@luxonis/visualizer-protobuf 2.26.0 → 2.28.0
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/{index-Zijk5SvX.js → index-B1pNpslP.js} +1 -1
- package/dist/{index-CkN9fMlH.js → index-B4d7dS8a.js} +1 -1
- package/dist/{index-CP4Zviq2.js → index-B5_Aa-W3.js} +1 -1
- package/dist/{index-BTdZSETz.js → index-BNXdmaeO.js} +1 -1
- package/dist/{index-DMzCNF_e.js → index-BZ8z044k.js} +1 -1
- package/dist/{index-CPTbtbj3.js → index-BuRQ7ljn.js} +133 -105
- package/dist/{index-cLRC4uIT.js → index-CGXxFWjz.js} +1 -1
- package/dist/{index-DcFvTNvR.js → index-CIHmVsn2.js} +1 -1
- package/dist/{index-NiMrvEhw.js → index-CJSOG1CX.js} +2 -2
- package/dist/{index-BQnK1LTP.js → index-CLPc3bUH.js} +1 -1
- package/dist/{index-DFHs4aUN.js → index-CXdNn-IZ.js} +1 -1
- package/dist/{index-Cia95HmM.js → index-CdXrBVPC.js} +177 -36
- package/dist/{index-CqMDGXcF.js → index-DE0_tKGA.js} +1 -1
- package/dist/{index-ttl4cqP0.js → index-DZgY6A3h.js} +1 -1
- package/dist/{index-B2-O30qH.js → index-DbT8vr6l.js} +1 -1
- package/dist/{index-DLRgXO8y.js → index-DsO3GPWF.js} +1 -1
- package/dist/{index-i-2ofHyT.js → index-I0XgHBlj.js} +1 -1
- package/dist/{index-BGrTBljs.js → index-LmBY2nOo.js} +1 -1
- package/dist/{index-AHg_yzKN.js → index-pwNtzQuf.js} +1 -1
- package/dist/index.js +1 -1
- package/dist/lib/src/components/Panel.d.ts +2 -1
- package/dist/lib/src/components/Panel.d.ts.map +1 -1
- package/dist/lib/src/components/Panel.js +8 -8
- package/dist/lib/src/components/Panel.js.map +1 -1
- package/dist/lib/src/components/PanelToolbar.d.ts +1 -0
- package/dist/lib/src/components/PanelToolbar.d.ts.map +1 -1
- package/dist/lib/src/components/PanelToolbar.js +9 -4
- package/dist/lib/src/components/PanelToolbar.js.map +1 -1
- package/dist/lib/src/index.d.ts +1 -0
- package/dist/lib/src/index.d.ts.map +1 -1
- package/dist/lib/src/index.js +1 -0
- package/dist/lib/src/index.js.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map +1 -1
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js +19 -8
- package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map +1 -1
- package/dist/lib/src/panels/ImagePanel.d.ts +1 -0
- package/dist/lib/src/panels/ImagePanel.d.ts.map +1 -1
- package/dist/lib/src/panels/ImagePanel.js +7 -3
- package/dist/lib/src/panels/ImagePanel.js.map +1 -1
- package/dist/lib/src/panels/PointCloudPanel.js +1 -1
- package/dist/lib/src/utils/metrics-manager.d.ts.map +1 -1
- package/dist/lib/src/utils/metrics-manager.js +6 -2
- package/dist/lib/src/utils/metrics-manager.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/IRenderer.d.ts +2 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/IRenderer.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/IRenderer.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js +3 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.js +4 -3
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/index.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/index.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/index.js +5 -3
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/index.js.map +1 -1
