@luxonis/visualizer-protobuf 2.22.0 → 2.24.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/{WorkerImageDecoder.worker-tkX9-IYo.js → WorkerImageDecoder.worker-C3ZBQ2Wk.js} +1 -1
- package/dist/{decodeImage-C8kB6T3V.js → decodeImage-CxUhz2gE.js} +14278 -2893
- package/dist/{index-DMvr0-pP.js → index-04igCfBa.js} +2 -2
- package/dist/{index-C-cGIa0r.js → index-B2CzfSrk.js} +2 -2
- package/dist/{index-BHXfMPMv.js → index-BD0s8blv.js} +2 -2
- package/dist/{index-BQ24Upp_.js → index-BOgJlQZb.js} +2 -2
- package/dist/{index-DTCT-lVn.js → index-Bap7OFFN.js} +4 -4
- package/dist/{index-DHgo3Ne_.js → index-Bf6kn2oZ.js} +2 -2
- package/dist/{index-DDVf76z9.js → index-ByJ_IwVY.js} +2 -2
- package/dist/{index-DtzTeqB7.js → index-C9NOm_iz.js} +2 -2
- package/dist/{index-yfiGMPtK.js → index-CGWKf7M3.js} +2 -2
- package/dist/{index-D5F-PpU5.js → index-CH-hRWkC.js} +2 -2
- package/dist/{index-CV57d9Tz.js → index-CgUKu2u-.js} +2 -2
- package/dist/{index-CH1TUS48.js → index-CuGP4_2Y.js} +2 -2
- package/dist/{index-RKZ-F77P.js → index-DDF_vrPV.js} +2 -2
- package/dist/{index-DYpNYj7G.js → index-DVYarByG.js} +2 -2
- package/dist/{index-Dcus_L6F.js → index-DWNJltiA.js} +7172 -1834
- package/dist/{index-P-f_cKZS.js → index-Dd0nllcW.js} +2 -2
- package/dist/{index-C_ioBAtk.js → index-MWmhJgeW.js} +2 -2
- package/dist/{index-DzyYicoH.js → index-vePwOhtN.js} +2813 -1608
- package/dist/{index-Bvet1xE9.js → index-vu5EOZMU.js} +2 -2
- package/dist/index.js +2 -2
- package/dist/lib/src/components/PanelToolbar.js +1 -1
- package/dist/lib/src/components/PanelToolbar.js.map +1 -1
- package/dist/lib/src/connection/foxglove-connection.d.ts +3 -1
- package/dist/lib/src/connection/foxglove-connection.d.ts.map +1 -1
- package/dist/lib/src/connection/foxglove-connection.js +16 -32
- package/dist/lib/src/connection/foxglove-connection.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js +373 -247
- package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts +30 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map +1 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js +106 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map +1 -0
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts +0 -9
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.js +0 -16
- package/dist/lib/src/messaging/deserialization/pointcloud/utils.js.map +1 -1
- package/dist/lib/src/panels/PointCloudPanel.js +3 -3
- package/dist/lib/src/panels/PointCloudPanel.js.map +1 -1
- package/dist/lib/src/utils/metrics-manager.d.ts.map +1 -1
- package/dist/lib/src/utils/metrics-manager.js +6 -5
- package/dist/lib/src/utils/metrics-manager.js.map +1 -1
- package/dist/lib/src/utils/poitcloud-sync.js +1 -1
- package/dist/lib/src/utils/poitcloud-sync.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js +243 -154
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js.map +1 -1
- package/dist/pointcloudFromDepth.worker-qotYPy_e.js +450 -0
- package/dist/{utils-Cmsz3FxA.js → utils-Hzt3wxhG.js} +2 -20
- package/package.json +4 -3
- package/dist/pointcloudFromDepth.worker-CNKyMUU-.js +0 -326
