@luxonis/visualizer-protobuf 2.24.0 → 2.26.0

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Files changed (43) hide show
  1. package/dist/{deserialization.worker-BDgy77kA.js → deserialization.worker-DsCOJqEa.js} +1 -1
  2. package/dist/{index-CGWKf7M3.js → index-AHg_yzKN.js} +1 -1
  3. package/dist/{index-04igCfBa.js → index-B2-O30qH.js} +1 -1
  4. package/dist/{index-Bf6kn2oZ.js → index-BGrTBljs.js} +1 -1
  5. package/dist/{index-ByJ_IwVY.js → index-BQnK1LTP.js} +1 -1
  6. package/dist/{index-CH-hRWkC.js → index-BTdZSETz.js} +1 -1
  7. package/dist/{index-CgUKu2u-.js → index-CP4Zviq2.js} +1 -1
  8. package/dist/{index-DWNJltiA.js → index-CPTbtbj3.js} +158 -71
  9. package/dist/{index-vePwOhtN.js → index-Cia95HmM.js} +3 -2
  10. package/dist/{index-BD0s8blv.js → index-CkN9fMlH.js} +1 -1
  11. package/dist/{index-DVYarByG.js → index-CqMDGXcF.js} +1 -1
  12. package/dist/{index-DDF_vrPV.js → index-DFHs4aUN.js} +1 -1
  13. package/dist/{index-Dd0nllcW.js → index-DLRgXO8y.js} +1 -1
  14. package/dist/{index-BOgJlQZb.js → index-DMzCNF_e.js} +1 -1
  15. package/dist/{index-B2CzfSrk.js → index-DcFvTNvR.js} +1 -1
  16. package/dist/{index-Bap7OFFN.js → index-NiMrvEhw.js} +2 -2
  17. package/dist/{index-C9NOm_iz.js → index-Zijk5SvX.js} +1 -1
  18. package/dist/{index-vu5EOZMU.js → index-cLRC4uIT.js} +1 -1
  19. package/dist/{index-MWmhJgeW.js → index-i-2ofHyT.js} +1 -1
  20. package/dist/{index-CuGP4_2Y.js → index-ttl4cqP0.js} +1 -1
  21. package/dist/index.js +1 -1
  22. package/dist/lib/src/connection/foxglove-connection.d.ts +2 -2
  23. package/dist/lib/src/connection/foxglove-connection.d.ts.map +1 -1
  24. package/dist/lib/src/connection/foxglove-connection.js +6 -3
  25. package/dist/lib/src/connection/foxglove-connection.js.map +1 -1
  26. package/dist/lib/src/messaging/deserialization/pointcloud/point-cloud.js +1 -1
  27. package/dist/lib/src/messaging/deserialization/pointcloud/point-cloud.js.map +1 -1
  28. package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js +3 -3
  29. package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map +1 -1
  30. package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts +5 -5
  31. package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map +1 -1
  32. package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js +134 -46
  33. package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map +1 -1
  34. package/dist/lib/src/panels/PointCloudPanel.js +1 -1
  35. package/dist/lib/src/utils/poitcloud-sync.js +1 -1
  36. package/dist/lib/src/utils/poitcloud-sync.js.map +1 -1
  37. package/dist/packages/studio-base/src/panels/ThreeDeeRender/foxglove.d.ts.map +1 -1
  38. package/dist/packages/studio-base/src/panels/ThreeDeeRender/foxglove.js +1 -0
  39. package/dist/packages/studio-base/src/panels/ThreeDeeRender/foxglove.js.map +1 -1
  40. package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js +1 -1
  41. package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js.map +1 -1
  42. package/dist/{pointcloudFromDepth.worker-qotYPy_e.js → pointcloudFromDepth.worker-JVTJ-r5q.js} +3 -3
  43. package/package.json +1 -1
package/dist/lib/src/connection/foxglove-connection.d.ts CHANGED
@@ -1,7 +1,7 @@
1
1
  import { type Time } from "@foxglove/rostime";
2
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  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 "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
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+ import { DepthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
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  import type { PointCloudWithDimensions } from "../messaging/deserialization/video/depth.js";
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  import { type MessageHandler } from "../messaging/message-handler.js";
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  import { EventMetricsManager, ThroughputMetricsManager } from "../utils/metrics-manager.js";
@@ -39,7 +39,7 @@ export declare abstract class FoxgloveConnection {
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  protected throughputMetrics: ThroughputMetricsManager;
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  protected decodeMetrics: EventMetricsManager;
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  protected PoitCloudSyncFramework: PoitCloudSyncFramework;
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- protected depthToPointcloudWorkerPool: depthToPointcloudWorkerPool;
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+ protected depthToPointcloudWorkerPool: DepthToPointcloudWorkerPool;
