@luxonis/visualizer-protobuf 2.18.0 → 2.19.0

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

@@ -1,178 +1,13 @@
 // This Source Code Form is subject to the terms of the Mozilla Public
 // License, v2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
-/* eslint-disable no-underscore-dangle */
 import { NumericType } from "@foxglove/schemas";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
 import { parseMessage } from "../../utils.js";
-import { uint8ArrayToUint16Array } from "../pointcloud/utils.js";
-const shader = `
-@group(0) @binding(0) var<storage, read> depthBuffer: array<u32>; // Uint16 stored as u32
-@group(0) @binding(1) var<storage, read> intrinsicsBuffer: array<f32>;
-@group(0) @binding(2) var<storage, read_write> xyzColorBuffer: array<u32>; // Stores XYZ + RGBA
-
-@compute @workgroup_size(256, 1, 1)
-fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
-    let i = global_id.x;
-    let fx = intrinsicsBuffer[0];
-    let fy = intrinsicsBuffer[1];
-    let cx = intrinsicsBuffer[2];
-    let cy = intrinsicsBuffer[3];
-    let scale = intrinsicsBuffer[4];
-    let width = intrinsicsBuffer[5];
-    let height = intrinsicsBuffer[6];
-
-    if (i >= u32(width * height)) { return; }
-
-    let u = i % u32(width);
-    let v = i / u32(width);
-
-    // Convert uint16 depth value to float (stored as u32, so we bitwise mask)
-    let rawDepth = depthBuffer[i] & 0xFFFFu;
-    let z = f32(rawDepth) * scale;
-
-    let x = (cx - f32(u)) * z / fx;
-    let y = (cy - f32(v)) * z / fy;
-
-    let base = i * 4u; // 4 values per point (X, Y, Z, Color)
-
-    // Convert floats to u32 representation for storage
-    xyzColorBuffer[base] = bitcast<u32>(x);
-    xyzColorBuffer[base + 1u] = bitcast<u32>(y);
-    xyzColorBuffer[base + 2u] = bitcast<u32>(z);
-
-    // Example: RGB set based on depth, Alpha is fixed at 255
-    let r = u32(clamp(z * 255.0, 0.0, 255.0));
-    let g = u32(clamp(y * 255.0, 0.0, 255.0));
-    let b = u32(clamp(x * 255.0, 0.0, 255.0));
-    xyzColorBuffer[base + 3u] = (r & 0xFFu) | ((g & 0xFFu) << 8) | ((b & 0xFFu) << 16) | (255u << 24);
-}
-`;
-async function depthToPointcloudGPU(depthArray, width, height, fx, fy, cx, cy) {
-    // eslint-disable-next-line @typescript-eslint/no-unnecessary-condition
-    if (!navigator.gpu) {
-        console.warn("WebGPU not supported.");
-        return depthToPointCloudBuffer(depthArray, width, height, fx, fy, cx, cy);
-    }
-    const adapter = await navigator.gpu.requestAdapter();
-    if (!adapter) {
-        console.warn("Couldn't request WebGPU adapter.");
-        return depthToPointCloudBuffer(depthArray, width, height, fx, fy, cx, cy);
-    }
-    const device = await adapter.requestDevice();
-    const queue = device.queue;
-    const scale = 1.0;
-    const numPixels = width * height;
-    const outputSize = numPixels * 16;
-    const depthData32 = new Uint32Array(depthArray);
-    const intrinsics = new Float32Array([fx, fy, cx, cy, scale, width, height]);
-    const depthBuffer = device.createBuffer({
-        size: depthData32.byteLength,
-        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
-    });
-    const intrinsicsBuffer = device.createBuffer({
-        size: intrinsics.byteLength,
-        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
-    });
-    const xyzColorBuffer = device.createBuffer({
-        size: outputSize,
-        usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_SRC,
-    });
-    queue.writeBuffer(depthBuffer, 0, depthData32);
-    queue.writeBuffer(intrinsicsBuffer, 0, intrinsics);
-    const bindGroupLayout = device.createBindGroupLayout({
-        entries: [
-            { binding: 0, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
-            { binding: 1, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
-            { binding: 2, visibility: GPUShaderStage.COMPUTE, buffer: { type: "storage" } },
-        ],
-    });
-    const bindGroup = device.createBindGroup({
-        layout: bindGroupLayout,
-        entries: [
-            { binding: 0, resource: { buffer: depthBuffer } },