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import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, M as foldNodeProp, a1 as foldInside, J as indentNodeProp, K as continuedIndent, a7 as defineCSSCompletionSource, T as LanguageSupport } from './index-
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import { U as ExternalTokenizer, a2 as ContextTracker, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, M as foldNodeProp, a1 as foldInside, J as indentNodeProp, K as continuedIndent, a7 as defineCSSCompletionSource, T as LanguageSupport } from './index-DWNJltiA.js';
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import './tslib.es6-C73eoP_E.js';
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import 'react';
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import 'react-mosaic-component';
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import './_commonjsHelpers-E-ZsRS8r.js';
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import '@mui/material';
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import './isArrayLikeObject-Bytw9p-q.js';
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import './utils-Cmsz3FxA.js';
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import './comlink-DHMAu6X7.js';
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import './utils-Hzt3wxhG.js';
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import './FoxgloveServer-C39Uooyk.js';
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import 'ms';
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import './foxglove-protocol-CYoMweAY.js';
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package/dist/index.js
CHANGED
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export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-
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export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-DWNJltiA.js';
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import './tslib.es6-C73eoP_E.js';
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import 'react';
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import 'react-mosaic-component';
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import './_commonjsHelpers-E-ZsRS8r.js';
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import '@mui/material';
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import './isArrayLikeObject-Bytw9p-q.js';
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import './utils-Cmsz3FxA.js';
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import './comlink-DHMAu6X7.js';
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import './utils-Hzt3wxhG.js';
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import './FoxgloveServer-C39Uooyk.js';
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import 'ms';
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import './foxglove-protocol-CYoMweAY.js';
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@@ -23,7 +23,7 @@ function PanelToolbarMetrics({ renderedFps, targetFps, metrics }) {
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setVariant("full");
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}
