@luxonis/visualizer-protobuf 2.22.0 → 2.23.0

package/dist/{index-C-cGIa0r.js → index-DQ_hdLpb.js}

@@ -1,12 +1,12 @@
-import { Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, N as styleTags, O as tags, T as LanguageSupport, V as LRParser } from './index-Dcus_L6F.js';
+import { Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, N as styleTags, O as tags, T as LanguageSupport, V as LRParser } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/{index-yfiGMPtK.js → index-DRmoIUFd.js}

@@ -1,12 +1,12 @@
-import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, a3 as LocalTokenGroup, a4 as snippetCompletion, Z as syntaxTree, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, X as ifNotIn, Y as completeFromList, a5 as IterMode, a6 as NodeWeakMap } from './index-Dcus_L6F.js';
+import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, a3 as LocalTokenGroup, a4 as snippetCompletion, Z as syntaxTree, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, X as ifNotIn, Y as completeFromList, a5 as IterMode, a6 as NodeWeakMap } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/{index-Dcus_L6F.js → index-DWgnF3_o.js}

@@ -1,6 +1,6 @@
 import { d as dist$1, e as estimateObjectSize, r as reportError, A as AppError, b as baseFlatten, a as baseEach, c as baseIteratee, f as baseDifference, g as getTag, h as baseKeys, i as baseIsEqual, j as castPath, t as toKey, k as baseGet, l as hasIn, s as sendNotification, m as shallowequal, u as useGuaranteedContext, n as getPanelIdsInsideTabPanels, o as getPanelTypeFromId, T as TAB_PANEL_TYPE, p as removePanelFromTabPanel, q as getPanelIdForType, v as getPathFromNode, w as updateTabPanelLayout, x as getSaveConfigsPayloadForAddedPanel, y as replaceAndRemovePanels, z as inlineTabPanelLayouts, B as getAllPanelIds, C as getConfigsForNestedPanelsInsideTab, D as reorderTabWithinTabPanel, E as moveTabBetweenTabPanels, F as isTabPanelConfig, G as DEFAULT_TAB_PANEL_CONFIG, H as addPanelToTab, I as createAddUpdates, J as filterMap, L as Logger, K as uniq$2, M as useShallowMemo, N as CurrentLayoutContext, O as MessageOrderTracker, P as AppConfigurationContext, _ as __assign$7, Q as __rest$4, R as __spreadArray$4 } from './tslib.es6-C73eoP_E.js';
-import { d as depthToPointcloudWorkerPool, u as uint8ArrayToUint16Array } from './utils-Cmsz3FxA.js';
 import { w as wrap$3, p as proxy } from './comlink-DHMAu6X7.js';
+import { u as uint8ArrayToUint16Array } from './utils-Hzt3wxhG.js';
 import { B as BinaryOpcode } from './FoxgloveServer-C39Uooyk.js';
 import { g as getDefaultExportFromCjs, c as commonjsGlobal } from './_commonjsHelpers-E-ZsRS8r.js';
 import * as React$1 from 'react';
@@ -444,6 +444,108 @@ class Condvar {
   }
 }
 