-            { binding: 1, resource: { buffer: intrinsicsBuffer } },
-            { binding: 2, resource: { buffer: xyzColorBuffer } },
-        ],
-    });
-    const shaderModule = device.createShaderModule({
-        code: shader
-    });
-    const pipeline = device.createComputePipeline({
-        layout: device.createPipelineLayout({ bindGroupLayouts: [bindGroupLayout] }),
-        compute: { module: shaderModule, entryPoint: "main" },
-    });
-    const commandEncoder = device.createCommandEncoder();
-    const passEncoder = commandEncoder.beginComputePass();
-    passEncoder.setPipeline(pipeline);
-    passEncoder.setBindGroup(0, bindGroup);
-    passEncoder.dispatchWorkgroups(Math.ceil(numPixels / 256));
-    passEncoder.end();
-    device.queue.submit([commandEncoder.finish()]);
-    const outputBuffer = device.createBuffer({
-        size: xyzColorBuffer.size,
-        usage: GPUBufferUsage.COPY_DST | GPUBufferUsage.MAP_READ,
-    });
-    const copyEncoder = device.createCommandEncoder();
-    copyEncoder.copyBufferToBuffer(xyzColorBuffer, 0, outputBuffer, 0, xyzColorBuffer.size);
-    device.queue.submit([copyEncoder.finish()]);
-    // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
-    await outputBuffer.mapAsync(GPUMapMode.READ);
-    const mappedRange = outputBuffer.getMappedRange();
-    const result = new Uint8Array(mappedRange.byteLength);
-    result.set(new Uint8Array(mappedRange));
-    outputBuffer.unmap();
-    return result;
-}
-function depthToPointCloudBuffer(uint16Array, width, height, fx, fy, cx, cy) {
-    const depthData = Array.from({ length: height }, () => new Array(width));
-    for (let v = 0; v < height; v++) {
-        depthData[v] = depthData[v] ?? [];
-        for (let u = 0; u < width; u++) {
-            const d = uint16Array[v * width + u] ?? -1;
-            depthData[v][u] = d > 0 ? d : -1;
-        }
-    }
-    const points = [];
-    // Accumulate the x, y, z values for each pixel.
-    for (let v = 0; v < height; v++) {
-        const row = depthData[v];
-        if (!row) {
-            continue;
-        }
-        for (let u = 0; u < width; u++) {
-            const z = row[u] ?? 0;
-            const x = (cx - u) * z / fx;
-            const y = (cy - v) * z / fy;
-            points.push(x, y, z);
-        }
-    }
-    const pointCount = points.length / 3;
-    const buffer = new ArrayBuffer(pointCount * 16);
-    const view = new DataView(buffer);
-    for (let i = 0; i < pointCount; i++) {
-        const offset = i * 16;
-        view.setFloat32(offset, points[i * 3] ?? 0, true); //X
-        view.setFloat32(offset + 4, points[i * 3 + 1] ?? 0, true); //Y
-        view.setFloat32(offset + 8, points[i * 3 + 2] ?? 0, true); //Z
-        view.setUint8(offset + 12, 0); // R
-        view.setUint8(offset + 13, 0); // G
-        view.setUint8(offset + 14, 0); // B
-        view.setUint8(offset + 15, 255); // A
-    }
-    return new Uint8Array(buffer);
-}
 export async function deserializeDepthFrame({ topic, message, callback }) {
     const { receiveTime, width, height } = parseMessage(message);
-    const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
-    const uint16Array = uint8ArrayToUint16Array(message.data);
-    const fx = neuralCameraIntrinsics.right.focalLenght.x;
-    const fy = neuralCameraIntrinsics.right.focalLenght.y;
-    const cx = neuralCameraIntrinsics.right.principalPoint.x;
-    const cy = neuralCameraIntrinsics.right.principalPoint.y;
-    const pointCloudBufferGPU = depthToPointcloudGPU(uint16Array, width, height, fx, fy, cx, cy);
     const foxgloveMessage = {
-        timestamp: receiveTime,
+        timestamp: message.tsDevice ?? receiveTime,
         frame_id: `pointcloud-${topic}-frame`,
         point_stride: 16,
         pose: {
@@ -190,7 +25,7 @@ export async function deserializeDepthFrame({ topic, message, callback }) {
             { name: "blue", offset: 14, type: NumericType.UINT8 },
             { name: "alpha", offset: 15, type: NumericType.UINT8 },
         ],
-        data: await pointCloudBufferGPU
+        data: message.data
     };
     callback({
         topic,

