAQ,CAAC,IAAI,EAAC,MAAM,GAAG,wBAAwB,GAAG,IAAI;IAatD,QAAQ,CAAC,KAAK,EAAE,wBAAwB,GAAG,IAAI;CAOvD"}
+{"version":3,"file":"poitcloud-sync.d.ts","sourceRoot":"","sources":["../../../../src/utils/poitcloud-sync.ts"],"names":[],"mappings":"AAGA,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,0CAA0C,CAAC;AAEzF,qBAAa,sBAAsB;;IAwC1B,YAAY,EAAE,wBAAwB,EAAE,CAAM;IAG9C,QAAQ,CAAC,IAAI,EAAC,MAAM,GAAG,wBAAwB,GAAG,IAAI;IAsBtD,QAAQ,CAAC,KAAK,EAAE,wBAAwB,GAAG,IAAI;CAOvD"}

package/dist/lib/src/utils/poitcloud-sync.js

@@ -15,7 +15,10 @@ export class PoitCloudSyncFramework {
             // biome-ignore lint/style/noNonNullAssertion: 
             const midKey = arr[mid].timestamp.nsec;
             if (midKey === targetKey) {
-                return { res: bestMatch, index: left };
+                if ((Math.abs(midKey - targetKey) / 10 ** 9) < this.#MAX_DELAY_SEC) {
+                    return { res: bestMatch, index: left };
+                }
+                return { res: null, index: mid };
             }
             if (midKey < targetKey) {
                 bestMatch = arr[mid];
@@ -25,10 +28,14 @@ export class PoitCloudSyncFramework {
                 right = mid - 1;
             }
         }
-        return { res: bestMatch, index: left };
+        if (bestMatch && (Math.abs(bestMatch.timestamp.nsec - targetKey) / 10 ** 9) < this.#MAX_DELAY_SEC) {
+            return { res: bestMatch, index: left };
+        }
+        return { res: null, index: left };
     }
     storedFrames = [];
-    #MAX_STORED_FRAMES = 10;
+    #MAX_DELAY_SEC = 0.01;
+    #MAX_STORED_FRAMES = 15;
     getFrame(nsec) {
         const { res, index = 0 } = this.#binarySearch(this.storedFrames, nsec);
         // cleans the array
@@ -38,8 +45,14 @@ export 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) {