@luxonis/visualizer-protobuf 2.24.0 → 2.26.0

package/dist/{deserialization.worker-BDgy77kA.js → deserialization.worker-DsCOJqEa.js}

@@ -706,7 +706,7 @@ function deserializePointCloudData({
     receiveTime,
     message: foxgloveMessage,
     sizeInBytes: estimateObjectSize(foxgloveMessage),
-    schemaName: "foxglove.PointCloud"
+    schemaName: "foxglove.PointCloud.Colored"
   });
 }
 

package/dist/{index-CGWKf7M3.js → index-AHg_yzKN.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-04igCfBa.js → index-B2-O30qH.js}

@@ -1,4 +1,4 @@
-import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, ab as parseMixed } from './index-DWNJltiA.js';
+import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, T as LanguageSupport, ab as parseMixed } from './index-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-Bf6kn2oZ.js → index-BGrTBljs.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-ByJ_IwVY.js → index-BQnK1LTP.js}

@@ -1,4 +1,4 @@
-import { a8 as EditorView, a9 as EditorSelection, Q as LRLanguage, N as styleTags, O as tags, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, T as LanguageSupport, V as LRParser, Z as syntaxTree, aa as html, ab as parseMixed, U as ExternalTokenizer } from './index-DWNJltiA.js';
+import { a8 as EditorView, a9 as EditorSelection, Q as LRLanguage, N as styleTags, O as tags, J as indentNodeProp, a0 as delimitedIndent, M as foldNodeProp, T as LanguageSupport, V as LRParser, Z as syntaxTree, aa as html, ab as parseMixed, U as ExternalTokenizer } from './index-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-CH-hRWkC.js → index-BTdZSETz.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-CgUKu2u-.js → index-CP4Zviq2.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-DWNJltiA.js → index-CPTbtbj3.js}