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

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

@@ -1 +1 @@
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+{"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

@@ -9,10 +9,10 @@ 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;
@@ -33,7 +33,7 @@ function handleMessageToDecode({ schema, buffer, topic }) {
         topicDecoders,
         message,
         callback,
-        type: protobufSchema.type
+        type: protobufSchema.type,
     });
 }
 async function deserializeDepthAiMessage(args) {
@@ -61,6 +61,7 @@ async function deserializeDepthAiMessage(args) {
                     break;
                 }
                 case Type.RAW16: {
+                    // Used for point cloud
                     await deserializeDepthFrame({ topic, message, callback });
                     break;
                 }

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

@@ -1 +1 @@
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+{"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,EAAmB;IACvE,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,EAAC,GAAG,IAAI,CAAC;IAE1E,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,uBAAuB;oBACvB,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"}

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/panels/ImagePanel.js

@@ -5,7 +5,7 @@ import { jsx as _jsx } from "react/jsx-runtime";
 import React from "react";
 import { Panel, useDetections } from "../components/Panel.js";
 import { createRenderDelaySampler } from "../components/measure-render-delay";
-import { MetricsManager } from "../utils/metrics-manager";
+import { EventMetricsManager } from "../utils/metrics-manager";
 const ImagePanelComponent = React.lazy(async () => await import("@foxglove/studio-base/panels/Image"));
 const ImagePanelBody = ({ topic, frameRenderedEvent }) => {
     const { detections } = useDetections();
@@ -27,7 +27,7 @@ export const ImagePanel = React.memo(function ImagePanel(props) {
     const [renderedFps, setRenderedFps] = React.useState(undefined);
     const { averageFrameDelay, addFrameTime } = createRenderDelaySampler();
     React.useEffect(() => {
-        renderedFpsMetricsManagerRef.current = new MetricsManager();
+        renderedFpsMetricsManagerRef.current = new EventMetricsManager();
     }, []);
     // biome-ignore lint/correctness/useExhaustiveDependencies: <explanation>
     React.useEffect(() => {