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}, [descriptionRef.current?.offsetWidth]);
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return (_jsx(Flex, { direction: "row", gap: "sm", align: "start", justify: "end", ref: descriptionRef, width: "full", children: variant === "compact" ? (_jsx(Tooltip, { content: _jsxs("ul", { children: [_jsxs("li", { children: ["Camera: ", targetFps === 0 ? "-" : targetFps, " FPS"] }), _jsxs("li", { children: ["Network:", " ", !metrics || metrics?.incomingMessagesFps === 0 ? "-" : metrics.incomingMessagesFps, " ", "FPS"] }), _jsxs("li", { children: ["Decoding:", " ", !metrics || metrics?.decodedMessagesFps === 0 ? "-" : metrics.decodedMessagesFps, " ", "FPS"] }), _jsxs("li", { children: ["Rendering: ", renderedFps === 0 ? "-" : renderedFps, " FPS"] }), _jsxs("li", { children: ["Throughput:", " ", !metrics || metrics?.messageThroughput === 0 ? "-" : metrics.messageThroughput, " ", "Mbps"] }), _jsxs("li", { children: ["Frontend Delay: ", eventLoopDelay.toFixed(2), " ms"] })] }), direction: "bottom", className: "ml-auto", children: _jsx(Button, { icon: RiNumbersFill, variant: "outline", colorVariant: "white", size: "sm", className: "text-gray-700" }) })) : (_jsxs(_Fragment, { children: [targetFps !== undefined && (_jsx(Label, { text: `Camera: ${targetFps === 0 ? "-" : targetFps} FPS` })), metrics?.incomingMessagesFps !== undefined && (_jsx(Label, { text: `Network: ${metrics.incomingMessagesFps === 0 ? "-" : metrics.incomingMessagesFps} FPS` })), metrics?.decodedMessagesFps !== undefined && (_jsx(Label, { text: `Decoding: ${metrics.decodedMessagesFps === 0 ? "-" : metrics.decodedMessagesFps} FPS` })), renderedFps !== undefined && (_jsx(Label, { text: `Rendering: ${renderedFps === 0 ? "-" : renderedFps} FPS` })), metrics?.messageThroughput !== undefined && (_jsx(Label, { text: `Throughput: ${metrics.messageThroughput === 0 ? "-" : metrics.messageThroughput}
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return (_jsx(Flex, { direction: "row", gap: "sm", align: "start", justify: "end", ref: descriptionRef, width: "full", children: variant === "compact" ? (_jsx(Tooltip, { content: _jsxs("ul", { children: [_jsxs("li", { children: ["Camera: ", targetFps === 0 ? "-" : targetFps, " FPS"] }), _jsxs("li", { children: ["Network:", " ", !metrics || metrics?.incomingMessagesFps === 0 ? "-" : metrics.incomingMessagesFps, " ", "FPS"] }), _jsxs("li", { children: ["Decoding:", " ", !metrics || metrics?.decodedMessagesFps === 0 ? "-" : metrics.decodedMessagesFps, " ", "FPS"] }), _jsxs("li", { children: ["Rendering: ", renderedFps === 0 ? "-" : renderedFps, " FPS"] }), _jsxs("li", { children: ["Throughput:", " ", !metrics || metrics?.messageThroughput === 0 ? "-" : metrics.messageThroughput, " ", "Mbps"] }), _jsxs("li", { children: ["Frontend Delay: ", eventLoopDelay.toFixed(2), " ms"] })] }), direction: "bottom", className: "ml-auto", children: _jsx(Button, { icon: RiNumbersFill, variant: "outline", colorVariant: "white", size: "sm", className: "text-gray-700" }) })) : (_jsxs(_Fragment, { children: [targetFps !== undefined && (_jsx(Label, { text: `Camera: ${targetFps === 0 ? "-" : targetFps} FPS` })), metrics?.incomingMessagesFps !