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  protected messageHandler: MessageHandler;
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  protected topics: {
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  [key: string]: {
package/dist/lib/src/connection/foxglove-connection.d.ts.map CHANGED
@@ -1 +1 @@
1
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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;AAGpE,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;IAUtF,SAAS,CAAC,0BAA0B,CAAC,OAAO,EAAE,OAAO,EAAE,KAAK,EAAE,MAAM;IAUpE,SAAS,CAAC,mBAAmB,CAAC,KAAK,EAAE,YAAY,GAAG,IAAI;IAsBxD,SAAS,CAAC,SAAS;;MAyDhB;CACJ"}
package/dist/lib/src/connection/foxglove-connection.js CHANGED
@@ -5,7 +5,7 @@ import { debouncePromise } from "@foxglove/den/async";
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 "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
8
+ import { DepthToPointcloudWorkerPool } from "../messaging/deserialization/pointcloud/poitcloudPoolManager.js";
9
9
  import { createMessageHandler } from "../messaging/message-handler.js";
10
10
  import { EventMetricsManager, ThroughputMetricsManager } from "../utils/metrics-manager.js";
11
11
  import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
@@ -44,7 +44,7 @@ export class FoxgloveConnection {
44
44
  throughputMetrics = new ThroughputMetricsManager();
45
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  decodeMetrics = new EventMetricsManager();
46
46
  PoitCloudSyncFramework = new PoitCloudSyncFramework();
47
- depthToPointcloudWorkerPool = new depthToPointcloudWorkerPool((event, frame, message) => { this.submitPoitcloudFrameCallback(event, frame, message); });
47
+ depthToPointcloudWorkerPool = new DepthToPointcloudWorkerPool((event, frame, message) => { this.submitPoitcloudFrameCallback(event, frame, message); });
48
48
  // message handler
49
49
  messageHandler;
50
50
  topics = {};
@@ -102,10 +102,13 @@ export class FoxgloveConnection {
102
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  handleParsedMessage(event) {
103
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  this.decodeMetrics.registerEvent(event.topic);
104
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  this.parseResolutionFromMessage(event.message, event.topic);
105
- if (event.topic === "Point Cloud") {
105
+ if (event.schemaName === "foxglove.PointCloud") {
106
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  this.PoitCloudSyncFramework.addFrame(event.message);
107
107
  return;
108
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  }
109
+ if (event.schemaName === "foxglove.PointClouds.Colored") {
110
+ event.schemaName = "foxglove.PointClouds";
111
+ }
109
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  const messageSize = estimateObjectSize(event.message);
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  event.sizeInBytes = messageSize;
111
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  this.messageEvents.push(event);
package/dist/lib/src/connection/foxglove-connection.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/lib/src/messaging/deserialization/pointcloud/point-cloud.js CHANGED
@@ -30,7 +30,7 @@ export function deserializePointCloudData({ topic, message, callback }) {
30
30
  receiveTime,
31
31
  message: foxgloveMessage,
32
32
  sizeInBytes: estimateObjectSize(foxgloveMessage),
33
- schemaName: "foxglove.PointCloud"
33
+ schemaName: "foxglove.PointCloud.Colored",
34
34
  });
35
35
  }
36
36
  //# sourceMappingURL=point-cloud.js.map
package/dist/lib/src/messaging/deserialization/pointcloud/point-cloud.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"point-cloud.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/point-cloud.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,EAAE,WAAW,EAAE,MAAM,mBAAmB,CAAC;AAEhD,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAI9F,OAAO,EAAE,UAAU,EAAE,MAAM,gBAAgB,CAAC;AAQ5C,MAAM,UAAU,yBAAyB,CAAC,EACxC,KAAK,EACL,OAAO,EACP,QAAQ,EACiB;IACzB,MAAM,WAAW,GAAG,UAAU,CAAC,IAAI,CAAC,GAAG,EAAE,CAAC,CAAC;IAE3C,MAAM,eAAe,GAAe;QAClC,SAAS,EAAE,WAAW;QACtB,QAAQ,EAAE,cAAc,KAAK,QAAQ;QACrC,YAAY,EAAE,EAAE;QAChB,IAAI,EAAE;YACJ,QAAQ,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;YAC9B,WAAW,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;SACxC;QACD,MAAM,EAAE;YACN,EAAE,IAAI,EAAE,GAAG,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,EAAE,WAAW,CAAC,OAAO,EAAE;YACnD,EAAE,IAAI,EAAE,GAAG,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,EAAE,WAAW,CAAC,OAAO,EAAE;YACnD,EAAE,IAAI,EAAE,GAAG,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,EAAE,WAAW,CAAC,OAAO,EAAE;SACpD;QACD,IAAI,EAAE,OAAO,CAAC,IAAI;KACnB,CAAC;IAEF,IAAI,OAAO,CAAC,KAAK,EAAE,CAAC;QAClB,eAAe,CAAC,MAAM,CAAC,IAAI,CACzB,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,EACpD,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,EACtD,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,EACrD,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,CACvD,CAAC;QAEF,eAAe,CAAC,YAAY,GAAG,EAAE,CAAC;IACpC,CAAC;IAED,QAAQ,CAAC;QACP,KAAK;QACL,WAAW;QACX,OAAO,EAAE,eAAe;QACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;QAChD,UAAU,EAAE,qBAAqB;KAClC,CAAC,CAAC;AACL,CAAC"}