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

@@ -1 +1 @@
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+{"version":3,"file":"ImagePanel.js","sourceRoot":"","sources":["../../../../src/panels/ImagePanel.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAE,KAAK,EAAmB,aAAa,EAAE,MAAM,wBAAwB,CAAC;AAC/E,OAAO,EAAE,wBAAwB,EAAE,MAAM,oCAAoC,CAAC;AAC9E,OAAO,EAAE,mBAAmB,EAAE,MAAM,0BAA0B,CAAC;AAE/D,MAAM,mBAAmB,GAAG,KAAK,CAAC,IAAI,CACpC,KAAK,IAAI,EAAE,CAAC,MAAM,MAAM,CAAC,oCAAoC,CAAC,CAC/D,CAAC;AAOF,MAAM,cAAc,GAAkC,CAAC,EAAE,KAAK,EAAE,kBAAkB,EAAE,EAAE,EAAE;IACtF,MAAM,EAAE,UAAU,EAAE,GAAG,aAAa,EAAE,CAAC;IAEvC,MAAM,aAAa,GAAG,KAAK,CAAC,OAAO,CACjC,GAAG,EAAE,CAAC,CAAC;QACL,SAAS,EAAE;YACT,UAAU,EAAE,KAAK;YACjB,WAAW,EAAE,IAAI;YACjB,WAAW,EAAE,MAAM,CAAC,WAAW,CAC7B,UAAU,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC;gBAC5B,SAAS,CAAC,IAAI,EAAE,EAAE;gBAClB,EAAE,OAAO,EAAE,SAAS,CAAC,OAAO,EAAE;aAC/B,CAAC,CACH;YACD,SAAS,EAAE,UAAmB;SAC/B;KACF,CAAC,EACF,CAAC,UAAU,EAAE,KAAK,CAAC,CACpB,CAAC;IAEF,OAAO,KAAC,mBAAmB,IAAC,cAAc,EAAE,aAAa,EAAE,kBAAkB,EAAE,kBAAkB,GAAI,CAAC;AACxG,CAAC,CAAC;AAIF,MAAM,CAAC,MAAM,UAAU,GAAG,KAAK,CAAC,IAAI,CAAC,SAAS,UAAU,CAAC,KAAsB;IAC7E,MAAM,4BAA4B,GAAG,KAAK,CAAC,MAAM,CAAsB,IAAI,CAAC,CAAC;IAC7E,MAAM,CAAC,WAAW,EAAE,cAAc,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAqB,SAAS,CAAC,CAAC;IAEpF,MAAM,EAAE,iBAAiB,EAAE,YAAY,EAAE,GAAG,wBAAwB,EAAE,CAAC;IAEvE,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,4BAA4B,CAAC,OAAO,GAAG,IAAI,mBAAmB,EAAE,CAAC;IACnE,CAAC,EAAE,EAAE,CAAC,CAAC;IAEP,yEAAyE;IACzE,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,MAAM,QAAQ,GAAG,WAAW,CAAC,GAAG,EAAE;YAChC,IAAI,CAAC,4BAA4B,CAAC,OAAO,EAAE,CAAC;gBAC1C,OAAO,CAAC,IAAI,CAAC,sCAAsC,CAAC,CAAC;gBACrD,OAAO;YACT,CAAC;YAED,cAAc,CAAC,4BAA4B,CAAC,OAAO,CAAC,SAAS,CAAC,QAAQ,CAAC,CAAC,CAAC;QAC3E,CAAC,EAAE,GAAG,CAAC,CAAC;QAER,OAAO,GAAG,EAAE;YACV,aAAa,CAAC,QAAQ,CAAC,CAAC;QAC1B,CAAC,CAAC;IACJ,CAAC,EAAE,CAAC,4BAA4B,CAAC,CAAC,CAAC;IAEnC,MAAM,mBAAmB,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,SAAiB,EAAE,EAAE;QAClE,4BAA4B,CAAC,OAAO,EAAE,aAAa,CAAC,QAAQ,CAAC,CAAC;QAC9D,YAAY,CAAC,SAAS,CAAC,CAAC;IAC1B,CAAC,EAAE,CAAC,YAAY,CAAC,CAAC,CAAC;IAEnB,OAAO,CACL,KAAC,KAAK,IAAC,IAAI,EAAC,OAAO,KAAK,KAAK,EAAE,WAAW,EAAE,KAAK,CAAC,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,iBAAiB,YACrH,KAAC,cAAc,IAAC,KAAK,EAAE,KAAK,CAAC,KAAK,EAAE,kBAAkB,EAAE,mBAAmB,GAAI,GACzE,CACT,CAAC;AACJ,CAAC,CAAC,CAAC"}