+// 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/
+const WORKER_COUNT = 4;
+class depthToPointcloudWorkerPool {
+  lastUsedWorkerIndex = 0;
+  #frameQueue = [];
+  #isWebGpuSupported = false;
+  #FRAME_BATCH_SIZE;
+  #isProcessing = false;
+  constructor(callback, batchSize = 10) {
+    if (typeof navigator.gpu !== "undefined") {
+      void navigator.gpu.requestAdapter().then(gpuAdapter => {
+        if (!gpuAdapter) {
+          this.#isWebGpuSupported = false;
+          console.warn("WebGPU not supported. Falling back to CPU for all frames.");
+          return;
+        }
+        this.#isWebGpuSupported = true;
+      });
+    } else {
+      console.warn("WebGPU not supported. Falling back to CPU for all frames.");
+    }
+    this.sumbmitCallback = callback;
+    this.#FRAME_BATCH_SIZE = Math.max(1, batchSize);
+    this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => wrap$3(new Worker(new URL("pointcloudFromDepth.worker-qotYPy_e.js", import.meta.url), {
+      type: "module"
+    })));
+  }
+  async queueDepthFrame(data) {
+    // @ts-expect-error - ITS unknow
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
+    if (!(data.colorFrame.message.data instanceof Uint8Array)) {
+      return;
+    }
+    this.#frameQueue.push(data);
+    this.tryProcessBatch();
+  }
+  tryProcessBatch() {
+    if (this.#isProcessing || this.#frameQueue.length < this.#FRAME_BATCH_SIZE) {
+      return;
+    }
+    this.#isProcessing = true;
+    const batchToProcess = this.#frameQueue.splice(0, this.#FRAME_BATCH_SIZE);
+    if (batchToProcess.length === 0) {
+      this.#isProcessing = false;
+      return;
+    }
+    // biome-ignore lint/style/noNonNullAssertion: <explanation>
+    const firstFrame = batchToProcess[0];
+    const width = firstFrame.width;
+    const height = firstFrame.height;
+    const fx = firstFrame.fx;
+    const fy = firstFrame.fy;
+    const cx = firstFrame.cx;
+    const cy = firstFrame.cy;
+    const i420Width = firstFrame.i420Width;
+    const i420Height = firstFrame.i420Height;
+    const depthDataArray = batchToProcess.map(f => uint8ArrayToUint16Array(f.depthFrame.data));
+    const timestampsArray = batchToProcess.map(f => f.colorFrame.receiveTime.nsec);
+    // @ts-expect-error - ITS unknow
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
+    const i420DataArray = batchToProcess.map(f => f.colorFrame.message.data);
+    const workerIndex = this.lastUsedWorkerIndex;
+    // biome-ignore lint/style/noNonNullAssertion: <explanation>
+    const workerApi = this.workerApis[workerIndex];
+    this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
+    workerApi.depthToPointcloudGPU(depthDataArray, width, height, fx, fy, cx, cy, i420DataArray, i420Width, i420Height, {
+      hasGPU: this.#isWebGpuSupported
+    }).then(results => {
+      if (results.length === batchToProcess.length) {
+        const firtFrame = batchToProcess[0];
+        if (!firtFrame) {
+          return;
+        }
+        for (let i = 0; i < results.length; i++) {
+          // biome-ignore lint/style/noNonNullAssertion: <explanation>
+          const originalFrame = batchToProcess[i];
+          const pointCloudResult = results[i];
+          if (!pointCloudResult) {
+            console.error(`Worker ${workerIndex}: Result ${i} is null!`);
+            continue;
+          }
+          // biome-ignore lint/style/noNonNullAssertion: Workaround
+          const delay = Math.min(500, Math.abs((firstFrame.colorFrame.receiveTime.nsec - timestampsArray[i]) / 10 ** 6));
+          setTimeout(() => {
+            this.sumbmitCallback(originalFrame.colorFrame, originalFrame.depthFrame, pointCloudResult);
+          }, delay);
+        }
+      }
+    }).catch(error => {
+      console.error(`Worker ${workerIndex}: Error processing batch:`, error);
+      for (const originalFrame of batchToProcess) {
+        this.sumbmitCallback(originalFrame.colorFrame, originalFrame.depthFrame, null);
+      }
+    }).finally(() => {
+      this.#isProcessing = false;
+      this.tryProcessBatch();
+    });
+  }
+}
+
 // 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/
@@ -607,7 +709,7 @@ class PoitCloudSyncFramework {
   }
   storedFrames = [];
   #MAX_DELAY_SEC = 0.01;
-  #MAX_STORED_FRAMES = 15;
+  #MAX_STORED_FRAMES = 100;
   getFrame(nsec) {
     const {
       res,
@@ -672,7 +774,9 @@ class FoxgloveConnection {
   throughputMetrics = new ThroughputMetricsManager();
   decodeMetrics = new EventMetricsManager();
   PoitCloudSyncFramework = new PoitCloudSyncFramework();
-  depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool();
+  depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool((event, frame, message) => {
+    this.submitPoitcloudFrameCallback(event, frame, message);
+  });
   // message handler
 