1
+ {"version":3,"file":"point-cloud.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/point-cloud.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,EAAE,WAAW,EAAE,MAAM,mBAAmB,CAAC;AAEhD,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAI9F,OAAO,EAAE,UAAU,EAAE,MAAM,gBAAgB,CAAC;AAQ5C,MAAM,UAAU,yBAAyB,CAAC,EACxC,KAAK,EACL,OAAO,EACP,QAAQ,EACiB;IACzB,MAAM,WAAW,GAAG,UAAU,CAAC,IAAI,CAAC,GAAG,EAAE,CAAC,CAAC;IAE3C,MAAM,eAAe,GAAe;QAClC,SAAS,EAAE,WAAW;QACtB,QAAQ,EAAE,cAAc,KAAK,QAAQ;QACrC,YAAY,EAAE,EAAE;QAChB,IAAI,EAAE;YACJ,QAAQ,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;YAC9B,WAAW,EAAE,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE,CAAC,EAAE;SACxC;QACD,MAAM,EAAE;YACN,EAAE,IAAI,EAAE,GAAG,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,EAAE,WAAW,CAAC,OAAO,EAAE;YACnD,EAAE,IAAI,EAAE,GAAG,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,EAAE,WAAW,CAAC,OAAO,EAAE;YACnD,EAAE,IAAI,EAAE,GAAG,EAAE,MAAM,EAAE,CAAC,EAAE,IAAI,EAAE,WAAW,CAAC,OAAO,EAAE;SACpD;QACD,IAAI,EAAE,OAAO,CAAC,IAAI;KACnB,CAAC;IAEF,IAAI,OAAO,CAAC,KAAK,EAAE,CAAC;QAClB,eAAe,CAAC,MAAM,CAAC,IAAI,CACzB,EAAE,IAAI,EAAE,KAAK,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,EACpD,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,EACtD,EAAE,IAAI,EAAE,MAAM,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,EACrD,EAAE,IAAI,EAAE,OAAO,EAAE,MAAM,EAAE,EAAE,EAAE,IAAI,EAAE,WAAW,CAAC,KAAK,EAAE,CACvD,CAAC;QAEF,eAAe,CAAC,YAAY,GAAG,EAAE,CAAC;IACpC,CAAC;IAED,QAAQ,CAAC;QACP,KAAK;QACL,WAAW;QACX,OAAO,EAAE,eAAe;QACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;QAChD,UAAU,EAAE,6BAA6B;KAC1C,CAAC,CAAC;AACL,CAAC"}
package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js CHANGED
@@ -17,7 +17,7 @@ function depthToPointCloudBuffer(uint16Array, width, height, fx, fy, cx, cy) {
17
17
  const depthScale = 1.0;
18
18
  const scaledDepth = depthValue * depthScale;
19
19
  if (scaledDepth > 0 && fx !== 0 && fy !== 0) {
20
- x = (cx - u) * scaledDepth / fx;
20
+ x = (u - cx) * scaledDepth / fx;
21
21
  y = (cy - v) * scaledDepth / fy;
22
22
  z = scaledDepth;
23
23
  }
@@ -130,8 +130,8 @@ fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
130
130
  let depthScale = intrinsics.depthScale;
131
131
  if (rawDepthU16 > 0u && fx != 0.0 && fy != 0.0 && depthScale > 0.0) {
132
132
  let z = f32(rawDepthU16) * depthScale;
133
- outputPoint.x = (cx - u) * z / fx;
134
- outputPoint.y = (cy - v) * z / fy;
133
+ outputPoint.x = (u - cx) * z / fx;
134
+ outputPoint.y = (v - cy) * z / fy;
135
135
  outputPoint.z = z;
136
136
  if (i420WidthU > 0u && i420HeightU > 0u && bytesPerI420Frame > 0u) {
137
137
  let i420X = min(i420WidthU - 1u, u32(floor(u * (intrinsics.i420Width / intrinsics.depthWidth))));
package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts CHANGED
@@ -1,7 +1,7 @@
1
1
  import { type Remote } from "comlink";
2
2
  import type { MessageEvent } from "@foxglove/studio-base/players/types";
3
3
  import type { PointCloudWithDimensions } from "../video/depth";
4
- type PoitCloudFrame = {
4
+ type PointCloudFrame = {
5
5
  depthFrame: PointCloudWithDimensions;
6
6
  width: number;
7
7
  height: number;
@@ -13,7 +13,7 @@ type PoitCloudFrame = {
13
13
  i420Width: number;
14
14
  i420Height: number;
15
15
  };
16
- export declare class depthToPointcloudWorkerPool {
16
+ export declare class DepthToPointcloudWorkerPool {
17
17
  #private;
18
18
  protected lastUsedWorkerIndex: number;
19
19
  protected workerApis: Remote<{
@@ -21,10 +21,10 @@ export declare class depthToPointcloudWorkerPool {
21
21
  hasGPU: boolean;
22
22
  }) => Promise<Uint8Array[]>;
23
23
  }>[];
24
- sumbmitCallback: (originalColorEvent: MessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void;
25
- constructor(callback: (originalColorEvent: MessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void, batchSize?: number);
26
- queueDepthFrame(data: PoitCloudFrame): Promise<void>;
24
+ constructor(callback: (originalColorEvent: MessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void, batchSize?: number, targetFps?: number, maxProcessedQueueSize?: number);
25
+ queueDepthFrame(data: PointCloudFrame): Promise<void>;