@@ -447,36 +447,52 @@ 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/
+/* eslint-disable @foxglove/strict-equality */
 const WORKER_COUNT = 4;
-class depthToPointcloudWorkerPool {
+const DEFAULT_TARGET_FPS = 25;
+const DEFAULT_MAX_PROCESSED_QUEUE_SIZE = 60;
+class DepthToPointcloudWorkerPool {
   lastUsedWorkerIndex = 0;
   #frameQueue = [];
+  #processedFrameQueue = [];
   #isWebGpuSupported = false;
   #FRAME_BATCH_SIZE;
+  #targetDispatchIntervalMs;
+  #maxProcessedQueueSize;
+  #dispatchCallback;
   #isProcessing = false;
-  constructor(callback, batchSize = 10) {
+  #dispatchTimeoutId = undefined;
+  constructor(callback, batchSize = 10, targetFps = DEFAULT_TARGET_FPS, maxProcessedQueueSize = DEFAULT_MAX_PROCESSED_QUEUE_SIZE) {
     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;
+          console.warn("WebGPU adapter not found. Falling back to CPU for all frames.");
+        } else {
+          this.#isWebGpuSupported = true;
+          // console.info("WebGPU potentially supported. Will attempt GPU processing."); // Console log removed as per no-comment request style
         }
-        this.#isWebGpuSupported = true;
+      }).catch(err => {
+        console.warn("Error requesting WebGPU adapter. Falling back to CPU.", err);
+        this.#isWebGpuSupported = false;
       });
     } else {
-      console.warn("WebGPU not supported. Falling back to CPU for all frames.");
+      console.warn("navigator.gpu is undefined. WebGPU not supported. Falling back to CPU for all frames.");
+      this.#isWebGpuSupported = false;
     }
-    this.sumbmitCallback = callback;
+    this.#dispatchCallback = 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), {
+    this.#targetDispatchIntervalMs = 1000 / Math.max(1, targetFps);
+    this.#maxProcessedQueueSize = Math.max(1, maxProcessedQueueSize);
+    this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => wrap$3(new Worker(new URL("pointcloudFromDepth.worker-JVTJ-r5q.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)) {
+    // @ts-expect-error - message structure not fully typed here 
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-member-access
+    if (!(data.colorFrame.message?.data instanceof Uint8Array)) {
+      console.warn("Skipping frame: colorFrame.message.data is not a Uint8Array", data.colorFrame);
       return;
     }
     this.#frameQueue.push(data);
@@ -492,6 +508,7 @@ class depthToPointcloudWorkerPool {
       this.#isProcessing = false;
       return;
     }
+
     // biome-ignore lint/style/noNonNullAssertion: <explanation>
     const firstFrame = batchToProcess[0];
     const width = firstFrame.width;
@@ -502,47 +519,114 @@ class depthToPointcloudWorkerPool {
     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;
+    try {
+      const depthDataArray = batchToProcess.map(f => uint8ArrayToUint16Array(f.depthFrame.data));
+      // @ts-expect-error - message structure not fully typed here - ITS UNKNOWN
+      // 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) {
+          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.warn(`Worker ${workerIndex}: Result ${i} is null or undefined. Passing null to callback.`); // Console log removed
+              this.#addToProcessedQueue({
+                originalColorEvent: originalFrame.colorFrame,
+                originalDepthFrame: originalFrame.depthFrame,
+                processedPointCloud: null
+              });
+            } else {
+              this.#addToProcessedQueue({
+                originalColorEvent: originalFrame.colorFrame,
+                originalDepthFrame: originalFrame.depthFrame,
+                processedPointCloud: pointCloudResult
+              });
+            }
+          }
+        } else {
+          console.error(`Worker ${workerIndex}: Mismatch in result count (${results.length}) and batch size (${batchToProcess.length}). Discarding results for this batch.`);
+          for (const originalFrame of batchToProcess) {
+            this.#addToProcessedQueue({
+              originalColorEvent: originalFrame.colorFrame,
+              originalDepthFrame: originalFrame.depthFrame,
+              processedPointCloud: null
+            });
           }
-          // 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);
+      }).catch(error => {
+        console.error(`Worker ${workerIndex}: Error processing batch:`, error);
+        for (const originalFrame of batchToProcess) {
+          this.#addToProcessedQueue({
+            originalColorEvent: originalFrame.colorFrame,
+            originalDepthFrame: originalFrame.depthFrame,
+            processedPointCloud: null
+          });
+        }
+      }).finally(() => {
+        this.#isProcessing = false;
+        this.tryProcessBatch();
+      });
+    } catch (error) {
+      console.error("Error preparing data for worker:", error);
       for (const originalFrame of batchToProcess) {
-        this.sumbmitCallback(originalFrame.colorFrame, originalFrame.depthFrame, null);
+        this.#addToProcessedQueue({
+          originalColorEvent: originalFrame.colorFrame,
+          originalDepthFrame: originalFrame.depthFrame,
+          processedPointCloud: null
+        });
       }
-    }).finally(() => {
       this.#isProcessing = false;
       this.tryProcessBatch();
-    });
+    }
+  }
+  #addToProcessedQueue(processedFrame) {
+    if (this.#processedFrameQueue.length >= this.#maxProcessedQueueSize) {
+      this.#processedFrameQueue.shift();
+      console.warn(`Processed frame queue full (>= ${this.#maxProcessedQueueSize}). Dropping oldest frame.`);
+    }
+    this.#processedFrameQueue.push(processedFrame);
+    if (this.#dispatchTimeoutId === undefined) {
+      this.#scheduleNextDispatch();
+    }
+  }
+  #scheduleNextDispatch() {
+    if (this.#dispatchTimeoutId !== undefined) {
+      clearTimeout(this.#dispatchTimeoutId);
+    }
+    if (this.#processedFrameQueue.length > 0) {
+      this.#dispatchTimeoutId = setTimeout(this.#dispatchNextFrame, this.#targetDispatchIntervalMs);
+    } else {
+      this.#dispatchTimeoutId = undefined;
+    }
+  }
+  #dispatchNextFrame = () => {
+    const frameToDispatch = this.#processedFrameQueue.shift();
+    if (frameToDispatch) {
+      try {
+        this.#dispatchCallback(frameToDispatch.originalColorEvent, frameToDispatch.originalDepthFrame, frameToDispatch.processedPointCloud);
+      } catch (error) {
+        console.error("Error in dispatchCallback:", error);
+      }
+    }
+    this.#scheduleNextDispatch();
+  };
+  destroy() {
+    if (this.#dispatchTimeoutId !== undefined) {
+      clearTimeout(this.#dispatchTimeoutId);
+      this.#dispatchTimeoutId = undefined;
+    }
+    this.#frameQueue = [];
+    this.#processedFrameQueue = [];
+    // biome-ignore lint/complexity/noForEach: Simple cleanup loop
+    this.workerApis = [];
   }
 }
 