   topics = {};
@@ -700,40 +804,35 @@ class FoxgloveConnection {
     this.throughputMetrics.registerEvent(event.data.topic, event.data.buffer.byteLength);
     this.messageHandler.handle(event.data);
   }
+  submitPoitcloudFrameCallback(coloredEvent, poitcloudFrame, message) {
+    coloredEvent.topic = "Point Cloud";
+    coloredEvent.schemaName = "foxglove.PointCloud";
+    coloredEvent.message = poitcloudFrame;
+
+    // @ts-expect-error - ITS unknow
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
+    coloredEvent.message.data = message;
+    const messageSize = estimateObjectSize(coloredEvent.message);
+    coloredEvent.sizeInBytes = messageSize;
+    this.messageEvents.push(coloredEvent);
+    this.emitState();
+  }
   async handleParsePoitcloudMessage(coloredEvent) {
     const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime.nsec);
-    const getNeuralCameraIntrinsics = () => {
-      const neuralCameraIntrinsicsData = localStorage.getItem("neuralCameraIntrinsics");
-      if (neuralCameraIntrinsicsData) {
-        return JSON.parse(neuralCameraIntrinsicsData);
-      }
-      return null;
-    };
     if (poitcloudFrame) {
-      /* Useful for debugging
-      if (Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9) {
-        console.log("Sync delay under 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/ 10 **9);
-      }
-      else {
-        console.log("Sync delay over 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9);
-      }
-      */
-
-      const neuralCameraIntrinsics = getNeuralCameraIntrinsics();
-      // @ts-expect-error - ITS unknow
-      // eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
-      const message = await this.depthToPointcloudWorkerPool.depthToPointcloudGPU(uint8ArrayToUint16Array(poitcloudFrame.data), poitcloudFrame.width ?? 0, poitcloudFrame.height, neuralCameraIntrinsics.right.focalLenght.x, neuralCameraIntrinsics.right.focalLenght.y, neuralCameraIntrinsics.right.principalPoint.x, neuralCameraIntrinsics.right.principalPoint.y, coloredEvent.message.data, poitcloudFrame.width ?? 0, poitcloudFrame.height ?? 0);
-      coloredEvent.topic = "Point Cloud";
-      coloredEvent.schemaName = "foxglove.PointCloud";
-      coloredEvent.message = poitcloudFrame;
-
-      // @ts-expect-error - ITS unknow
-      // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
-      coloredEvent.message.data = message;
-      const messageSize = estimateObjectSize(coloredEvent.message);
-      coloredEvent.sizeInBytes = messageSize;
-      this.messageEvents.push(coloredEvent);
-      this.emitState();
+      const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
+      await this.depthToPointcloudWorkerPool.queueDepthFrame({
+        depthFrame: poitcloudFrame,
+        width: poitcloudFrame.width ?? 0,
+        height: poitcloudFrame.height ?? 0,
+        fx: neuralCameraIntrinsics.right.focalLenght.x,
+        fy: neuralCameraIntrinsics.right.focalLenght.y,
+        cx: neuralCameraIntrinsics.right.principalPoint.x,
+        cy: neuralCameraIntrinsics.right.principalPoint.y,
+        colorFrame: coloredEvent,
+        i420Width: poitcloudFrame.width ?? 0,
+        i420Height: poitcloudFrame.height ?? 0
+      });
     }
   }
   parseResolutionFromMessage(message, topic) {
@@ -84970,7 +85069,7 @@ function legacy(parser) {
     return new LanguageSupport(StreamLanguage.define(parser));
 }
 function sql$1(dialectName) {
-    return import('./index-CH1TUS48.js').then(m => m.sql({ dialect: m[dialectName] }));
+    return import('./index-Bw0fCcF0.js').then(m => m.sql({ dialect: m[dialectName] }));
 }
 /**
 An array of language descriptions for known language packages.
@@ -84981,7 +85080,7 @@ const languages = [
         name: "C",
         extensions: ["c", "h", "ino"],
         load() {
-            return import('./index-C_ioBAtk.js').then(m => m.cpp());
+            return import('./index-DgisSKDf.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -84989,7 +85088,7 @@ const languages = [
         alias: ["cpp"],
         extensions: ["cpp", "c++", "cc", "cxx", "hpp", "h++", "hh", "hxx"],
         load() {
-            return import('./index-C_ioBAtk.js').then(m => m.cpp());
+            return import('./index-DgisSKDf.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85009,7 +85108,7 @@ const languages = [
         name: "Go",
         extensions: ["go"],
         load() {