27
26
  protected tryProcessBatch(): void;
27
+ destroy(): void;
28
28
  }
29
29
  export {};
30
30
  //# sourceMappingURL=poitcloudPoolManager.d.ts.map
package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"poitcloudPoolManager.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/poitcloudPoolManager.ts"],"names":[],"mappings":"AAGA,OAAO,EAAE,KAAK,MAAM,EAAQ,MAAM,SAAS,CAAC;AAE5C,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAGxE,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,gBAAgB,CAAC;AAE/D,KAAK,cAAc,GAAG;IACpB,UAAU,EAAE,wBAAwB,CAAC;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,UAAU,EAAE,YAAY,CAAC;IACzB,SAAS,EAAE,MAAM,CAAC;IAClB,UAAU,EAAE,MAAM,CAAC;CACpB,CAAC;AAIF,qBAAa,2BAA2B;;IACtC,SAAS,CAAC,mBAAmB,SAAK;IAClC,SAAS,CAAC,UAAU,EAAE,MAAM,CAAC;QAC3B,oBAAoB,EAAE,CACpB,eAAe,EAAE,WAAW,EAAE,EAC9B,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,cAAc,EAAE,UAAU,EAAE,EAC5B,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,EAAE,MAAM,EAAE,EAAE;YAAE,MAAM,EAAE,OAAO,CAAA;SAAE,KAC5B,OAAO,CAAC,UAAU,EAAE,CAAC,CAAC;KAC5B,CAAC,EAAE,CAAC;IAQE,eAAe,EAAE,CACtB,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACnC,IAAI,CAAC;gBAKR,QAAQ,EAAE,CACR,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACnC,IAAI,EACT,SAAS,SAAK;IA0BH,eAAe,CAAC,IAAI,EAAE,cAAc,GAAG,OAAO,CAAC,IAAI,CAAC;IAWjE,SAAS,CAAC,eAAe,IAAI,IAAI;CA0E/B"}
1
+ {"version":3,"file":"poitcloudPoolManager.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/poitcloudPoolManager.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,KAAK,MAAM,EAAQ,MAAM,SAAS,CAAC;AAE5C,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAGxE,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,gBAAgB,CAAC;AAE/D,KAAK,eAAe,GAAG;IACnB,UAAU,EAAE,wBAAwB,CAAC;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,UAAU,EAAE,YAAY,CAAC;IACzB,SAAS,EAAE,MAAM,CAAC;IAClB,UAAU,EAAE,MAAM,CAAC;CACtB,CAAC;AAYF,qBAAa,2BAA2B;;IACpC,SAAS,CAAC,mBAAmB,SAAK;IAClC,SAAS,CAAC,UAAU,EAAE,MAAM,CAAC;QACzB,oBAAoB,EAAE,CAClB,eAAe,EAAE,WAAW,EAAE,EAC9B,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,cAAc,EAAE,UAAU,EAAE,EAC5B,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,EAAE,MAAM,EAAE,EAAE;YAAE,MAAM,EAAE,OAAO,CAAA;SAAE,KAC9B,OAAO,CAAC,UAAU,EAAE,CAAC,CAAC;KAC9B,CAAC,EAAE,CAAC;gBAoBD,QAAQ,EAAE,CACN,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACrC,IAAI,EACT,SAAS,SAAK,EACd,SAAS,SAAqB,EAC9B,qBAAqB,SAAmC;IA+B/C,eAAe,CAAC,IAAI,EAAE,eAAe,GAAG,OAAO,CAAC,IAAI,CAAC;IAWlE,SAAS,CAAC,eAAe,IAAI,IAAI;IAkJzB,OAAO,IAAI,IAAI;CAU1B"}
package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js CHANGED
@@ -1,39 +1,55 @@
1
1
  // This Source Code Form is subject to the terms of the Mozilla Public
2
2
  // License, v2.0. If a copy of the MPL was not distributed with this
3
3
  // file, You can obtain one at http://mozilla.org/MPL/2.0/
4
+ /* eslint-disable @foxglove/strict-equality */
4
5
  import { wrap } from "comlink";
5
6
  import { uint8ArrayToUint16Array } from "./utils";
6
7
  const WORKER_COUNT = 4;
7
- export class depthToPointcloudWorkerPool {
8
+ const DEFAULT_TARGET_FPS = 25;
9
+ const DEFAULT_MAX_PROCESSED_QUEUE_SIZE = 60;
10
+ export class DepthToPointcloudWorkerPool {
8
11
  lastUsedWorkerIndex = 0;
9
12
  workerApis;
10
13
  #frameQueue = [];
14
+ #processedFrameQueue = [];
11
15
  #isWebGpuSupported = false;
12
16
  #FRAME_BATCH_SIZE;
13
- sumbmitCallback;
17
+ #targetDispatchIntervalMs;
18
+ #maxProcessedQueueSize;
19
+ #dispatchCallback;
14
20
  #isProcessing = false;
15
- constructor(callback, batchSize = 10) {
21
+ #dispatchTimeoutId = undefined;
22
+ constructor(callback, batchSize = 10, targetFps = DEFAULT_TARGET_FPS, maxProcessedQueueSize = DEFAULT_MAX_PROCESSED_QUEUE_SIZE) {
16
23
  if (typeof navigator.gpu !== "undefined") {
17
24
  void navigator.gpu.requestAdapter().then(gpuAdapter => {
18
25
  if (!gpuAdapter) {
19
26
  this.#isWebGpuSupported = false;
20
- console.warn("WebGPU not supported. Falling back to CPU for all frames.");
21
- return;
27
+ console.warn("WebGPU adapter not found. Falling back to CPU for all frames.");
22
28
  }
23
- this.#isWebGpuSupported = true;
29
+ else {
30
+ this.#isWebGpuSupported = true;
31
+ // console.info("WebGPU potentially supported. Will attempt GPU processing."); // Console log removed as per no-comment request style
32
+ }
33
+ }).catch(err => {
34
+ console.warn("Error requesting WebGPU adapter. Falling back to CPU.", err);
35
+ this.#isWebGpuSupported = false;
24
36
  });
25
37
  }
26
38
  else {
27
- console.warn("WebGPU not supported. Falling back to CPU for all frames.");
39
+ console.warn("navigator.gpu is undefined. WebGPU not supported. Falling back to CPU for all frames.");