- 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 +2 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/CameraStateSettings.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/ImageMode.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/ImageMode.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/ImageMode.js +4 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/ImageMode.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.d.ts +6 -2
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js +141 -25
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js.map +1 -1
- package/package.json +1 -1
package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/ImageMode.js.map
CHANGED
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1
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+
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@@ -1,4 +1,4 @@
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1
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-
import { CompressedImage,
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1
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+
import { CompressedImage, ImageAnnotations as FoxgloveImageAnnotations, RawImage } from "@foxglove/schemas";
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2
2
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import { Immutable, MessageEvent } from "@foxglove/studio";
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3
3
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import { HUDItem, HUDItemManager } from "@foxglove/studio-base/panels/ThreeDeeRender/HUDItemManager";
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4
4
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import { ImageModeConfig } from "@foxglove/studio-base/panels/ThreeDeeRender/IRenderer";
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@@ -6,7 +6,7 @@ import { AnyImage } from "@foxglove/studio-base/panels/ThreeDeeRender/renderable
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6
6
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import { ImageMarker as RosImageMarker, ImageMarkerArray as RosImageMarkerArray } from "@foxglove/studio-base/types/Messages";
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7
7
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import { Annotation } from "./annotations/types";
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8
8
|
import { PartialMessageEvent } from "../../SceneExtension";
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9
|
-
import { CompressedImage as RosCompressedImage, Image as RosImage
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9
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+
import { CameraInfo, CompressedImage as RosCompressedImage, Image as RosImage } from "../../ros";
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|
10
10
|
type NormalizedAnnotations = {
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11
11
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originalMessage: MessageEvent<RosImageMarkerArray | RosImageMarker | FoxgloveImageAnnotations>;
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12
12
|
annotations: Annotation[];
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@@ -42,7 +42,9 @@ export declare class MessageHandler implements IMessageHandler {