-            return import('./index-yfiGMPtK.js').then(m => m.go());
+            return import('./index-DRmoIUFd.js').then(m => m.go());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85024,7 +85123,7 @@ const languages = [
         name: "Java",
         extensions: ["java"],
         load() {
-            return import('./index-DYpNYj7G.js').then(m => m.java());
+            return import('./index-Db42Qzy_.js').then(m => m.java());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85040,7 +85139,7 @@ const languages = [
         alias: ["json5"],
         extensions: ["json", "map"],
         load() {
-            return import('./index-BQ24Upp_.js').then(m => m.json());
+            return import('./index-BJOK4X3d.js').then(m => m.json());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85054,14 +85153,14 @@ const languages = [
         name: "LESS",
         extensions: ["less"],
         load() {
-            return import('./index-DtzTeqB7.js').then(m => m.less());
+            return import('./index-D3by772J.js').then(m => m.less());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Liquid",
         extensions: ["liquid"],
         load() {
-            return import('./index-DDVf76z9.js').then(m => m.liquid());
+            return import('./index-CCWfhL1j.js').then(m => m.liquid());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85087,7 +85186,7 @@ const languages = [
         name: "PHP",
         extensions: ["php", "php3", "php4", "php5", "php7", "phtml"],
         load() {
-            return import('./index-P-f_cKZS.js').then(m => m.php());
+            return import('./index-B9Zf3rrb.js').then(m => m.php());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85104,28 +85203,28 @@ const languages = [
         extensions: ["BUILD", "bzl", "py", "pyw"],
         filename: /^(BUCK|BUILD)$/,
         load() {
-            return import('./index-D5F-PpU5.js').then(m => m.python());
+            return import('./index-DqqFhpKC.js').then(m => m.python());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Rust",
         extensions: ["rs"],
         load() {
-            return import('./index-CV57d9Tz.js').then(m => m.rust());
+            return import('./index-DjOkSXUO.js').then(m => m.rust());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Sass",
         extensions: ["sass"],
         load() {
-            return import('./index-Bvet1xE9.js').then(m => m.sass({ indented: true }));
+            return import('./index-CM0J0Tip.js').then(m => m.sass({ indented: true }));
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "SCSS",
         extensions: ["scss"],
         load() {
-            return import('./index-Bvet1xE9.js').then(m => m.sass());
+            return import('./index-CM0J0Tip.js').then(m => m.sass());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85156,7 +85255,7 @@ const languages = [
         name: "WebAssembly",
         extensions: ["wat", "wast"],
         load() {
-            return import('./index-C-cGIa0r.js').then(m => m.wast());
+            return import('./index-DQ_hdLpb.js').then(m => m.wast());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85164,7 +85263,7 @@ const languages = [
         alias: ["rss", "wsdl", "xsd"],
         extensions: ["xml", "xsl", "xsd", "svg"],
         load() {
-            return import('./index-BHXfMPMv.js').then(m => m.xml());
+            return import('./index-CFz07x1R.js').then(m => m.xml());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85172,7 +85271,7 @@ const languages = [
         alias: ["yml"],
         extensions: ["yaml", "yml"],
         load() {
-            return import('./index-DMvr0-pP.js').then(m => m.yaml());
+            return import('./index-BTO4og7t.js').then(m => m.yaml());
         }
     }),
     // Legacy modes ported from CodeMirror 5
@@ -85968,13 +86067,13 @@ const languages = [
         name: "Vue",
         extensions: ["vue"],
         load() {
-            return import('./index-RKZ-F77P.js').then(m => m.vue());
+            return import('./index-Wr3SUBO9.js').then(m => m.vue());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Angular Template",
         load() {
-            return import('./index-DHgo3Ne_.js').then(m => m.angular());
+            return import('./index-oTzD1_p-.js').then(m => m.angular());
         }
     })
 ];
@@ -157046,7 +157145,7 @@ function createRenderDelaySampler() {
   };
 }
 