@@ -551,7 +635,7 @@ class depthToPointcloudWorkerPool {
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
 function initWorker(callback) {
-  const workerWrap = wrap$3(new Worker(new URL("deserialization.worker-BDgy77kA.js", import.meta.url), {
+  const workerWrap = wrap$3(new Worker(new URL("deserialization.worker-DsCOJqEa.js", import.meta.url), {
     type: "module",
     name: `message-decoder`
   }));
@@ -709,7 +793,7 @@ class PoitCloudSyncFramework {
     };
   }
   storedFrames = [];
-  #MAX_DELAY_SEC = 0.01;
+  #MAX_DELAY_SEC = 0.075;
   #MAX_STORED_FRAMES = 100;
   getFrame(nsec) {
     const {
@@ -775,7 +859,7 @@ class FoxgloveConnection {
   throughputMetrics = new ThroughputMetricsManager();
   decodeMetrics = new EventMetricsManager();
   PoitCloudSyncFramework = new PoitCloudSyncFramework();
-  depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool((event, frame, message) => {
+  depthToPointcloudWorkerPool = new DepthToPointcloudWorkerPool((event, frame, message) => {
     this.submitPoitcloudFrameCallback(event, frame, message);
   });
   // message handler
@@ -847,10 +931,13 @@ class FoxgloveConnection {
   handleParsedMessage(event) {
     this.decodeMetrics.registerEvent(event.topic);
     this.parseResolutionFromMessage(event.message, event.topic);
-    if (event.topic === "Point Cloud") {
+    if (event.schemaName === "foxglove.PointCloud") {
       this.PoitCloudSyncFramework.addFrame(event.message);
       return;
     }
+    if (event.schemaName === "foxglove.PointClouds.Colored") {
+      event.schemaName = "foxglove.PointClouds";
+    }
     const messageSize = estimateObjectSize(event.message);
     event.sizeInBytes = messageSize;
     this.messageEvents.push(event);
@@ -85310,7 +85397,7 @@ function legacy(parser) {
     return new LanguageSupport(StreamLanguage.define(parser));
 }
 function sql$1(dialectName) {
-    return import('./index-CuGP4_2Y.js').then(m => m.sql({ dialect: m[dialectName] }));
+    return import('./index-ttl4cqP0.js').then(m => m.sql({ dialect: m[dialectName] }));
 }
 /**
 An array of language descriptions for known language packages.
@@ -85321,7 +85408,7 @@ const languages = [
         name: "C",
         extensions: ["c", "h", "ino"],
         load() {
-            return import('./index-MWmhJgeW.js').then(m => m.cpp());
+            return import('./index-i-2ofHyT.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85329,7 +85416,7 @@ const languages = [
         alias: ["cpp"],
         extensions: ["cpp", "c++", "cc", "cxx", "hpp", "h++", "hh", "hxx"],
         load() {
-            return import('./index-MWmhJgeW.js').then(m => m.cpp());
+            return import('./index-i-2ofHyT.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85349,7 +85436,7 @@ const languages = [
         name: "Go",
         extensions: ["go"],
         load() {
-            return import('./index-CGWKf7M3.js').then(m => m.go());
+            return import('./index-AHg_yzKN.js').then(m => m.go());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85364,7 +85451,7 @@ const languages = [
         name: "Java",
         extensions: ["java"],
         load() {
-            return import('./index-DVYarByG.js').then(m => m.java());
+            return import('./index-CqMDGXcF.js').then(m => m.java());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85380,7 +85467,7 @@ const languages = [
         alias: ["json5"],
         extensions: ["json", "map"],
         load() {
-            return import('./index-BOgJlQZb.js').then(m => m.json());
+            return import('./index-DMzCNF_e.js').then(m => m.json());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85394,14 +85481,14 @@ const languages = [