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42
42
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* @param config - subset of ImageMode settings required for message handling
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43
43
|
*/
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44
44
|
constructor(config: Immutable<Config>, hud: HUDItemManager);
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45
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+
dispose(): void;
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45
46
|
addListener(listener: RenderStateListener): void;
|
|
47
|
+
addOnAnnotationsFpsUpdateListener(listener: (fps: number) => void): void;
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|
46
48
|
removeListener(listener: RenderStateListener): void;
|
|
47
49
|
handleRosRawImage: (messageEvent: PartialMessageEvent<RosImage>) => void;
|
|
48
50
|
handleRosCompressedImage: (messageEvent: PartialMessageEvent<RosCompressedImage>) => void;
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@@ -79,6 +81,8 @@ export interface IMessageHandler {
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79
81
|
* This will prevent having to wait on annotations that are in the layout but not in the source.
|
|
80
82
|
*/
|
|
81
83
|
setAvailableAnnotationTopics(availableAnnotations: string[]): void;
|
|
84
|
+
addOnAnnotationsFpsUpdateListener(listener: (fps: number) => void): void;
|
|
85
|
+
dispose?(): void;
|
|
82
86
|
}
|
|
83
87
|
export {};
|
|
84
88
|
//# sourceMappingURL=MessageHandler.d.ts.map
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|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"MessageHandler.d.ts","sourceRoot":"","sources":["../../../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.ts"],"names":[],"mappings":"
|
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1
|
+
{"version":3,"file":"MessageHandler.d.ts","sourceRoot":"","sources":["../../../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.ts"],"names":[],"mappings":"AAYA,OAAO,EACL,eAAe,EACf,gBAAgB,IAAI,wBAAwB,EAC5C,QAAQ,EACT,MAAM,mBAAmB,CAAC;AAC3B,OAAO,EAAE,SAAS,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAC3D,OAAO,EACL,OAAO,EACP,cAAc,EACf,MAAM,4DAA4D,CAAC;AACpE,OAAO,EAAE,eAAe,EAAE,MAAM,uDAAuD,CAAC;AACxF,OAAO,EAAE,QAAQ,EAAE,MAAM,2EAA2E,CAAC;AAQrG,OAAO,EACL,WAAW,IAAI,cAAc,EAC7B,gBAAgB,IAAI,mBAAmB,EACxC,MAAM,sCAAsC,CAAC;AAG9C,OAAO,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAC;AAUjD,OAAO,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AAC3D,OAAO,EAAE,UAAU,EAAE,eAAe,IAAI,kBAAkB,EAAE,KAAK,IAAI,QAAQ,EAAE,MAAM,WAAW,CAAC;AA0DjG,KAAK,qBAAqB,GAAG;IAE3B,eAAe,EAAE,YAAY,CAAC,mBAAmB,GAAG,cAAc,GAAG,wBAAwB,CAAC,CAAC;IAC/F,WAAW,EAAE,UAAU,EAAE,CAAC;CAC3B,CAAC;AAOF,KAAK,MAAM,GAAG,IAAI,CAChB,eAAe,EACf,aAAa,GAAG,aAAa,GAAG,kBAAkB,GAAG,YAAY,CAClE,CAAC;AAEF,KAAK,mBAAmB,GAAG;IACzB,KAAK,CAAC,EAAE,YAAY,CAAC,QAAQ,CAAC,CAAC;IAC/B,UAAU,CAAC,EAAE,UAAU,CAAC;IACxB,kBAAkB,EAAE,GAAG,CAAC,MAAM,EAAE,qBAAqB,CAAC,CAAC;IAEvD,+DAA+D;IAC/D,uBAAuB,CAAC,EAAE,MAAM,EAAE,CAAC;IACnC,6EAA6E;IAC7E,uBAAuB,CAAC,EAAE,MAAM,EAAE,CAAC;CACpC,CAAC;AAEF,MAAM,MAAM,kBAAkB,GAAG,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC,CAAC;AAExE,KAAK,mBAAmB,GAAG,CACzB,QAAQ,EAAE,kBAAkB,EAC5B,QAAQ,EAAE,kBAAkB,GAAG,SAAS,KACrC,IAAI,CAAC;AAiBV,eAAO,MAAM,yBAAyB,EAAE,OAKvC,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,iCAAiC,EAAE,OAK/C,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,+BAA+B,EAAE,OAK7C,CAAC;AAEF;;;;;GAKG;AACH,qBAAa,cAAe,YAAW,eAAe;;IAsCpD;;;OAGG;gBACgB,MAAM,EAAE,SAAS,CAAC,MAAM,CAAC,EAAE,GAAG,EAAE,cAAc;IAqB1D,OAAO,IAAI,IAAI;IAMf,WAAW,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI;IAIhD,iCAAiC,CAAC,QAAQ,EAAE,CAAC,GAAG,EAAE,MAAM,KAAK,IAAI,GAAG,IAAI;IAIxE,cAAc,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI;IAInD,iBAAiB,iBAAkB,mBAAmB,CAAC,QAAQ,CAAC,KAAG,IAAI,CAE5E;IAEK,wBAAwB,iBACf,mBAAmB,CAAC,kBAAkB,CAAC,KACpD,IAAI,CAEL;IAEK,cAAc,iBAAkB,mBAAmB,CAAC,QAAQ,CAAC,KAAG,IAAI,CAEzE;IAEK,qBAAqB,iBAAkB,mBAAmB,CAAC,eAAe,CAAC,KAAG,IAAI,CAEvF;IAEF,SAAS,CAAC,WAAW,CAAC,OAAO,EAAE,mBAAmB,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,GAAG,IAAI;IA2D7E,gBAAgB,YAAa,mBAAmB,CAAC,UAAU,CAAC,KAAG,IAAI,CAIxE;IAEK,iBAAiB,iBACR,YAAY,CAAC,wBAAwB,GAAG,cAAc,GAAG,mBAAmB,CAAC,KAC1F,IAAI,CA2DL;IAEK,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,eAAe,CAAC,GAAG,IAAI;IA8DtD,4BAA4B,CAAC,UAAU,EAAE,MAAM,EAAE,GAAG,IAAI;IAKxD,KAAK,IAAI,IAAI;IAkBpB,0CAA0C;IACnC,0BAA0B,IAAI,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC;CAmF5E;AAED,MAAM,WAAW,eAAe;IAC9B,iBAAiB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,QAAQ,CAAC,KAAK,IAAI,CAAC;IACzE,wBAAwB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,kBAAkB,CAAC,KAAK,IAAI,CAAC;IAC1F,cAAc,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,QAAQ,CAAC,KAAK,IAAI,CAAC;IACtE,qBAAqB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,eAAe,CAAC,KAAK,IAAI,CAAC;IACpF,gBAAgB,EAAE,CAAC,OAAO,EAAE,mBAAmB,CAAC,UAAU,CAAC,KAAK,IAAI,CAAC;IACrE,iBAAiB,EAAE,CACjB,YAAY,EAAE,YAAY,CAAC,wBAAwB,GAAG,cAAc,GAAG,mBAAmB,CAAC,KACxF,IAAI,CAAC;IAEV;;;OAGG;IACH,WAAW,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI,CAAC;IAEjD,wDAAwD;IACxD,cAAc,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI,CAAC;IAEpD,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,OAAO,CAAC,eAAe,CAAC,CAAC,GAAG,IAAI,CAAC;IAEhE,KAAK,IAAI,IAAI,CAAC;IAEd,0BAA0B,IAAI,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC,CAAC;IAErE;;;OAGG;IACH,4BAA4B,CAAC,oBAAoB,EAAE,MAAM,EAAE,GAAG,IAAI,CAAC;IAEnE,iCAAiC,CAAC,QAAQ,EAAE,CAAC,GAAG,EAAE,MAAM,KAAK,IAAI,GAAG,IAAI,CAAC;IAEzE,OAAO,CAAC,IAAI,IAAI,CAAC;CAClB"}
|
package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js
CHANGED
|
@@ -2,19 +2,64 @@
|
|
|
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
4
|
import { AVLTree } from "@foxglove/avl";
|
|
5
|
-
import {
|
|
5
|
+
import { compare as compareTime, fromNanoSec, isLessThan, toNanoSec, } from "@foxglove/rostime";
|
|
6
6
|
import { normalizeCompressedImage, normalizeRawImage, normalizeRosCompressedImage, normalizeRosImage, } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/Images/imageNormalizers";
|
|
7
7
|
import { normalizeCameraInfo } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/projections";
|
|
8
8
|
import { normalizeAnnotations } from "./annotations/normalizeAnnotations";
|
|
9
|
-