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

@@ -5,7 +5,7 @@ import { jsx as _jsx } from "react/jsx-runtime";
 import React from "react";
 import { Panel } from "../components/Panel.js";
 import { createRenderDelaySampler } from "../components/measure-render-delay.js";
-import { MetricsManager } from "../utils/metrics-manager.js";
+import { EventMetricsManager } from "../utils/metrics-manager.js";
 const ThreeDeeRenderComponent = React.lazy(async () => await import("@foxglove/studio-base/panels/ThreeDeeRender"));
 const PointCloudPanelBody = ({ topic, frameRenderedEvent }) => {
     const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
@@ -44,7 +44,7 @@ export const PointCloudPanel = React.memo(function PointCloudPanel({ topic, togg
     const [renderedFps, setRenderedFps] = React.useState(undefined);
     const { averageFrameDelay, addFrameTime } = createRenderDelaySampler();
     React.useEffect(() => {
-        renderedFpsMetricsManagerRef.current = new MetricsManager();
+        renderedFpsMetricsManagerRef.current = new EventMetricsManager();
     }, []);
     // biome-ignore lint/correctness/useExhaustiveDependencies: <explanation>
     React.useEffect(() => {

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

@@ -1 +1 @@
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+{"version":3,"file":"PointCloudPanel.js","sourceRoot":"","sources":["../../../../src/panels/PointCloudPanel.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAE1B,OAAO,EAAE,KAAK,EAAE,MAAM,wBAAwB,CAAC;AAC/C,OAAO,EAAE,wBAAwB,EAAE,MAAM,uCAAuC,CAAC;AAEjF,OAAO,EAAE,mBAAmB,EAAE,MAAM,6BAA6B,CAAC;AAElE,MAAM,uBAAuB,GAAG,KAAK,CAAC,IAAI,CACxC,KAAK,IAAI,EAAE,CAAC,MAAM,MAAM,CAAC,6CAA6C,CAAC,CACxE,CAAC;AAMF,MAAM,mBAAmB,GAA4F,CAAC,EAAE,KAAK,EAAE,kBAAkB,EAAE,EAAE,EAAE;IACrJ,MAAM,sBAAsB,GAAG,IAAI,CAAC,KAAK,CAAC,YAAY,CAAC,OAAO,CAAC,wBAAwB,CAAC,IAAI,IAAI,CAA2B,CAAC;IAC5H,MAAM,IAAI,GAAG,CAAC,GAAG,IAAI,CAAC,IAAI,CACxB,CAAC,sBAAsB,CAAC,KAAK,CAAC,cAAc,CAAC,CAAC,CAAC,GAAG,CAAC,sBAAsB,CAAC,KAAK,CAAC,WAAW,CAAC,CAAC,CAAC,CAC/F,GAAG,CAAC,GAAG,GAAG,IAAI,CAAC,EAAE,CAAC,CAAC;IACpB,MAAM,aAAa,GAAG,KAAK,CAAC,OAAO,CACjC,GAAG,EAAE,CAAC,CAAC;QACL,MAAM,EAAE;YACN,CAAC,KAAK,CAAC,EAAE;gBACP,QAAQ,EAAE,IAAI;gBACd,QAAQ,EAAE,CAAC;gBACX,SAAS,EAAE,CAAC;gBACZ,UAAU,EAAE,QAAQ;gBACpB,OAAO,EAAE,IAAI;aACd;SACF;QACD,WAAW,EAAE;YACX,QAAQ,EAAE,CAAC,IAAI;YACf,WAAW,EAAE,IAAI;YACjB,GAAG,EAAE,CAAC;YACN,MAAM,