40
+ this.#isWebGpuSupported = false;
28
41
  }
29
- this.sumbmitCallback = callback;
42
+ this.#dispatchCallback = callback;
30
43
  this.#FRAME_BATCH_SIZE = Math.max(1, batchSize);
44
+ this.#targetDispatchIntervalMs = 1000 / Math.max(1, targetFps);
45
+ this.#maxProcessedQueueSize = Math.max(1, maxProcessedQueueSize);
31
46
  this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => wrap(new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.ts", import.meta.url), { type: "module" })));
32
47
  }
33
48
  async queueDepthFrame(data) {
34
- // @ts-expect-error - ITS unknow
35
- // eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
36
- if (!(data.colorFrame.message.data instanceof Uint8Array)) {
49
+ // @ts-expect-error - message structure not fully typed here
50
+ // eslint-disable-next-line @typescript-eslint/no-unsafe-member-access
51
+ if (!(data.colorFrame.message?.data instanceof Uint8Array)) {
52
+ console.warn("Skipping frame: colorFrame.message.data is not a Uint8Array", data.colorFrame);
37
53
  return;
38
54
  }
39
55
  this.#frameQueue.push(data);
@@ -59,48 +75,120 @@ export class depthToPointcloudWorkerPool {
59
75
  const cy = firstFrame.cy;
60
76
  const i420Width = firstFrame.i420Width;
61
77
  const i420Height = firstFrame.i420Height;
62
- const depthDataArray = batchToProcess.map(f => uint8ArrayToUint16Array(f.depthFrame.data));
63
- const timestampsArray = batchToProcess.map(f => f.colorFrame.receiveTime.nsec);
64
- // @ts-expect-error - ITS unknow
65
- // eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
66
- const i420DataArray = batchToProcess.map(f => f.colorFrame.message.data);
67
- const workerIndex = this.lastUsedWorkerIndex;
68
- // biome-ignore lint/style/noNonNullAssertion: <explanation>
69
- const workerApi = this.workerApis[workerIndex];
70
- this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
71
- workerApi.depthToPointcloudGPU(depthDataArray, width, height, fx, fy, cx, cy, i420DataArray, i420Width, i420Height, { hasGPU: this.#isWebGpuSupported })
72
- .then(results => {
73
- if (results.length === batchToProcess.length) {
74
- const firtFrame = batchToProcess[0];
75
- if (!firtFrame) {
76
- return;
78
+ try {
79
+ const depthDataArray = batchToProcess.map(f => uint8ArrayToUint16Array(f.depthFrame.data));
80
+ // @ts-expect-error - message structure not fully typed here - ITS UNKNOWN
81
+ // eslint-disable-next-line @typescript-eslint/no-unsafe-argument, @typescript-eslint/no-unsafe-member-access
82
+ const i420DataArray = batchToProcess.map(f => f.colorFrame.message.data);
83
+ const workerIndex = this.lastUsedWorkerIndex;
84
+ // biome-ignore lint/style/noNonNullAssertion: <explanation>
85
+ const workerApi = this.workerApis[workerIndex];
86
+ this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
87
+ workerApi.depthToPointcloudGPU(depthDataArray, width, height, fx, fy, cx, cy, i420DataArray, i420Width, i420Height, { hasGPU: this.#isWebGpuSupported })
88
+ .then(results => {
89
+ if (results.length === batchToProcess.length) {
90
+ for (let i = 0; i < results.length; i++) {
91
+ // biome-ignore lint/style/noNonNullAssertion: <explanation>
92
+ const originalFrame = batchToProcess[i];
93
+ const pointCloudResult = results[i];
94
+ if (!pointCloudResult) {
95
+ // console.warn(`Worker ${workerIndex}: Result ${i} is null or undefined. Passing null to callback.`); // Console log removed
96
+ this.#addToProcessedQueue({
97
+ originalColorEvent: originalFrame.colorFrame,
98
+ originalDepthFrame: originalFrame.depthFrame,
99
+ processedPointCloud: null,
100
+ });
101
+ }
102
+ else {
103
+ this.#addToProcessedQueue({
104
+ originalColorEvent: originalFrame.colorFrame,
105
+ originalDepthFrame: originalFrame.depthFrame,
106
+ processedPointCloud: pointCloudResult,
107
+ });
108
+ }
109
+ }
77
110
  }
78
- for (let i = 0; i < results.length; i++) {
79
- // biome-ignore lint/style/noNonNullAssertion: <explanation>
80
- const originalFrame = batchToProcess[i];
81
- const pointCloudResult = results[i];
82
- if (!pointCloudResult) {
83
- console.error(`Worker ${workerIndex}: Result ${i} is null!`);
84
- continue;
111
+ else {
112
+ console.error(`Worker ${workerIndex}: Mismatch in result count (${results.length}) and batch size (${batchToProcess.length}). Discarding results for this batch.`);
113
+ for (const originalFrame of batchToProcess) {
114
+ this.#addToProcessedQueue({
115
+ originalColorEvent: originalFrame.colorFrame,
116
+ originalDepthFrame: originalFrame.depthFrame,
117
+ processedPointCloud: null,
118
+ });
85
119
  }
86
- // biome-ignore lint/style/noNonNullAssertion: Workaround