import { IMAGE_MODE_HUD_GROUP_ID, WAITING_FOR_BOTH_MESSAGES_HUD_ID, WAITING_FOR_CALIBRATION_HUD_ID, WAITING_FOR_IMAGES_NOTICE_ID,
|
|
9
|
+
import { IMAGE_MODE_HUD_GROUP_ID, WAITING_FOR_BOTH_MESSAGES_HUD_ID, WAITING_FOR_CALIBRATION_HUD_ID, WAITING_FOR_IMAGES_EMPTY_HUD_ID, WAITING_FOR_IMAGES_NOTICE_ID, WAITING_FOR_SYNC_EMPTY_HUD_ID, WAITING_FOR_SYNC_NOTICE_HUD_ID, } from "./constants";
|
|
10
10
|
import { t3D } from "../../t3D";
|
|
11
|
-
const
|
|
11
|
+
const CLEANUP_EVENTS_OLDER_THAN_MS = 1_000 * 5; // 5 seconds
|
|
12
|
+
const ANNOTATIONS_METRICS_KEY = "annotations";
|
|
13
|
+
const ANNOTATIONS_EVENT_CAP = 100;
|
|
14
|
+
// FIXME: Use the one from visualizer lib -> probably will have to refactor the whole thing to allow imports from lib which depends on this package :(
|
|
15
|
+
class EventMetricsManager {
|
|
16
|
+
metrics = {};
|
|
17
|
+
registerEvent(topic) {
|
|
18
|
+
const currentTime = performance.now();
|
|
19
|
+
// eslint-disable-next-line @typescript-eslint/no-unnecessary-condition
|
|
20
|
+
this.metrics[topic] ??= [];
|
|
21
|
+
this.metrics[topic].unshift(currentTime);
|
|
22
|
+
if (this.metrics[topic].length > ANNOTATIONS_EVENT_CAP) {
|
|
23
|
+
this.metrics[topic].length = ANNOTATIONS_EVENT_CAP;
|
|
24
|
+
}
|
|
25
|
+
}
|
|
26
|
+
calculate(topic) {
|
|
27
|
+
this.removeOldEvents(topic);
|
|
28
|
+
const topicMetrics = this.metrics[topic];
|
|
29
|
+
if (!topicMetrics) {
|
|
30
|
+
return 0;
|
|
31
|
+
}
|
|
32
|
+
let totalInterval = 0;
|
|
33
|
+
for (let i = 1; i < topicMetrics.length; ++i) {
|
|
34
|
+
totalInterval += topicMetrics[i - 1] - topicMetrics[i];
|
|
35
|
+
}
|
|
36
|
+
if (isNaN(totalInterval)) {
|
|
37
|
+
return 0;
|
|
38
|
+
}
|
|
39
|
+
const fps = 1_000 / (totalInterval / (topicMetrics.length - 1));
|
|
40
|
+
return Math.round(fps);
|
|
41
|
+
}
|
|
42
|
+
// Remove events which are older than CLEANUP_EVENTS_OLDER_THAN_MS
|
|
43
|
+
removeOldEvents(topic) {
|
|
44
|
+
const now = performance.now();
|
|
45
|
+
if (this.metrics[topic]) {
|
|
46
|
+
// biome-ignore lint/style/noNonNullAssertion: can't be null
|
|
47
|
+
this.metrics[topic] = this.metrics[topic].filter((event) => {
|
|
48
|
+
const diff = now - event;
|
|
49
|
+
return diff < CLEANUP_EVENTS_OLDER_THAN_MS;
|
|
50
|
+
});
|
|
51
|
+
}
|
|
52
|
+
}
|
|
53
|
+
}
|
|
54
|
+
const TIMESTAMP_ERROR_NS = 100000000n; // 0.1 seconds
|
|
12
55
|
function timeEqualWithError(left, right) {
|
|
13
|
-
|
|
14
|
-
|
|
15
|
-
|
|
16
|
-
|
|
17
|
-
|
|
56
|
+
// Convert both timestamps to nanoseconds
|
|
57
|
+
const leftNs = toNanoSec({ sec: left.sec, nsec: left.nsec });
|
|
58
|
+
const rightNs = toNanoSec({ sec: right.sec, nsec: right.nsec });
|
|
59
|
+
// Get absolute difference while staying in bigint
|
|
60
|
+
const diffNs = leftNs > rightNs ? leftNs - rightNs : rightNs - leftNs;
|
|
61
|
+
// Convert TIMESTAMP_ERROR_NS to bigint for comparison
|
|
62
|
+
return diffNs <= TIMESTAMP_ERROR_NS;
|
|
18
63
|
}
|
|
19
64
|
// Have constants for the HUD items so that they don't need to be recreated and GCed every message
|
|
20
65
|
export const WAITING_FOR_BOTH_HUD_ITEM = {
|
|
@@ -78,6 +123,11 @@ export class MessageHandler {
|
|
|
78
123
|
* with no indication to the user that the annotation is not available.