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;YACjB,YAAY,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;YACvB,iBAAiB,EAAE,CAAC,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,CAAC;YAC/B,WAAW,EAAE,CAAC;YACd,uEAAuE;YACvE,IAAI,EAAE,IAAI,IAAI,EAAE;YAChB,IAAI,EAAE,GAAG;YACT,GAAG,EAAE,KAAK;SACX;QACD,SAAS,EAAE;YACT,SAAS,EAAE,aAAsB;SAClC;KACF,CAAC,EACF,CAAC,IAAI,EAAE,KAAK,CAAC,CACd,CAAC;IAEF,OAAO,KAAC,uBAAuB,IAAC,cAAc,EAAE,aAAa,EAAE,kBAAkB,EAAE,kBAAkB,GAAI,CAAC;AAC5G,CAAC,CAAC;AAEF,MAAM,CAAC,MAAM,eAAe,GAAG,KAAK,CAAC,IAAI,CAAC,SAAS,eAAe,CAAC,EACjE,KAAK,EACL,WAAW,EACX,gBAAgB,EAChB,SAAS,EACsG;IAE/G,MAAM,4BAA4B,GAAG,KAAK,CAAC,MAAM,CAAsB,IAAI,CAAC,CAAC;IAC7E,MAAM,CAAC,WAAW,EAAE,cAAc,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAqB,SAAS,CAAC,CAAC;IAEpF,MAAM,EAAE,iBAAiB,EAAE,YAAY,EAAE,GAAG,wBAAwB,EAAE,CAAC;IAEvE,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,4BAA4B,CAAC,OAAO,GAAG,IAAI,mBAAmB,EAAE,CAAC;IACnE,CAAC,EAAE,EAAE,CAAC,CAAC;IAEP,yEAAyE;IACzE,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,MAAM,QAAQ,GAAG,WAAW,CAAC,GAAG,EAAE;YAChC,IAAI,CAAC,4BAA4B,CAAC,OAAO,EAAE,CAAC;gBAC1C,OAAO,CAAC,IAAI,CAAC,sCAAsC,CAAC,CAAC;gBACrD,OAAO;YACT,CAAC;YAED,cAAc,CAAC,4BAA4B,CAAC,OAAO,CAAC,SAAS,CAAC,WAAW,CAAC,CAAC,CAAC;QAC9E,CAAC,EAAE,GAAG,CAAC,CAAC;QAER,OAAO,GAAG,EAAE;YACV,aAAa,CAAC,QAAQ,CAAC,CAAC;QAC1B,CAAC,CAAC;IACJ,CAAC,EAAE,CAAC,4BAA4B,CAAC,CAAC,CAAC;IAEnC,MAAM,mBAAmB,GAAG,KAAK,CAAC,WAAW,CAAC,CAAC,SAAiB,EAAE,EAAE;QAClE,4BAA4B,CAAC,OAAO,EAAE,aAAa,CAAC,WAAW,CAAC,CAAC;QACjE,YAAY,CAAC,SAAS,CAAC,CAAC;IAC1B,CAAC,EAAE,CAAC,YAAY,CAAC,CAAC,CAAC;IAEnB,OAAO,CACL,KAAC,KAAK,IAAC,IAAI,EAAC,YAAY,EAAC,KAAK,EAAE,KAAK,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,WAAW,EAAE,iBAAiB,EAAE,gBAAgB,EAAE,gBAAgB,EAAE,kBAAkB,QAAC,SAAS,EAAE,SAAS,YACpM,KAAC,mBAAmB,IAAC,KAAK,EAAE,KAAK,EAAE,kBAAkB,EAAE,mBAAmB,GAAI,GACxE,CAET,CAAC;AACJ,CAAC,CAAC,CAAC"}

package/dist/lib/src/utils/metrics-manager.d.ts

@@ -1,6 +1,14 @@
-export declare class MetricsManager {
+export declare class EventMetricsManager {
     metrics: Record<string, number[]>;
     registerEvent(topic: string): void;
     calculate(topic: string): number;
 }
+export declare class ThroughputMetricsManager {
+    metrics: Record<string, {
+        timestamp: number;
+        value: number;
+    }[]>;
+    registerEvent(topic: string, value: number): void;
+    calculate(topic: string): number;
+}
 //# sourceMappingURL=metrics-manager.d.ts.map