-const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-DTCT-lVn.js'));
+const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-BqTw2FSJ.js'));
 const ImagePanelBody = ({
   topic,
   frameRenderedEvent
@@ -157115,7 +157214,7 @@ const ImagePanel = /*#__PURE__*/React__default.memo(function ImagePanel(props) {
 // License, v2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
-const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-DzyYicoH.js'));
+const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-DMmaMUCD.js'));
 const PointCloudPanelBody = ({
   topic,
   frameRenderedEvent
@@ -157146,13 +157245,13 @@ const PointCloudPanelBody = ({
     cameraState: {
       distance: -1000,
       perspective: true,
-      phi: 0,
+      phi: 89,
       target: [0, 0, 0],
       targetOffset: [0, 0, 0],
       targetOrientation: [0, 0, 0, 1],
-      thetaOffset: 0,
+      thetaOffset: 180,
       fovy: getFovy(),
-      near: 100,
+      near: 5,
       far: 10000
     },
     imageMode: {

package/dist/{index-DYpNYj7G.js → index-Db42Qzy_.js}

@@ -1,12 +1,12 @@
-import { N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-Dcus_L6F.js';
+import { N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/{index-C_ioBAtk.js → index-DgisSKDf.js}

@@ -1,12 +1,12 @@
-import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-Dcus_L6F.js';
+import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, $ as flatIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/{index-CV57d9Tz.js → index-DjOkSXUO.js}

@@ -1,12 +1,12 @@
-import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-Dcus_L6F.js';
+import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/{index-D5F-PpU5.js → index-DqqFhpKC.js}

@@ -1,12 +1,12 @@
-import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, Z as syntaxTree, X as ifNotIn, Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, a5 as IterMode, Y as completeFromList, a6 as NodeWeakMap, a4 as snippetCompletion } from './index-Dcus_L6F.js';
+import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, Z as syntaxTree, X as ifNotIn, Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, a5 as IterMode, Y as completeFromList, a6 as NodeWeakMap, a4 as snippetCompletion } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/{index-RKZ-F77P.js → index-Wr3SUBO9.js}

@@ -1,12 +1,12 @@
-import { N as styleTags, O as tags, Q as LRLanguage, T as LanguageSupport, V as LRParser, a3 as LocalTokenGroup, aa as html, ab as parseMixed, ad as javascriptLanguage } from './index-Dcus_L6F.js';
+import { N as styleTags, O as tags, Q as LRLanguage, T as LanguageSupport, V as LRParser, a3 as LocalTokenGroup, aa as html, ab as parseMixed, ad as javascriptLanguage } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/{index-DHgo3Ne_.js → index-oTzD1_p-.js}