|
|
79
124
|
*/
|
|
80
125
|
#availableAnnotationTopics;
|
|
126
|
+
#onAnnotationsFpsUpdate;
|
|
127
|
+
#annotationsFpsMetrics = new EventMetricsManager();
|
|
128
|
+
#annotationsFpsRefreshInterval = null;
|
|
129
|
+
#averageAnnotationsFps = 0;
|
|
130
|
+
#ghostAnnotation = undefined;
|
|
81
131
|
/**
|
|
82
132
|
*
|
|
83
133
|
* @param config - subset of ImageMode settings required for message handling
|
|
@@ -90,10 +140,25 @@ export class MessageHandler {
|
|
|
90
140
|
};
|
|
91
141
|
this.#tree = new AVLTree(compareTime);
|
|
92
142
|
this.#availableAnnotationTopics = new Set();
|
|
143
|
+
this.#annotationsFpsRefreshInterval = setInterval(() => {
|
|
144
|
+
const newAverageAnnotationsFps = this.#annotationsFpsMetrics.calculate(ANNOTATIONS_METRICS_KEY);
|
|
145
|
+
this.#averageAnnotationsFps = newAverageAnnotationsFps;
|
|
146
|
+
if (this.#onAnnotationsFpsUpdate) {
|
|
147
|
+
this.#onAnnotationsFpsUpdate(newAverageAnnotationsFps);
|
|
148
|
+
}
|
|
149
|
+
}, 500);
|
|
150
|
+
}
|
|
151
|
+
dispose() {
|
|
152
|
+
if (this.#annotationsFpsRefreshInterval) {
|
|
153
|
+
clearInterval(this.#annotationsFpsRefreshInterval);
|
|
154
|
+
}
|
|
93
155
|
}
|
|
94
156
|
addListener(listener) {
|
|
95
157
|
this.#listeners.push(listener);
|
|
96
158
|
}
|
|
159
|
+
addOnAnnotationsFpsUpdateListener(listener) {
|
|
160
|
+
this.#onAnnotationsFpsUpdate = listener;
|
|
161
|
+
}
|
|
97
162
|
removeListener(listener) {
|
|
98
163
|
this.#listeners = this.#listeners.filter((fn) => fn !== listener);
|
|
99
164
|
}
|
|
@@ -166,6 +231,10 @@ export class MessageHandler {
|
|
|
166
231
|
};
|
|
167
232
|
handleAnnotations = (messageEvent) => {
|
|
168
233
|
const annotations = normalizeAnnotations(messageEvent.message, messageEvent.schemaName);
|
|
234
|
+
// We only want to log Annotations event if the array is not empty
|
|
235
|
+
if (annotations.length > 0) {
|
|
236
|
+
this.#annotationsFpsMetrics.registerEvent(ANNOTATIONS_METRICS_KEY);
|
|
237
|
+
}
|
|
169
238
|
const { topic } = messageEvent;
|
|
170
239
|
if (this.#config.synchronize !== true) {
|
|
171
240
|
this.#lastReceivedMessages.annotationsByTopic.set(topic, {
|
|
@@ -176,6 +245,7 @@ export class MessageHandler {
|
|
|
176
245
|
return;
|
|
177
246
|
}
|
|
178
247
|
const groups = new Map();
|
|
248
|
+
// Group annotation by timestamp
|
|
179
249
|
for (const annotation of annotations) {
|
|
180
250
|
const key = toNanoSec(annotation.stamp);
|
|
181
251
|
const arr = groups.get(key);
|
|
@@ -202,6 +272,7 @@ export class MessageHandler {
|
|
|
202
272
|
});
|
|
203
273
|
}
|
|
204
274
|
}
|
|
275
|
+
//console.error("Tree after adding annotations", [...this.#tree.entries()]);
|
|
205
276
|
this.#emitState();
|
|
206
277
|
};
|
|
207
278
|
setConfig(newConfig) {
|
|
@@ -291,22 +362,43 @@ export class MessageHandler {
|
|
|
291
362
|
this.#hud.displayIfTrue(waitingForImage && calibrationRequired, WAITING_FOR_IMAGE_NOTICE_HUD_ITEM);
|
|
292
363
|
}
|
|
293
364
|
#getRenderState() {
|
|
294
|
-
if (this.#config.synchronize
|
|
295
|
-
|
|
296
|
-
|
|
297
|
-
|
|
298
|
-
|
|
299
|
-
|
|
300
|
-
|
|
301
|
-
|
|
365
|
+
if (this.#config.synchronize !== true) {
|
|
366
|
+
return { ...this.#lastReceivedMessages };
|
|
367
|
+
}
|
|
368
|
+