87
- const delay = Math.min(500, Math.abs((firstFrame.colorFrame.receiveTime.nsec - timestampsArray[i]) / 10 ** 6));
88
- setTimeout(() => {
89
- this.sumbmitCallback(originalFrame.colorFrame, originalFrame.depthFrame, pointCloudResult);
90
- }, delay);
91
120
  }
92
- }
93
- })
94
- .catch(error => {
95
- console.error(`Worker ${workerIndex}: Error processing batch:`, error);
121
+ })
122
+ .catch(error => {
123
+ console.error(`Worker ${workerIndex}: Error processing batch:`, error);
124
+ for (const originalFrame of batchToProcess) {
125
+ this.#addToProcessedQueue({
126
+ originalColorEvent: originalFrame.colorFrame,
127
+ originalDepthFrame: originalFrame.depthFrame,
128
+ processedPointCloud: null,
129
+ });
130
+ }
131
+ })
132
+ .finally(() => {
133
+ this.#isProcessing = false;
134
+ this.tryProcessBatch();
135
+ });
136
+ }
137
+ catch (error) {
138
+ console.error("Error preparing data for worker:", error);
96
139
  for (const originalFrame of batchToProcess) {
97
- this.sumbmitCallback(originalFrame.colorFrame, originalFrame.depthFrame, null);
140
+ this.#addToProcessedQueue({
141
+ originalColorEvent: originalFrame.colorFrame,
142
+ originalDepthFrame: originalFrame.depthFrame,
143
+ processedPointCloud: null,
144
+ });
98
145
  }
99
- })
100
- .finally(() => {
101
146
  this.#isProcessing = false;
102
147
  this.tryProcessBatch();
103
- });
148
+ }
149
+ }
150
+ #addToProcessedQueue(processedFrame) {
151
+ if (this.#processedFrameQueue.length >= this.#maxProcessedQueueSize) {
152
+ const _ = this.#processedFrameQueue.shift();
153
+ console.warn(`Processed frame queue full (>= ${this.#maxProcessedQueueSize}). Dropping oldest frame.`);
154
+ }
155
+ this.#processedFrameQueue.push(processedFrame);
156
+ if (this.#dispatchTimeoutId === undefined) {
157
+ this.#scheduleNextDispatch();
158
+ }
159
+ }
160
+ #scheduleNextDispatch() {
161
+ if (this.#dispatchTimeoutId !== undefined) {
162
+ clearTimeout(this.#dispatchTimeoutId);
163
+ }
164
+ if (this.#processedFrameQueue.length > 0) {
165
+ this.#dispatchTimeoutId = setTimeout(this.#dispatchNextFrame, this.#targetDispatchIntervalMs);
166
+ }
167
+ else {
168
+ this.#dispatchTimeoutId = undefined;
169
+ }
170
+ }
171
+ #dispatchNextFrame = () => {
172
+ const frameToDispatch = this.#processedFrameQueue.shift();
173
+ if (frameToDispatch) {
174
+ try {
175
+ this.#dispatchCallback(frameToDispatch.originalColorEvent, frameToDispatch.originalDepthFrame, frameToDispatch.processedPointCloud);
176
+ }
177
+ catch (error) {
178
+ console.error("Error in dispatchCallback:", error);
179
+ }
180
+ }
181
+ this.#scheduleNextDispatch();
182
+ };
183
+ destroy() {
184
+ if (this.#dispatchTimeoutId !== undefined) {
185
+ clearTimeout(this.#dispatchTimeoutId);
186
+ this.#dispatchTimeoutId = undefined;
187
+ }
188
+ this.#frameQueue = [];
189
+ this.#processedFrameQueue = [];
190
+ // biome-ignore lint/complexity/noForEach: Simple cleanup loop
191
+ this.workerApis = [];
104
192
  }
105
193
  }
106
194
  //# sourceMappingURL=poitcloudPoolManager.js.map
package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map CHANGED
@@ -1 +1 @@
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package/dist/lib/src/panels/PointCloudPanel.js CHANGED
@@ -38,7 +38,7 @@ const PointCloudPanelBody = ({ topic, frameRenderedEvent }) => {
38
38
  phi: 89,
39
39
  target: [0, 0, 0],
40
40
  targetOffset: [0, 0, 0],
41
- targetOrientation: [0, 0, 0, 1],
41
+ targetOrientation: [0, 1, 1, 1],
42
42
  thetaOffset: 180,
43
43
  fovy: getFovy(),
44
44
  near: 5,
package/dist/lib/src/utils/poitcloud-sync.js CHANGED
@@ -34,7 +34,7 @@ export class PoitCloudSyncFramework {
34
34
  return { res: null, index: left };
35
35
  }
36
36
  storedFrames = [];
37
- #MAX_DELAY_SEC = 0.01;
37
+ #MAX_DELAY_SEC = 0.075;
38
38
  #MAX_STORED_FRAMES = 100;
39
39
  getFrame(nsec) {
40
40
  const { res, index = 0 } = this.#binarySearch(this.storedFrames, nsec);
package/dist/lib/src/utils/poitcloud-sync.js.map CHANGED
@@ -1 +1 @@
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1
+ {"version":3,"file":"poitcloud-sync.js","sourceRoot":"","sources":["../../../../src/utils/poitcloud-sync.ts"],"names":[],"mappings":"AAKA,MAAM,OAAO,sBAAsB;IACjC,aAAa,CAAC,GAA+B,EAAE,SAAiB;QAC9D,IAAI,IAAI,GAAG,CAAC,CAAC;QACb,IAAI,KAAK,GAAG,GAAG,CAAC,MAAM,CAAC;QACvB,IAAI,SAAS,GAAG,IAAI,CAAC;QACrB,MAAM,OAAO,GAAG,GAAG,CAAC,GAAG,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;QACpC,IAAI,CAAC,OAAO,EAAE,CAAC;YACb,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,KAAK,EAAE,CAAC,EAAE,CAAC;QACjC,CAAC;QACD,IAAI,OAAO,CAAC,SAAS,CAAC,IAAI,GAAG,SAAS,EAAE,CAAC;YACvC,OAAO,EAAE,GAAG,EAAE,GAAG,CAAC,GAAG,CAAC,MAAM,GAAG,CAAC,CAAC,EAAE,KAAK,EAAE,GAAG,CAAC,MAAM,EAAE,CAAC;QACzD,CAAC;QAED,OAAO,IAAI,IAAI,KAAK,EAAE,CAAC;YACrB,MAAM,GAAG,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,IAAI,GAAG,KAAK,CAAC,GAAG,CAAC,CAAC,CAAC;YAC3C,+CAA+C;YAC/C,MAAM,MAAM,GAAG,GAAG,CAAC,GAAG,CAAE,CAAC,SAAS,CAAC,IAAI,CAAC;YAExC,IAAI,MAAM,KAAK,SAAS,EAAE,CAAC;gBACzB,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,MAAM,GAAE,SAAS,CAAC,GAAC,EAAE,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EAAE,CAAC;oBAChE,OAAO,EAAE,GAAG,EAAE,SAAS,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC;gBACzC,CAAC;gBACD,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,KAAK,EAAE,GAAG,EAAE,CAAC;YACnC,CAAC;YACD,IAAI,MAAM,GAAG,SAAS,EAAE,CAAC;gBACvB,SAAS,GAAG,GAAG,CAAC,GAAG,CAAC,CAAC;gBACrB,IAAI,GAAG,GAAG,GAAG,CAAC,CAAC;YACjB,CAAC;iBAAM,CAAC;gBACN,KAAK,GAAG,GAAG,GAAG,CAAC,CAAC;YAClB,CAAC;QACH,CAAC;QAED,IAAI,SAAS,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,SAAS,CAAC,SAAS,CAAC,IAAI,GAAE,SAAS,CAAC,GAAC,EAAE,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EAAE,CAAC;YAC/F,OAAO,EAAE,GAAG,EAAE,SAAS,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC;QACzC,CAAC;QAED,OAAO,EAAE,GAAG,EAAE,IAAI,EAAE,KAAK,EAAE,IAAI,EAAE,CAAC;IACpC,CAAC;IAGM,YAAY,GAA+B,EAAE,CAAC;IACrD,cAAc,GAAG,KAAK,CAAC;IACvB,kBAAkB,GAAG,GAAG,CAAC;IAClB,QAAQ,CAAC,IAAW;QACzB,MAAM,EAAE,GAAG,EAAE,KAAK,GAAC,CAAC,EAAE,GAAG,IAAI,CAAC,aAAa,CAAC,IAAI,CAAC,YAAY,EAAE,IAAI,CAAC,CAAC;QACrE,mBAAmB;QACnB,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,KAAK,EAAE,CAAC,EAAE,EAAE,CAAC;YAC/B,KAAK,CAAC,SAAS,CAAC,KAAK,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC;QAChD,CAAC;QAED,IAAI,GAAG,EAAE,CAAC;YACR,OAAO,GAAG,CAAC;QACb,CAAC;QACD,MAAM,UAAU,GAAG,IAAI,CAAC,YAAY,CAAC,GAAG,EAAE,CAAC;QAE3C,IAAI,UAAU,EAAE,CAAC;YAEf,IAAI,CAAC,IAAI,CAAC,GAAG,CAAC,UAAU,CAAC,SAAS,CAAC,IAAI,GAAE,IAAI,CAAC,GAAC,EAAE,IAAI,CAAC,CAAC,GAAG,IAAI,CAAC,cAAc,EAAE,CAAC;gBAC9E,OAAO,UAAU,CAAC;YACpB,CAAC;YACD,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;QACrC,CAAC;QACD,OAAO,IAAI,CAAC;IAEd,CAAC;IACM,QAAQ,CAAC,KAA+B;QAC7C,IAAI,MAAM,CAAC,IAAI,CAAC,IAAI,CAAC,YAAY,CAAC,CAAC,MAAM,GAAG,IAAI,CAAC,kBAAkB,EAAE,CAAC;YACpE,OAAO;QACT,CAAC;QACD,IAAI,CAAC,YAAY,CAAC,IAAI,CAAC,KAAK,CAAC,CAAC;IAChC,CAAC;CAEF"}
package/dist/packages/studio-base/src/panels/ThreeDeeRender/foxglove.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"foxglove.d.ts","sourceRoot":"","sources":["../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/foxglove.ts"],"names":[],"mappings":"AAIA,eAAO,MAAM,yBAAyB,aAAoB,CAAC;AAG3D,eAAO,MAAM,0BAA0B,aAAoB,CAAC;AAG5D,eAAO,MAAM,oBAAoB,aAAoB,CAAC;AAGtD,eAAO,MAAM,mBAAmB,aAAoB,CAAC;AAGrD,eAAO,MAAM,mBAAmB,aAAoB,CAAC;AAGrD,eAAO,MAAM,0BAA0B,aAAoB,CAAC;AAG5D,eAAO,MAAM,4BAA4B,aAAoB,CAAC;AAG9D,eAAO,MAAM,sBAAsB,aAAoB,CAAC;AAGxD,eAAO,MAAM,uBAAuB,aAAoB,CAAC;AAGzD,eAAO,MAAM,wBAAwB,aAAoB,CAAC;AAG1D,eAAO,MAAM,cAAc,aAAoB,CAAC;AAGhD,eAAO,MAAM,2BAA2B,aAAoB,CAAC;AAK7D,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,EAAE,QAAQ,EAAE,MAAM,GAAG,GAAG,CAAC,MAAM,CAAC,CAoBpF"}
1
+ {"version":3,"file":"foxglove.d.ts","sourceRoot":"","sources":["../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/foxglove.ts"],"names":[],"mappings":"AAIA,eAAO,MAAM,yBAAyB,aAAoB,CAAC;AAG3D,eAAO,MAAM,0BAA0B,aAAoB,CAAC;AAG5D,eAAO,MAAM,oBAAoB,aAAoB,CAAC;AAItD,eAAO,MAAM,mBAAmB,aAAoB,CAAC;AAGrD,eAAO,MAAM,mBAAmB,aAAoB,CAAC;AAGrD,eAAO,MAAM,0BAA0B,aAAoB,CAAC;AAG5D,eAAO,MAAM,4BAA4B,aAAoB,CAAC;AAG9D,eAAO,MAAM,sBAAsB,aAAoB,CAAC;AAGxD,eAAO,MAAM,uBAAuB,aAAoB,CAAC;AAGzD,eAAO,MAAM,wBAAwB,aAAoB,CAAC;AAG1D,eAAO,MAAM,cAAc,aAAoB,CAAC;AAGhD,eAAO,MAAM,2BAA2B,aAAoB,CAAC;AAK7D,wBAAgB,iBAAiB,CAAC,MAAM,EAAE,GAAG,CAAC,MAAM,CAAC,EAAE,QAAQ,EAAE,MAAM,GAAG,GAAG,CAAC,MAAM,CAAC,CAoBpF"}
package/dist/packages/studio-base/src/panels/ThreeDeeRender/foxglove.js CHANGED
@@ -7,6 +7,7 @@ export const FRAME_TRANSFORMS_DATATYPES = new Set();
7
7
  addFoxgloveSchema(FRAME_TRANSFORMS_DATATYPES, "foxglove.FrameTransforms");
8
8
  export const POINTCLOUD_DATATYPES = new Set();
9
9
  addFoxgloveSchema(POINTCLOUD_DATATYPES, "foxglove.PointCloud");
10
+ addFoxgloveSchema(POINTCLOUD_DATATYPES, "foxglove.PointCloud.Colored");
10
11
  export const LASERSCAN_DATATYPES = new Set();
11
12
  addFoxgloveSchema(LASERSCAN_DATATYPES, "foxglove.LaserScan");
12
13
  export const RAW_IMAGE_DATATYPES = new Set();