@@ -1,12 +1,12 @@
-import { N as styleTags, O as tags, ad as javascriptLanguage, Q as LRLanguage, T as LanguageSupport, V as LRParser, aa as html, ab as parseMixed, U as ExternalTokenizer } from './index-Dcus_L6F.js';
+import { N as styleTags, O as tags, ad as javascriptLanguage, Q as LRLanguage, T as LanguageSupport, V as LRParser, aa as html, ab as parseMixed, U as ExternalTokenizer } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

package/dist/index.js

@@ -1,12 +1,12 @@
-export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-Dcus_L6F.js';
+export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-DWgnF3_o.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './utils-Cmsz3FxA.js';
 import './comlink-DHMAu6X7.js';
+import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';
 import 'ms';
 import './foxglove-protocol-CYoMweAY.js';

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

@@ -1,7 +1,8 @@
 import { type Time } from "@foxglove/rostime";
 import { type MessageEvent, PlayerPresence, type PlayerProblem, type PlayerState } from "@foxglove/studio-base/players/types";
 import type { FoxgloveMessage } from "./communicator.js";
-import { depthToPointcloudWorkerPool } from '../messaging/deserialization/pointcloud/utils.js';
+import { depthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
+import type { PointCloudWithDimensions } from "../messaging/deserialization/video/depth.js";
 import { type MessageHandler } from "../messaging/message-handler.js";
 import { EventMetricsManager, ThroughputMetricsManager } from "../utils/metrics-manager.js";
 import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
@@ -51,6 +52,7 @@ export declare abstract class FoxgloveConnection {
     getTopicMetrics(topic: string): Metrics;
     protected getCurrentTime(): Time;
     protected onMessagePacket(event: globalThis.MessageEvent<FoxgloveMessage>): void;
+    protected submitPoitcloudFrameCallback(coloredEvent: MessageEvent, poitcloudFrame: PointCloudWithDimensions, message: unknown): void;
     protected handleParsePoitcloudMessage(coloredEvent: MessageEvent): Promise<void>;
     protected parseResolutionFromMessage(message: unknown, topic: string): void;
     protected handleParsedMessage(event: MessageEvent): void;