== undefined && (_jsx(Label, { text: `Network: ${metrics.incomingMessagesFps === 0 ? "-" : metrics.incomingMessagesFps} FPS` })), metrics?.decodedMessagesFps !== undefined && (_jsx(Label, { text: `Decoding: ${metrics.decodedMessagesFps === 0 ? "-" : metrics.decodedMessagesFps} FPS` })), renderedFps !== undefined && (_jsx(Label, { text: `Rendering: ${renderedFps === 0 ? "-" : renderedFps} FPS` })), metrics?.messageThroughput !== undefined && (_jsx(Label, { text: `Throughput: ${metrics.messageThroughput === 0 ? "-" : metrics.messageThroughput} Mbps` })), eventLoopDelay !== undefined && (_jsx(Label, { text: `Frontend Delay: ${Math.ceil(eventLoopDelay)} ms` }))] })) }));
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}
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const PanelAnnotationButton = ({ topic, onClick }) => {
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const handleClick = React.useCallback((event) => {
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{"version":3,"file":"PanelToolbar.js","sourceRoot":"","sources":["../../../../src/components/PanelToolbar.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAC1D,OAAO,eAAe,CAAC;AACvB,OAAO,EAAE,QAAQ,EAAE,MAAM,gBAAgB,CAAC;AAE1C,OAAO,EACL,aAAa,EACb,WAAW,EACX,MAAM,EACN,SAAS,EACT,YAAY,EACZ,mBAAmB,EACnB,gBAAgB,EAChB,mBAAmB,EACnB,IAAI,EACJ,QAAQ,EACR,IAAI,EACJ,KAAK,EACL,UAAU,EACV,SAAS,EACT,OAAO,EACR,MAAM,+BAA+B,CAAC;AAEvC,OAAO,EAAE,iBAAiB,EAAE,mBAAmB,EAAE,MAAM,gBAAgB,CAAC;AAExE,OAAO,EAAmB,aAAa,EAAE,MAAM,YAAY,CAAC;AAE5D,OAAO,EAAE,cAAc,EAAE,MAAM,mCAAmC,CAAC;AAEnE,OAAO,sCAAsC,CAAC;AAC9C,OAAO,EAAE,2BAA2B,EAAE,MAAM,4BAA4B,CAAC;AACzE,OAAO,EAAE,aAAa,EAAE,MAAM,gBAAgB,CAAC;AAa/C,SAAS,mBAAmB,CAAC,EAAE,WAAW,EAAE,SAAS,EAAE,OAAO,EAA4B;IACxF,MAAM,CAAC,OAAO,EAAE,UAAU,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAqB,MAAM,CAAC,CAAC;IAEzE,MAAM,cAAc,GAAG,2BAA2B,EAAE,CAAC;IAErD,MAAM,cAAc,GAAG,KAAK,CAAC,MAAM,CAAiB,IAAI,CAAC,CAAC;IAE1D,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,IAAI,cAAc,CAAC,OAAO,IAAI,cAAc,CAAC,OAAO,CAAC,WAAW,GAAG,GAAG,EAAE,CAAC;YACvE,UAAU,CAAC,SAAS,CAAC,CAAC;QACxB,CAAC;aAAM,CAAC;YACN,UAAU,CAAC,MAAM,CAAC,CAAC;QACrB,CAAC;IACH,CAAC,EAAE,CAAC,cAAc,CAAC,OAAO,EAAE,WAAW,CAAC,CAAC,CAAC;IAE1C,OAAO,CACL,KAAC,IAAI,IAAC,SAAS,EAAC,KAAK,EAAC,GAAG,EAAC,IAAI,EAAC,KAAK,EAAC,OAAO,EAAC,OAAO,EAAC,KAAK,EAAC,GAAG,EAAE,cAAc,EAAE,KAAK,EAAC,MAAM,YACzF,OAAO,KAAK,SAAS,CAAC,CAAC,CAAC,CACvB,KAAC,OAAO,IACN,OAAO,EACL,yBACE,qCAAa,SAAS,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,SAAS,YAAU,EACxD,qCACW,GAAG,EACX,CAAC,OAAO,IAAI,OAAO,EAAE,mBAAmB,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,OAAO,CAAC,mBAAmB,EAAE,GAAG,WAErF,EACL,sCACY,GAAG,EACZ,CAAC,OAAO,IAAI,OAAO,EAAE,kBAAkB,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,OAAO,CAAC,kBAAkB,EAAE,GAAG,WAEnF,EACL,wCAAgB,WAAW,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,WAAW,YAAU,EAC/D,wCACc,GAAG,EACd,CAAC,OAAO,IAAI,OAAO,EAAE,iBAAiB,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,OAAO,CAAC,iBAAiB,EAAE,GAAG,YAEjF,EACL,6CAAqB,cAAc,CAAC,OAAO,CAAC,CAAC,CAAC,WAAS,IACpD,EAEP,SAAS,EAAC,QAAQ,EAClB,SAAS,EAAC,SAAS,YAEnB,KAAC,MAAM,IACL,IAAI,EAAE,aAAa,EACnB,OAAO,EAAC,SAAS,EACjB,YAAY,EAAC,OAAO,EACpB,IAAI,EAAC,IAAI,EACT,SAAS,EAAC,eAAe,GACzB,GACM,CACX,CAAC,CAAC,CAAC,CACF,8BACG,SAAS,KAAK,SAAS,IAAI,CAC1B,KAAC,KAAK,IAAC,IAAI,EAAE,WAAW,SAAS,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,SAAS,MAAM,GAAI,CACpE,EAEA,OAAO,EAAE,mBAAmB,KAAK,SAAS,IAAI,CAC7C,KAAC,KAAK,IACJ,IAAI,EAAE,YACJ,OAAO,CAAC,mBAAmB,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,OAAO,CAAC,mBACpD,MAAM,GACN,CACH,EAEA,OAAO,EAAE,kBAAkB,KAAK,SAAS,IAAI,CAC5C,KAAC,KAAK,IACJ,IAAI,EAAE,aACJ,OAAO,CAAC,kBAAkB,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,OAAO,CAAC,kBACnD,MAAM,GACN,CACH,EAEA,WAAW,KAAK,SAAS,IAAI,CAC5B,KAAC,KAAK,IAAC,IAAI,EAAE,cAAc,WAAW,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,WAAW,MAAM,GAAI,CAC3E,EAEA,OAAO,EAAE,iBAAiB,KAAK,SAAS,IAAI,CAC3C,KAAC,KAAK,IACJ,IAAI,EAAE,eACJ,OAAO,CAAC,iBAAiB,KAAK,CAAC,CAAC,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC,OAAO,CAAC,iBAClD,OAAO,GACP,CACH,EAEA,cAAc,KAAK,SAAS,IAAI,CAC/B,KAAC,KAAK,IAAC,IAAI,EAAE,mBAAmB,IAAI,CAAC,IAAI,CAAC,cAAc,CAAC,KAAK,GAAI,CACnE,IAKA,CACJ,GACI,CACR,CAAC;AACJ,CAAC;AAED,MAAM,qBAAqB,GAAyC,CAAC,EAAE,KAAK,EAAE,OAAO,EAAE,EAAE,EAAE;IACzF,MAAM,WAAW,GAAG,KAAK,CAAC,WAAW,CACnC,CAAC,KAAK,EAAE,EAAE;QACR,KAAK,CAAC,cAAc,EAAE,CAAC;QACvB,OAAO,EAAE,CAAC;IACZ,CAAC,EACD,CAAC,OAAO,CAAC,CACV,CAAC;IAEF,OAAO,CACL,KAAC,gBAAgB,IAAC,OAAO,EAAE,WAAW,YACpC,MAAC,IAAI,IAAC,KAAK,EAAC,QAAQ,EAAC,GAAG,EAAC,IAAI,aAC3B,KAAC,IAAI,IAAC,KAAK,EAAC,QAAQ,EAAC,IAAI,EAAE,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,iBAAiB,CAAC,CAAC,CAAC,mBAAmB,GAAI,EACtF,KAAC,UAAU,IAAC,IAAI,EAAE,KAAK,CAAC,IAAI,GAAI,IAC3B,GACU,CACpB,CAAC;AACJ,CAAC,CAAC;AAcF,MAAM,CAAC,MAAM,YAAY,GAAgC,CAAC,EACxD,KAAK,EACL,IAAI,EACJ,aAAa,EACb,kBAAkB,GAAG,KAAK,EAC1B,SAAS,EACT,YAAY,EACZ,WAAW,EACX,WAAW,GACZ,EAAE,EAAE;IACH,MAAM,CAAC,OAAO,EAAE,UAAU,CAAC,GAAG,KAAK,CAAC,QAAQ,EAAW,CAAC;IAExD,MAAM,EAAE,UAAU,EAAE,GAAG,aAAa,EAAE,CAAC;IACvC,MAAM,WAAW,GAAG,cAAc,EAAE,CAAC;IAErC,KAAK,CAAC,SAAS,CAAC,GAAG,EAAE;QACnB,cAAc;QACd,UAAU,CAAC,WAAW,CAAC,EAAE,CAAC,CAAC,CAAC,EAAE,eAAe,CAAC,KAAK,CAAC,CAAC,CAAC;QAEtD,MAAM,QAAQ,GAAG,WAAW,CAAC,GAAG,EAAE;YAChC,UAAU,CAAC,WAAW,CAAC,CAAC,CAAC,EAAE,eAAe,CAAC,KAAK,CAAC,CAAC,CAAC;QACrD,CAAC,EAAE,GAAG,CAAC,CAAC;QACR,OAAO,GAAG,EAAE;YACV,aAAa,CAAC,QAAQ,CAAC,CAAC;QAC1B,CAAC,CAAC;QACF,uDAAuD;IACzD,CAAC,EAAE,EAAE,CAAC,CAAC;IAEP,MAAM,QAAQ,GAAG,KAAK,CAAC,OAAO,CAC5B,GAAG,EAAE,CAAC,UAAU,CAAC,IAAI,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC,SAAS,CAAC,KAAK,IAAI,CAAC,SAAS,CAAC,OAAO,CAAC,EAC3E,CAAC,UAAU,CAAC,CACb,CAAC;IACF,MAAM,CAAC,YAAY,EAAE,eAAe,CAAC,GAAG,KAAK,CAAC,QAAQ,CAAC,KAAK,CAAC,CAAC;IAE9D,MAAM,aAAa,GAAG,KAAK,CAAC,WAAW,CACrC,CAAC,eAAuB,EAAE,EAAE;QAC1B,aAAa,EAAE,CAAC,CAAC,OAAO,EAAE,EAAE,CAC1B,OAAO,CAAC,GAAG,CAAC,CAAC,SAAS,EAAE,EAAE,CAAC,CAAC;YAC1B,GAAG,SAAS;YACZ,GAAG,CAAC,eAAe,KAAK,SAAS,CAAC,IAAI,IAAI;gBACxC,OAAO,EAAE,CAAC,SAAS,CAAC,OAAO;aAC5B,CAAC;SACH,CAAC,CAAC,CACJ,CAAC;IACJ,CAAC,EACD,CAAC,aAAa,CAAC,CAChB,CAAC;IAEF,MAAM,IAAI,GAAG,KAAK,CAAC,OAAO,CAAC,GAAG,EAAE;QAC9B,OAAO,KAAK,CAAC;IACf,CAAC,EAAE,CAAC,KAAK,CAAC,CAAC,CAAC;IAEZ,MAAM,UAAU,GACd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@@ -1,7 +1,8 @@
|
|
|
1
1
|
import { type Time } from "@foxglove/rostime";