package/dist/lib/src/utils/metrics-manager.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"metrics-manager.d.ts","sourceRoot":"","sources":["../../../../src/utils/metrics-manager.ts"],"names":[],"mappings":"AAIA,qBAAa,cAAc;IAClB,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,CAAC,CAAM;IAEvC,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,IAAI;IAQlC,SAAS,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM;CAkBxC"}
+{"version":3,"file":"metrics-manager.d.ts","sourceRoot":"","sources":["../../../../src/utils/metrics-manager.ts"],"names":[],"mappings":"AAUA,qBAAa,mBAAmB;IACvB,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,CAAC,CAAM;IAEvC,aAAa,CAAC,KAAK,EAAE,MAAM,GAAG,IAAI;IAQlC,SAAS,CAAC,KAAK,EAAE,MAAM,GAAG,MAAM;CAkBxC;AAED,qBAAa,wBAAwB;IAC5B,OAAO,EAAE,MAAM,CAAC,MAAM,EAAE;QAAE,SAAS,EAAE,MAAM,CAAC;QAAC,KAAK,EAAE,MAAM,CAAA;KAAE,EAAE,CAAC,CAAM;IAErE,aAAa,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,GAAG,IAAI;IAQjD,SAAS,CAAC,KAAK,EAAE,MAAM;CAwB/B"}

package/dist/lib/src/utils/metrics-manager.js

@@ -1,14 +1,18 @@
 // 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/
-export class MetricsManager {
+const MAX_SAMPLE_SIZE = 100;
+function bytesToMegabytes(bytes) {
+    return bytes / (1024 * 1024);
+}
+export class EventMetricsManager {
     metrics = {};
     registerEvent(topic) {
         const currentTime = performance.now();
         // eslint-disable-next-line @typescript-eslint/no-unnecessary-condition
         this.metrics[topic] ??= [];
         this.metrics[topic].unshift(currentTime);
-        this.metrics[topic].length = 100;
+        this.metrics[topic].length = MAX_SAMPLE_SIZE;
     }
     calculate(topic) {
         const topicMetrics = this.metrics[topic];
@@ -26,4 +30,31 @@ export class MetricsManager {
         return Math.round(fps);
     }
 }
+export class ThroughputMetricsManager {
+    metrics = {};
+    registerEvent(topic, value) {
+        const timestamp = performance.now();
+        this.metrics[topic] ??= [];
+        this.metrics[topic].unshift({ timestamp, value });
+        this.metrics[topic].length = MAX_SAMPLE_SIZE;
+    }
+    calculate(topic) {
+        const topicMetrics = this.metrics[topic];
+        if (!topicMetrics || topicMetrics.length < 2) {
+            return 0;
+        }
+        // Get time span in seconds
+        const timeSpanMs = topicMetrics[0].timestamp - topicMetrics[topicMetrics.length - 1].timestamp;
+        const timeSpanSec = timeSpanMs / 1000;
+        if (timeSpanSec === 0) {
+            return 0;
+        }
+        // Sum up all values (bytes)
+        const totalBytes = topicMetrics.reduce((sum, metric) => sum + metric.value, 0);
+        // Calculate bytes per second
+        const bytesPerSecond = totalBytes / timeSpanSec;
+        // Return rounded value
+        return Number(bytesToMegabytes(bytesPerSecond).toFixed(2));
+    }
+}
 //# sourceMappingURL=metrics-manager.js.map