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

@@ -1 +1 @@
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+{"version":3,"file":"foxglove-connection.d.ts","sourceRoot":"","sources":["../../../../src/connection/foxglove-connection.ts"],"names":[],"mappings":"AAKA,OAAO,EAAE,KAAK,IAAI,EAAyC,MAAM,mBAAmB,CAAC;AAErF,OAAO,EACL,KAAK,YAAY,EAEjB,cAAc,EACd,KAAK,aAAa,EAClB,KAAK,WAAW,EACjB,MAAM,qCAAqC,CAAC;AAE7C,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,2BAA2B,EAAE,MAAM,iEAAiE,CAAC;AAE9G,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,6CAA6C,CAAC;AAC5F,OAAO,EAAE,KAAK,cAAc,EAAwB,MAAM,iCAAiC,CAAC;AAC5F,OAAO,EAAE,mBAAmB,EAAE,wBAAwB,EAAE,MAAM,6BAA6B,CAAC;AAC5F,OAAO,EAAE,sBAAsB,EAAE,MAAM,4BAA4B,CAAC;AAIpE,MAAM,MAAM,OAAO,GAAG;IACpB,WAAW,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,SAAS,CAAC,CAAC;IAC7C,mBAAmB,EAAE,MAAM,CAAC;IAC5B,kBAAkB,EAAE,MAAM,CAAC;IAC3B,iBAAiB,EAAE,MAAM,CAAC;CAC3B,CAAC;AAEF,cAAM,cAAc;IAClB,SAAS,CAAC,QAAQ,EAAE,aAAa,EAAE,CAAM;IAElC,UAAU,CAAC,OAAO,EAAE,aAAa,GAAG,IAAI;IAIxC,aAAa,IAAI,IAAI;IAIrB,WAAW,IAAI,aAAa,EAAE;CAGtC;AAED,8BAAsB,kBAAkB;IACtC,SAAS,CAAC,QAAQ,CAAC,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;IAEjE,SAAS,CAAC,EAAE,EAAE,MAAM,CAAC;IAGrB,SAAS,CAAC,cAAc,EAAE,cAAc,CAA8B;IACtE,SAAS,CAAC,kBAAkB,WAAwC;IAGpE,SAAS,CAAC,aAAa,EAAE,YAAY,EAAE,CAAM;IAC7C,SAAS,CAAC,gBAAgB,CAAC,EAAE,YAAY,CAAC;IAE1C,SAAS,CAAC,aAAa,SAAK;IAE5B,SAAS,CAAC,SAAS,CAAC,EAAE,IAAI,CAAC;IAC3B,SAAS,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IAEzB,SAAS,CAAC,UAAU,gBAAa;IACjC,SAAS,CAAC,eAAe,gBAAa;IACtC,SAAS,CAAC,gBAAgB,gBAAa;IACvC,SAAS,CAAC,kBAAkB,gBAAa;IACzC,SAAS,CAAC,aAAa,UAAS;IAChC,SAAS,CAAC,QAAQ,iBAAwB;IAC1C,SAAS,CAAC,WAAW,gBAAa;IAClC,SAAS,CAAC,YAAY,sBAA6B;IACnD,SAAS,CAAC,iBAAiB,2BAAkC;IAC7D,SAAS,CAAC,aAAa,sBAA6B;IACpD,SAAS,CAAC,sBAAsB,yBAAgC;IAChE,SAAS,CAAC,2BAA2B,8BAGnC;IAEF,SAAS,CAAC,cAAc,EAAE,cAAc,CAAC;IAEzC,SAAS,CAAC,MAAM,EAAE;QAChB,CAAC,GAAG,EAAE,MAAM,GAAG;YACb,IAAI,EAAE,MAAM,CAAC;YACb,UAAU,EAAE,MAAM,CAAC;SACpB,CAAC;KACH,CAAM;gBAGY,EAAE,EAAE,MAAM;IAKtB,WAAW,CAAC,QAAQ,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI;IAKxE,eAAe,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO;IAS9C,SAAS,CAAC,cAAc,IAAI,IAAI;IAIhC,SAAS,CAAC,eAAe,CAAC,KAAK,EAAE,UAAU,CAAC,YAAY,CAAC,eAAe,CAAC,GAAG,IAAI;IAMhF,SAAS,CAAC,4BAA4B,CAAC,YAAY,EAAE,YAAY,EAAC,cAAc,EAAE,wBAAwB,EAAE,OAAO,EAAE,OAAO,GAAG,IAAI;cAenH,2BAA2B,CAAC,YAAY,EAAE,YAAY,GAAG,OAAO,CAAC,IAAI,CAAC;IAStF,SAAS,CAAC,0BAA0B,CAAC,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,MAAM;IAUpE,SAAS,CAAC,mBAAmB,CAAC,KAAK,EAAE,YAAY,GAAG,IAAI;IAmBxD,SAAS,CAAC,SAAS;;MAyDhB;CACJ"}