|
|
2
2
|
import { type MessageEvent, PlayerPresence, type PlayerProblem, type PlayerState } from "@foxglove/studio-base/players/types";
|
|
3
3
|
import type { FoxgloveMessage } from "./communicator.js";
|
|
4
|
-
import { depthToPointcloudWorkerPool } from
|
|
4
|
+
import { depthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
|
|
5
|
+
import type { PointCloudWithDimensions } from "../messaging/deserialization/video/depth.js";
|
|
5
6
|
import { type MessageHandler } from "../messaging/message-handler.js";
|
|
6
7
|
import { EventMetricsManager, ThroughputMetricsManager } from "../utils/metrics-manager.js";
|
|
7
8
|
import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
|
|
@@ -51,6 +52,7 @@ export declare abstract class FoxgloveConnection {
|
|
|
51
52
|
getTopicMetrics(topic: string): Metrics;
|
|
52
53
|
protected getCurrentTime(): Time;
|
|
53
54
|
protected onMessagePacket(event: globalThis.MessageEvent<FoxgloveMessage>): void;
|
|
55
|
+
protected submitPoitcloudFrameCallback(coloredEvent: MessageEvent, poitcloudFrame: PointCloudWithDimensions, message: unknown): void;
|
|
54
56
|
protected handleParsePoitcloudMessage(coloredEvent: MessageEvent): Promise<void>;
|
|
55
57
|
protected parseResolutionFromMessage(message: unknown, topic: string): void;
|
|
56
58
|
protected handleParsedMessage(event: MessageEvent): void;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"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,
|
|
1
|
+
{"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"}
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@@ -5,8 +5,7 @@ import { debouncePromise } from "@foxglove/den/async";
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|
5
5
|
import { fromMillis, isGreaterThan, isLessThan } from "@foxglove/rostime";
|
|
6
6
|
import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation";
|
|
7
7
|
import { PlayerCapabilities, PlayerPresence } from "@foxglove/studio-base/players/types";
|
|
8
|
-
import { depthToPointcloudWorkerPool } from
|
|
9
|
-
import { uint8ArrayToUint16Array } from "../messaging/deserialization/pointcloud/utils.js";
|
|
8
|
+
import { depthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
|
|
10
9
|
import { createMessageHandler } from "../messaging/message-handler.js";
|
|
11
10
|
import { EventMetricsManager, ThroughputMetricsManager } from "../utils/metrics-manager.js";
|
|
12
11
|
import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
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|
@@ -45,7 +44,7 @@ export class FoxgloveConnection {
|
|
|
45
44
|
throughputMetrics = new ThroughputMetricsManager();
|
|
46
45
|
decodeMetrics = new EventMetricsManager();
|
|
47
46
|
PoitCloudSyncFramework = new PoitCloudSyncFramework();
|
|
48
|
-
depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool();
|
|
47
|
+
depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool((event, frame, message) => { this.submitPoitcloudFrameCallback(event, frame, message); });
|
|
49
48
|
// message handler
|
|
50
49
|
messageHandler;
|
|
51
50
|
topics = {};
|
|
@@ -73,38 +72,23 @@ export class FoxgloveConnection {
|
|
|