package/dist/lib/src/utils/metrics-manager.js.map

@@ -1 +1 @@
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+{"version":3,"file":"metrics-manager.js","sourceRoot":"","sources":["../../../../src/utils/metrics-manager.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,MAAM,eAAe,GAAG,GAAG,CAAC;AAE5B,SAAS,gBAAgB,CAAC,KAAa;IACrC,OAAO,KAAK,GAAG,CAAC,IAAI,GAAG,IAAI,CAAC,CAAA;AAC9B,CAAC;AAED,MAAM,OAAO,mBAAmB;IACvB,OAAO,GAA6B,EAAE,CAAC;IAEvC,aAAa,CAAC,KAAa;QAChC,MAAM,WAAW,GAAG,WAAW,CAAC,GAAG,EAAE,CAAC;QACtC,uEAAuE;QACvE,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,EAAE,CAAC;QAC3B,IAAI,CAAC,OAAO,CAAC,KAAK,CAAE,CAAC,OAAO,CAAC,WAAW,CAAC,CAAC;QAC1C,IAAI,CAAC,OAAO,CAAC,KAAK,CAAE,CAAC,MAAM,GAAG,eAAe,CAAC;IAChD,CAAC;IAEM,SAAS,CAAC,KAAa;QAC5B,MAAM,YAAY,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QACzC,IAAI,CAAC,YAAY,EAAE,CAAC;YAClB,OAAO,CAAC,CAAC;QACX,CAAC;QAED,IAAI,aAAa,GAAG,CAAC,CAAC;QACtB,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,YAAY,CAAC,MAAM,EAAE,EAAE,CAAC,EAAE,CAAC;YAC7C,aAAa,IAAI,YAAY,CAAC,CAAC,GAAG,CAAC,CAAE,GAAG,YAAY,CAAC,CAAC,CAAE,CAAC;QAC3D,CAAC;QAED,IAAI,KAAK,CAAC,aAAa,CAAC,EAAE,CAAC;YACzB,OAAO,CAAC,CAAC;QACX,CAAC;QAED,MAAM,GAAG,GAAG,KAAK,GAAG,CAAC,aAAa,GAAG,CAAC,YAAY,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC,CAAC;QAChE,OAAO,IAAI,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IACzB,CAAC;CACF;AAED,MAAM,OAAO,wBAAwB;IAC5B,OAAO,GAA2D,EAAE,CAAC;IAErE,aAAa,CAAC,KAAa,EAAE,KAAa;QAC/C,MAAM,SAAS,GAAG,WAAW,CAAC,GAAG,EAAE,CAAC;QAEpC,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,KAAK,EAAE,CAAC;QAC3B,IAAI,CAAC,OAAO,CAAC,KAAK,CAAE,CAAC,OAAO,CAAC,EAAE,SAAS,EAAE,KAAK,EAAE,CAAC,CAAC;QACnD,IAAI,CAAC,OAAO,CAAC,KAAK,CAAE,CAAC,MAAM,GAAG,eAAe,CAAC;IAChD,CAAC;IAEM,SAAS,CAAC,KAAa;QAC5B,MAAM,YAAY,GAAG,IAAI,CAAC,OAAO,CAAC,KAAK,CAAC,CAAC;QAEzC,IAAI,CAAC,YAAY,IAAI,YAAY,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;YAC7C,OAAO,CAAC,CAAC;QACX,CAAC;QAED,2BAA2B;QAC3B,MAAM,UAAU,GAAG,YAAY,CAAC,CAAC,CAAE,CAAC,SAAS,GAAG,YAAY,CAAC,YAAY,CAAC,MAAM,GAAG,CAAC,CAAE,CAAC,SAAS,CAAC;QACjG,MAAM,WAAW,GAAG,UAAU,GAAG,IAAI,CAAC;QAEtC,IAAI,WAAW,KAAK,CAAC,EAAE,CAAC;YACtB,OAAO,CAAC,CAAC;QACX,CAAC;QAED,4BAA4B;QAC5B,MAAM,UAAU,GAAG,YAAY,CAAC,MAAM,CAAC,CAAC,GAAG,EAAE,MAAM,EAAE,EAAE,CAAC,GAAG,GAAG,MAAM,CAAC,KAAK,EAAE,CAAC,CAAC,CAAC;QAE/E,6BAA6B;QAC7B,MAAM,cAAc,GAAG,UAAU,GAAG,WAAW,CAAC;QAEhD,uBAAuB;QACvB,OAAO,MAAM,CAAC,gBAAgB,CAAC,cAAc,CAAC,CAAC,OAAO,CAAC,CAAC,CAAC,CAAC,CAAC;IAC7D,CAAC;CACF"}

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

@@ -1 +1 @@
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+{"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) {

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

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