         name: "LESS",
         extensions: ["less"],
         load() {
-            return import('./index-C9NOm_iz.js').then(m => m.less());
+            return import('./index-Zijk5SvX.js').then(m => m.less());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Liquid",
         extensions: ["liquid"],
         load() {
-            return import('./index-ByJ_IwVY.js').then(m => m.liquid());
+            return import('./index-BQnK1LTP.js').then(m => m.liquid());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85427,7 +85514,7 @@ const languages = [
         name: "PHP",
         extensions: ["php", "php3", "php4", "php5", "php7", "phtml"],
         load() {
-            return import('./index-Dd0nllcW.js').then(m => m.php());
+            return import('./index-DLRgXO8y.js').then(m => m.php());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85444,28 +85531,28 @@ const languages = [
         extensions: ["BUILD", "bzl", "py", "pyw"],
         filename: /^(BUCK|BUILD)$/,
         load() {
-            return import('./index-CH-hRWkC.js').then(m => m.python());
+            return import('./index-BTdZSETz.js').then(m => m.python());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Rust",
         extensions: ["rs"],
         load() {
-            return import('./index-CgUKu2u-.js').then(m => m.rust());
+            return import('./index-CP4Zviq2.js').then(m => m.rust());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Sass",
         extensions: ["sass"],
         load() {
-            return import('./index-vu5EOZMU.js').then(m => m.sass({ indented: true }));
+            return import('./index-cLRC4uIT.js').then(m => m.sass({ indented: true }));
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "SCSS",
         extensions: ["scss"],
         load() {
-            return import('./index-vu5EOZMU.js').then(m => m.sass());
+            return import('./index-cLRC4uIT.js').then(m => m.sass());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85496,7 +85583,7 @@ const languages = [
         name: "WebAssembly",
         extensions: ["wat", "wast"],
         load() {
-            return import('./index-B2CzfSrk.js').then(m => m.wast());
+            return import('./index-DcFvTNvR.js').then(m => m.wast());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85504,7 +85591,7 @@ const languages = [
         alias: ["rss", "wsdl", "xsd"],
         extensions: ["xml", "xsl", "xsd", "svg"],
         load() {
-            return import('./index-BD0s8blv.js').then(m => m.xml());
+            return import('./index-CkN9fMlH.js').then(m => m.xml());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -85512,7 +85599,7 @@ const languages = [
         alias: ["yml"],
         extensions: ["yaml", "yml"],
         load() {
-            return import('./index-04igCfBa.js').then(m => m.yaml());
+            return import('./index-B2-O30qH.js').then(m => m.yaml());
         }
     }),
     // Legacy modes ported from CodeMirror 5
@@ -86308,13 +86395,13 @@ const languages = [
         name: "Vue",
         extensions: ["vue"],
         load() {
-            return import('./index-DDF_vrPV.js').then(m => m.vue());
+            return import('./index-DFHs4aUN.js').then(m => m.vue());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Angular Template",
         load() {
-            return import('./index-Bf6kn2oZ.js').then(m => m.angular());
+            return import('./index-BGrTBljs.js').then(m => m.angular());
         }
     })
 ];
@@ -162384,7 +162471,7 @@ function createRenderDelaySampler() {
   };
 }
 