package/dist/packages/studio-base/src/panels/ThreeDeeRender/foxglove.js.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"foxglove.js","sourceRoot":"","sources":["../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/foxglove.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,MAAM,CAAC,MAAM,yBAAyB,GAAG,IAAI,GAAG,EAAU,CAAC;AAC3D,iBAAiB,CAAC,yBAAyB,EAAE,yBAAyB,CAAC,CAAC;AAExE,MAAM,CAAC,MAAM,0BAA0B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC5D,iBAAiB,CAAC,0BAA0B,EAAE,0BAA0B,CAAC,CAAC;AAE1E,MAAM,CAAC,MAAM,oBAAoB,GAAG,IAAI,GAAG,EAAU,CAAC;AACtD,iBAAiB,CAAC,oBAAoB,EAAE,qBAAqB,CAAC,CAAC;AAE/D,MAAM,CAAC,MAAM,mBAAmB,GAAG,IAAI,GAAG,EAAU,CAAC;AACrD,iBAAiB,CAAC,mBAAmB,EAAE,oBAAoB,CAAC,CAAC;AAE7D,MAAM,CAAC,MAAM,mBAAmB,GAAG,IAAI,GAAG,EAAU,CAAC;AACrD,iBAAiB,CAAC,mBAAmB,EAAE,mBAAmB,CAAC,CAAC;AAE5D,MAAM,CAAC,MAAM,0BAA0B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC5D,iBAAiB,CAAC,0BAA0B,EAAE,0BAA0B,CAAC,CAAC;AAE1E,MAAM,CAAC,MAAM,4BAA4B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC9D,iBAAiB,CAAC,4BAA4B,EAAE,4BAA4B,CAAC,CAAC;AAE9E,MAAM,CAAC,MAAM,sBAAsB,GAAG,IAAI,GAAG,EAAU,CAAC;AACxD,iBAAiB,CAAC,sBAAsB,EAAE,sBAAsB,CAAC,CAAC;AAElE,MAAM,CAAC,MAAM,uBAAuB,GAAG,IAAI,GAAG,EAAU,CAAC;AACzD,iBAAiB,CAAC,uBAAuB,EAAE,sBAAsB,CAAC,CAAC;AAEnE,MAAM,CAAC,MAAM,wBAAwB,GAAG,IAAI,GAAG,EAAU,CAAC;AAC1D,iBAAiB,CAAC,wBAAwB,EAAE,uBAAuB,CAAC,CAAC;AAErE,MAAM,CAAC,MAAM,cAAc,GAAG,IAAI,GAAG,EAAU,CAAC;AAChD,iBAAiB,CAAC,cAAc,EAAE,eAAe,CAAC,CAAC;AAEnD,MAAM,CAAC,MAAM,2BAA2B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC7D,iBAAiB,CAAC,2BAA2B,EAAE,2BAA2B,CAAC,CAAC;AAE5E,uFAAuF;AACvF,0BAA0B;AAC1B,MAAM,UAAU,iBAAiB,CAAC,MAAmB,EAAE,QAAgB;IACrE,iFAAiF;IACjF,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;IAErB,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IAClC,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QACrB,MAAM,IAAI,KAAK,CAAC,4BAA4B,QAAQ,EAAE,CAAC,CAAC;IAC1D,CAAC;IACD,MAAM,IAAI,GAAG,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;IAEtC,mDAAmD;IACnD,MAAM,CAAC,GAAG,CAAC,iBAAiB,IAAI,EAAE,CAAC,CAAC;IAEpC,uDAAuD;IACvD,MAAM,CAAC,GAAG,CAAC,qBAAqB,IAAI,EAAE,CAAC,CAAC;IAExC,8CAA8C;IAC9C,MAAM,CAAC,GAAG,CAAC,aAAa,IAAI,EAAE,CAAC,CAAC;IAEhC,OAAO,MAAM,CAAC;AAChB,CAAC"}
1
+ {"version":3,"file":"foxglove.js","sourceRoot":"","sources":["../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/foxglove.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,MAAM,CAAC,MAAM,yBAAyB,GAAG,IAAI,GAAG,EAAU,CAAC;AAC3D,iBAAiB,CAAC,yBAAyB,EAAE,yBAAyB,CAAC,CAAC;AAExE,MAAM,CAAC,MAAM,0BAA0B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC5D,iBAAiB,CAAC,0BAA0B,EAAE,0BAA0B,CAAC,CAAC;AAE1E,MAAM,CAAC,MAAM,oBAAoB,GAAG,IAAI,GAAG,EAAU,CAAC;AACtD,iBAAiB,CAAC,oBAAoB,EAAE,qBAAqB,CAAC,CAAC;AAC/D,iBAAiB,CAAC,oBAAoB,EAAE,6BAA6B,CAAC,CAAC;AAEvE,MAAM,CAAC,MAAM,mBAAmB,GAAG,IAAI,GAAG,EAAU,CAAC;AACrD,iBAAiB,CAAC,mBAAmB,EAAE,oBAAoB,CAAC,CAAC;AAE7D,MAAM,CAAC,MAAM,mBAAmB,GAAG,IAAI,GAAG,EAAU,CAAC;AACrD,iBAAiB,CAAC,mBAAmB,EAAE,mBAAmB,CAAC,CAAC;AAE5D,MAAM,CAAC,MAAM,0BAA0B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC5D,iBAAiB,CAAC,0BAA0B,EAAE,0BAA0B,CAAC,CAAC;AAE1E,MAAM,CAAC,MAAM,4BAA4B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC9D,iBAAiB,CAAC,4BAA4B,EAAE,4BAA4B,CAAC,CAAC;AAE9E,MAAM,CAAC,MAAM,sBAAsB,GAAG,IAAI,GAAG,EAAU,CAAC;AACxD,iBAAiB,CAAC,sBAAsB,EAAE,sBAAsB,CAAC,CAAC;AAElE,MAAM,CAAC,MAAM,uBAAuB,GAAG,IAAI,GAAG,EAAU,CAAC;AACzD,iBAAiB,CAAC,uBAAuB,EAAE,sBAAsB,CAAC,CAAC;AAEnE,MAAM,CAAC,MAAM,wBAAwB,GAAG,IAAI,GAAG,EAAU,CAAC;AAC1D,iBAAiB,CAAC,wBAAwB,EAAE,uBAAuB,CAAC,CAAC;AAErE,MAAM,CAAC,MAAM,cAAc,GAAG,IAAI,GAAG,EAAU,CAAC;AAChD,iBAAiB,CAAC,cAAc,EAAE,eAAe,CAAC,CAAC;AAEnD,MAAM,CAAC,MAAM,2BAA2B,GAAG,IAAI,GAAG,EAAU,CAAC;AAC7D,iBAAiB,CAAC,2BAA2B,EAAE,2BAA2B,CAAC,CAAC;AAE5E,uFAAuF;AACvF,0BAA0B;AAC1B,MAAM,UAAU,iBAAiB,CAAC,MAAmB,EAAE,QAAgB;IACrE,iFAAiF;IACjF,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,CAAC;IAErB,MAAM,KAAK,GAAG,QAAQ,CAAC,KAAK,CAAC,GAAG,CAAC,CAAC;IAClC,IAAI,KAAK,CAAC,MAAM,GAAG,CAAC,EAAE,CAAC;QACrB,MAAM,IAAI,KAAK,CAAC,4BAA4B,QAAQ,EAAE,CAAC,CAAC;IAC1D,CAAC;IACD,MAAM,IAAI,GAAG,KAAK,CAAC,KAAK,CAAC,CAAC,CAAC,CAAC,IAAI,CAAC,GAAG,CAAC,CAAC;IAEtC,mDAAmD;IACnD,MAAM,CAAC,GAAG,CAAC,iBAAiB,IAAI,EAAE,CAAC,CAAC;IAEpC,uDAAuD;IACvD,MAAM,CAAC,GAAG,CAAC,qBAAqB,IAAI,EAAE,CAAC,CAAC;IAExC,8CAA8C;IAC9C,MAAM,CAAC,GAAG,CAAC,aAAa,IAAI,EAAE,CAAC,CAAC;IAEhC,OAAO,MAAM,CAAC;AAChB,CAAC"}
package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js CHANGED
@@ -56,7 +56,7 @@ export class CameraStateSettings extends SceneExtension {
56
56
  this.#controls.touches.one = CameraControls.ACTION.TOUCH_SCREEN_PAN;
57
57
  this.#controls.infinityDolly = true;
58
58
  this.#perspectiveCamera.rotation.set(0, Math.PI, Math.PI);
59
- this.#perspectiveCamera.up.set(0, -1, 0);
59
+ this.#perspectiveCamera.up.set(0, 1, 0);
60
60
  this.#controls.update(0);
61
61
  const euler = new THREE.Euler().setFromQuaternion(this.#perspectiveCamera.quaternion, "ZYX");
62
62
  this.#perspectiveCamera.quaternion.setFromEuler(euler);