73
72
|
this.throughputMetrics.registerEvent(event.data.topic, event.data.buffer.byteLength);
|
|
74
73
|
this.messageHandler.handle(event.data);
|
|
75
74
|
}
|
|
75
|
+
submitPoitcloudFrameCallback(coloredEvent, poitcloudFrame, message) {
|
|
76
|
+
coloredEvent.topic = "Point Cloud";
|
|
77
|
+
coloredEvent.schemaName = "foxglove.PointCloud";
|
|
78
|
+
coloredEvent.message = poitcloudFrame;
|
|
79
|
+
// @ts-expect-error - ITS unknow
|
|
80
|
+
// eslint-disable-next-line @typescript-eslint/no-unsafe-argument
|
|
81
|
+
coloredEvent.message.data = message;
|
|
82
|
+
const messageSize = estimateObjectSize(coloredEvent.message);
|
|
83
|
+
coloredEvent.sizeInBytes = messageSize;
|
|
84
|
+
this.messageEvents.push(coloredEvent);
|
|
85
|
+
this.emitState();
|
|
86
|
+
}
|
|
76
87
|
async handleParsePoitcloudMessage(coloredEvent) {
|
|
77
88
|
const poitcloudFrame = this.PoitCloudSyncFramework.getFrame(coloredEvent.receiveTime.nsec);
|
|
78
|
-
const getNeuralCameraIntrinsics = () => {
|
|
79
|
-
const neuralCameraIntrinsicsData = localStorage.getItem("neuralCameraIntrinsics");
|
|
80
|
-
if (neuralCameraIntrinsicsData) {
|
|
81
|
-
return JSON.parse(neuralCameraIntrinsicsData);
|
|
82
|
-
}
|
|
83
|
-
return null;
|
|
84
|
-
};
|
|
85
89
|
if (poitcloudFrame) {
|
|
86
|
-
|
|
87
|
-
|
|
88
|
-
console.log("Sync delay under 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/ 10 **9);
|
|
89
|
-
}
|
|
90
|
-
else {
|
|
91
|
-
console.log("Sync delay over 1s", Math.abs(coloredEvent.receiveTime.nsec- poitcloudFrame.timestamp.nsec)/10 ** 9);
|
|
92
|
-
}
|
|
93
|
-
*/
|
|
94
|
-
const neuralCameraIntrinsics = getNeuralCameraIntrinsics();
|
|
95
|
-
// @ts-expect-error - ITS unknow
|
|
96
|
-
// eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
|
|
97
|
-
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);
|
|
98
|
-
coloredEvent.topic = "Point Cloud";
|
|
99
|
-
coloredEvent.schemaName = "foxglove.PointCloud";
|
|
100
|
-
coloredEvent.message = poitcloudFrame;
|
|
101
|
-
// @ts-expect-error - ITS unknow
|
|
102
|
-
// eslint-disable-next-line @typescript-eslint/no-unsafe-argument
|
|
103
|
-
coloredEvent.message.data = message;
|
|
104
|
-
const messageSize = estimateObjectSize(coloredEvent.message);
|
|
105
|
-
coloredEvent.sizeInBytes = messageSize;
|
|
106
|
-
this.messageEvents.push(coloredEvent);
|
|
107
|
-
this.emitState();
|
|
90
|
+
const neuralCameraIntrinsics = JSON.parse(localStorage.getItem("neuralCameraIntrinsics") ?? "{}");
|
|
91
|
+
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 });
|
|
108
92
|
}
|
|
109
93
|
}
|
|
110
94
|
parseResolutionFromMessage(message, topic) {
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"foxglove-connection.js","sourceRoot":"","sources":["../../../../src/connection/foxglove-connection.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,EAAE,eAAe,EAAE,MAAM,qBAAqB,CAAC;AACtD,OAAO,EAAa,UAAU,EAAE,aAAa,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AACrF,OAAO,EAAE,kBAAkB,EAAE,MAAM,uDAAuD,CAAC;AAC3F,OAAO,EAEL,kBAAkB,EAClB,cAAc,EAGf,MAAM,qCAAqC,CAAC;AAG7C,OAAO,EAAE,2BAA2B,
|
|
1
|
+
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