-const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-Bap7OFFN.js'));
+const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-NiMrvEhw.js'));
 const ImagePanelBody = ({
   topic,
   frameRenderedEvent
@@ -162453,7 +162540,7 @@ 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-vePwOhtN.js'));
+const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-Cia95HmM.js'));
 const PointCloudPanelBody = ({
   topic,
   frameRenderedEvent
@@ -162487,7 +162574,7 @@ const PointCloudPanelBody = ({
       phi: 89,
       target: [0, 0, 0],
       targetOffset: [0, 0, 0],
-      targetOrientation: [0, 0, 0, 1],
+      targetOrientation: [0, 1, 1, 1],
       thetaOffset: 180,
       fovy: getFovy(),
       near: 5,

package/dist/{index-vePwOhtN.js → index-Cia95HmM.js}

@@ -3,7 +3,7 @@ import React__default, { useReducer, useRef, useCallback, useLayoutEffect, Compo
 import ReactDOM__default from 'react-dom';
 import { S as isSymbol, U as toString, V as keys, W as getSymbols$1, X as stubArray, Y as arrayPush, Z as baseGetAllKeys, g as getTag, $ as getAllKeys, k as baseGet, c as baseIteratee, j as castPath, t as toKey, a0 as arrayMap$1, a1 as baseUniq, b as baseFlatten, a2 as useMustNotChange, a3 as useCurrentLayoutActions, a4 as useCurrentLayoutSelector, r as reportError, A as AppError, L as Logger, u as useGuaranteedContext, a5 as usePanelMosaicId, a6 as useSelectedPanels, a7 as PANEL_TITLE_CONFIG_KEY, a8 as noop$4, o as getPanelTypeFromId, M as useShallowMemo, T as TAB_PANEL_TYPE, J as filterMap, d as dist$3, a9 as useAppConfiguration, aa as useValueChangedDebugLog, ab as useJsonTreeTheme } from './tslib.es6-C73eoP_E.js';
 import { createStore, useStore } from 'zustand';
-import { g as generateUtilityClass, c as createAggregator, f as flatRest, b as baseSet, A as AnalyticsContext, P as PropTypes, E as ErrorDisplay, S as Stack$1, m as makeStyles$1, _ as _extends$1, W as WorkspaceContext, u as useAnalytics, a as AppEvent, L as LeftSidebarItemKeys, R as RightSidebarItemKeys, d as useTranslation, e as usePanelCatalog, h as EmptyState, i as isEmpty, j as PanelContext, k as PanelCatalogContext, l as usePanelStateStore, n as useDefaultPanelTitle, o as useWorkspaceStore, p as WorkspaceStoreSelectors, q as difference, r as usePanelContext, s as useMessagePipeline, v as v4, t as useHoverValue, w as useSetHoverValue, x as useClearHoverValue, y as useMessagePipelineGetter, z as usePanelSettingsTreeUpdate, B as PlayerCapabilities, C as assertNever, D as PlayerPresence, F as isEqual, G as isDesktopApp, H as createTheme, I as propTypesExports } from './index-DWNJltiA.js';
+import { g as generateUtilityClass, c as createAggregator, f as flatRest, b as baseSet, A as AnalyticsContext, P as PropTypes, E as ErrorDisplay, S as Stack$1, m as makeStyles$1, _ as _extends$1, W as WorkspaceContext, u as useAnalytics, a as AppEvent, L as LeftSidebarItemKeys, R as RightSidebarItemKeys, d as useTranslation, e as usePanelCatalog, h as EmptyState, i as isEmpty, j as PanelContext, k as PanelCatalogContext, l as usePanelStateStore, n as useDefaultPanelTitle, o as useWorkspaceStore, p as WorkspaceStoreSelectors, q as difference, r as usePanelContext, s as useMessagePipeline, v as v4, t as useHoverValue, w as useSetHoverValue, x as useClearHoverValue, y as useMessagePipelineGetter, z as usePanelSettingsTreeUpdate, B as PlayerCapabilities, C as assertNever, D as PlayerPresence, F as isEqual, G as isDesktopApp, H as createTheme, I as propTypesExports } from './index-CPTbtbj3.js';
 import { MosaicDragType, MosaicContext, MosaicWindowContext, getOtherBranch, getNodeAtPath } from 'react-mosaic-component';
 import { t as typescript } from './useMessageReducer-jNx5e6JW.js';
 import { g as getDefaultExportFromCjs, c as commonjsGlobal, a as getAugmentedNamespace } from './_commonjsHelpers-E-ZsRS8r.js';
@@ -16368,6 +16368,7 @@ const FRAME_TRANSFORMS_DATATYPES = new Set();
 addFoxgloveSchema(FRAME_TRANSFORMS_DATATYPES, "foxglove.FrameTransforms");
 const POINTCLOUD_DATATYPES = new Set();
 addFoxgloveSchema(POINTCLOUD_DATATYPES, "foxglove.PointCloud");
+addFoxgloveSchema(POINTCLOUD_DATATYPES, "foxglove.PointCloud.Colored");
 const LASERSCAN_DATATYPES = new Set();
 addFoxgloveSchema(LASERSCAN_DATATYPES, "foxglove.LaserScan");
 const RAW_IMAGE_DATATYPES = new Set();
@@ -60057,7 +60058,7 @@ class CameraStateSettings extends SceneExtension {
     this.#controls.touches.one = CameraControls.ACTION.TOUCH_SCREEN_PAN;
     this.#controls.infinityDolly = true;
     this.#perspectiveCamera.rotation.set(0, Math.PI, Math.PI);
-    this.#perspectiveCamera.up.set(0, -1, 0);
+    this.#perspectiveCamera.up.set(0, 1, 0);
     this.#controls.update(0);
     const euler = new Euler().setFromQuaternion(this.#perspectiveCamera.quaternion, "ZYX");
     this.#perspectiveCamera.quaternion.setFromEuler(euler);