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

@@ -5,8 +5,7 @@ import { debouncePromise } from "@foxglove/den/async";
 import { fromMillis, isGreaterThan, isLessThan } from "@foxglove/rostime";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation";
 import { PlayerCapabilities, PlayerPresence } from "@foxglove/studio-base/players/types";
-import { depthToPointcloudWorkerPool } from '../messaging/deserialization/pointcloud/utils.js';
-import { uint8ArrayToUint16Array } from "../messaging/deserialization/pointcloud/utils.js";
+import { depthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
 import { createMessageHandler } from "../messaging/message-handler.js";
 import { EventMetricsManager, ThroughputMetricsManager } from "../utils/metrics-manager.js";
 import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
@@ -45,7 +44,7 @@ export class FoxgloveConnection {
     throughputMetrics = new ThroughputMetricsManager();
     decodeMetrics = new EventMetricsManager();
     PoitCloudSyncFramework = new PoitCloudSyncFramework();
-    depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool();
+    depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool((event, frame, message) => { this.submitPoitcloudFrameCallback(event, frame, message); });
     // message handler
     messageHandler;
     topics = {};
@@ -73,38 +72,23 @@ export class FoxgloveConnection {
         this.throughputMetrics.registerEvent(event.data.topic, event.data.buffer.byteLength);
         this.messageHandler.handle(event.data);
     }
+    submitPoitcloudFrameCallback(coloredEvent, poitcloudFrame, message) {
+        coloredEvent.topic = "Point Cloud";
+        coloredEvent.schemaName = "foxglove.PointCloud";
+        coloredEvent.message = poitcloudFrame;
+        // @ts-expect-error - ITS unknow
+        // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
+        coloredEvent.message.data = message;
+        const messageSize = estimateObjectSize(coloredEvent.message);
+        coloredEvent.sizeInBytes = messageSize;
+        this.messageEvents.push(coloredEvent);
+        this.emitState();
+    }
     async handleParsePoitcloudMessage(coloredEvent) {
         const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime.nsec);
-        const getNeuralCameraIntrinsics = () => {
-            const neuralCameraIntrinsicsData = localStorage.getItem("neuralCameraIntrinsics");
-            if (neuralCameraIntrinsicsData) {
-                return JSON.parse(neuralCameraIntrinsicsData);
-            }
-            return null;
-        };
         if (poitcloudFrame) {
-            /* Useful for debugging
-            if (Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9) {
-              console.log("Sync delay under 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/ 10 **9);
-            }
-            else {
-              console.log("Sync delay over 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9);
-            }
-            */
-            const neuralCameraIntrinsics = getNeuralCameraIntrinsics();
-            // @ts-expect-error - ITS unknow
-            // eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
-            const message = await this.depthToPointcloudWorkerPool.depthToPointcloudGPU(uint8ArrayToUint16Array(poitcloudFrame.data), poitcloudFrame.width ?? 0, poitcloudFrame.height, neuralCameraIntrinsics.right.focalLenght.x, neuralCameraIntrinsics.right.focalLenght.y, neuralCameraIntrinsics.right.principalPoint.x, neuralCameraIntrinsics.right.principalPoint.y, coloredEvent.message.data, poitcloudFrame.width ?? 0, poitcloudFrame.height ?? 0);
-            coloredEvent.topic = "Point Cloud";
-            coloredEvent.schemaName = "foxglove.PointCloud";
-            coloredEvent.message = poitcloudFrame;
-            // @ts-expect-error - ITS unknow
-            // eslint-disable-next-line @typescript-eslint/no-unsafe-argument
-            coloredEvent.message.data = message;
-            const messageSize = estimateObjectSize(coloredEvent.message);
-            coloredEvent.sizeInBytes = messageSize;
-            this.messageEvents.push(coloredEvent);
-            this.emitState();
+            const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
+            await this.depthToPointcloudWorkerPool.queueDepthFrame({ depthFrame: poitcloudFrame, width: poitcloudFrame.width ?? 0, height: poitcloudFrame.height ?? 0, fx: neuralCameraIntrinsics.right.focalLenght.x, fy: neuralCameraIntrinsics.right.focalLenght.y, cx: neuralCameraIntrinsics.right.principalPoint.x, cy: neuralCameraIntrinsics.right.principalPoint.y, colorFrame: coloredEvent, i420Width: poitcloudFrame.width ?? 0, i420Height: poitcloudFrame.height ?? 0 });
         }
     }
     parseResolutionFromMessage(message, topic) {