package/dist/{index-BD0s8blv.js → index-CkN9fMlH.js}

@@ -1,4 +1,4 @@
-import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, M as foldNodeProp, ac as bracketMatchingHandle, T as LanguageSupport, a8 as EditorView, Z as syntaxTree, a9 as EditorSelection } from './index-DWNJltiA.js';
+import { a2 as ContextTracker, U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, M as foldNodeProp, ac as bracketMatchingHandle, T as LanguageSupport, a8 as EditorView, Z as syntaxTree, a9 as EditorSelection } from './index-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-DVYarByG.js → index-CqMDGXcF.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-DDF_vrPV.js → index-DFHs4aUN.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-Dd0nllcW.js → index-DLRgXO8y.js}

@@ -1,4 +1,4 @@
-import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, aa as html, T as LanguageSupport, ab as parseMixed } from './index-DWNJltiA.js';
+import { U as ExternalTokenizer, N as styleTags, O as tags, V as LRParser, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, a0 as delimitedIndent, M as foldNodeProp, a1 as foldInside, aa as html, T as LanguageSupport, ab as parseMixed } from './index-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-BOgJlQZb.js → index-DMzCNF_e.js}

@@ -1,4 +1,4 @@
-import { 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-DWNJltiA.js';
+import { 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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-B2CzfSrk.js → index-DcFvTNvR.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-Bap7OFFN.js → index-NiMrvEhw.js}

@@ -1,4 +1,4 @@
-import { ImagePanel } from './index-vePwOhtN.js';
+import { ImagePanel } from './index-Cia95HmM.js';
 import 'react';
 import 'react-dom';
 import './tslib.es6-C73eoP_E.js';
@@ -7,7 +7,7 @@ import './_commonjsHelpers-E-ZsRS8r.js';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
 import 'zustand';
-import './index-DWNJltiA.js';
+import './index-CPTbtbj3.js';
 import './comlink-DHMAu6X7.js';
 import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-C39Uooyk.js';

package/dist/{index-C9NOm_iz.js → index-Zijk5SvX.js}

@@ -1,4 +1,4 @@
-import { N as styleTags, O as tags, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, M as foldNodeProp, a1 as foldInside, a7 as defineCSSCompletionSource, T as LanguageSupport, V as LRParser, U as ExternalTokenizer } from './index-DWNJltiA.js';
+import { N as styleTags, O as tags, Q as LRLanguage, J as indentNodeProp, K as continuedIndent, M as foldNodeProp, a1 as foldInside, a7 as defineCSSCompletionSource, T as LanguageSupport, V as LRParser, U as ExternalTokenizer } from './index-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-vu5EOZMU.js → index-cLRC4uIT.js}

@@ -1,4 +1,4 @@
-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';
+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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-MWmhJgeW.js → index-i-2ofHyT.js}

@@ -1,4 +1,4 @@
-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-DWNJltiA.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-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/{index-CuGP4_2Y.js → index-ttl4cqP0.js}

@@ -1,4 +1,4 @@
-import { J as indentNodeProp, K as continuedIndent, M as foldNodeProp, N as styleTags, O as tags, Q as LRLanguage, T as LanguageSupport, U as ExternalTokenizer, V as LRParser, X as ifNotIn, Y as completeFromList, Z as syntaxTree } from './index-DWNJltiA.js';
+import { J as indentNodeProp, K as continuedIndent, M as foldNodeProp, N as styleTags, O as tags, Q as LRLanguage, T as LanguageSupport, U as ExternalTokenizer, V as LRParser, X as ifNotIn, Y as completeFromList, Z as syntaxTree } from './index-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';

package/dist/index.js

@@ -1,4 +1,4 @@
-export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-DWNJltiA.js';
+export { ah as ImagePanel, ag as PanelLayout, ai as PointCloudPanel, ae as VisualizerConnection, af as VisualizerContext } from './index-CPTbtbj3.js';
 import './tslib.es6-C73eoP_E.js';
 import 'react';
 import 'react-mosaic-component';