const result = findSynchronizedSetAndRemoveOlderItems(this.#tree, this.#visibleAnnotations());
|
|
369
|
+
// If there were matching annotations we want to update Ghost annotation to last known annotations
|
|
370
|
+
const now = performance.now();
|
|
371
|
+
if (result.found && result.messages.annotationsByTopic.size > 0) {
|
|
372
|
+
//console.warn("Registering ghost annotation", result.messages.annotationsByTopic);
|
|
373
|
+
this.#ghostAnnotation = { annotations: result.messages.annotationsByTopic, createdAtMs: now };
|
|
374
|
+
}
|
|
375
|
+
const renderState = result.found
|
|
376
|
+
? {
|
|
377
|
+
cameraInfo: this.#lastReceivedMessages.cameraInfo,
|
|
378
|
+
image: result.messages.image,
|
|
379
|
+
annotationsByTopic: result.messages.annotationsByTopic,
|
|
302
380
|
}
|
|
303
|
-
|
|
381
|
+
: {
|
|
304
382
|
cameraInfo: this.#lastReceivedMessages.cameraInfo,
|
|
305
383
|
presentAnnotationTopics: result.presentAnnotationTopics,
|
|
306
384
|
missingAnnotationTopics: result.missingAnnotationTopics,
|
|
307
385
|
};
|
|
386
|
+
const ghostTimeMs = annoationsFpsToGhostTimeMs(this.#averageAnnotationsFps);
|
|
387
|
+
if (result.found &&
|
|
388
|
+
[...result.messages.annotationsByTopic.values()].length === 0 &&
|
|
389
|
+
this.#ghostAnnotation &&
|
|
390
|
+
now - this.#ghostAnnotation.createdAtMs < ghostTimeMs) {
|
|
391
|
+
console.warn(`No annotations found for this frame but still in ghost period (diff = ${now - this.#ghostAnnotation.createdAtMs} ms, ghostTimeMs = ${ghostTimeMs} ms) - returning ghost annotation`);
|
|
392
|
+
renderState.annotationsByTopic = this.#ghostAnnotation.annotations;
|
|
393
|
+
}
|
|
394
|
+
else {
|
|
395
|
+
// console.warn("Ghost annotation not used");
|
|
396
|
+
// console.warn("found", result.found);
|
|
397
|
+
// console.warn("ghostTimeMs", ghostTimeMs);
|
|
398
|
+
// console.warn("diff", this.#ghostAnnotation?.createdAtMs ? now - this.#ghostAnnotation.createdAtMs : "No annotation");
|
|
399
|
+
// console.warn("ghostAnnotation", this.#ghostAnnotation);
|
|
308
400
|
}
|
|
309
|
-
return
|
|
401
|
+
return renderState;
|
|
310
402
|
}
|
|
311
403
|
}
|
|
312
404
|
const ACCEPT_LAST_INDEX = 5;
|
|
@@ -318,41 +410,58 @@ const ACCEPT_LAST_INDEX = 5;
|
|
|
318
410
|
*/
|
|
319
411
|
function findSynchronizedSetAndRemoveOlderItems(tree, visibleAnnotations) {
|
|
320
412
|
let lastEntry = undefined;
|
|
321
|
-
|
|
413
|
+
let lastAnnotationsOrphanEntry = undefined;
|
|
414
|
+
let validEntry = undefined;
|
|
322
415
|
let imageEntries = 0;
|
|
416
|
+
// Calculate number of entries that have images
|
|
323
417
|
for (const entry of tree.entries()) {
|
|
324
418
|
if (entry[1].image) {
|
|
325
419
|
imageEntries += 1;
|
|
326
420
|
lastEntry = entry;
|
|
327
421
|
}
|
|
422
|
+
else if (entry[1].annotationsByTopic.size > 0) {
|
|
423
|
+
// If there are annotations we want to use the last entry with annotations
|
|
424
|
+
lastAnnotationsOrphanEntry = entry;
|
|
425
|
+
}
|
|
328
426
|
}
|
|
329
|
-
|
|
330
|
-
if (visibleAnnotations.size
|
|
427
|
+
// If there are no annotations active we use the newest entry with image
|
|
428
|
+
if (visibleAnnotations.size === 0) {
|
|
429
|
+
validEntry = lastEntry;
|
|
430
|
+
}
|
|
431
|
+
else {
|
|
432
|
+
// Else we try to find first
|
|
331
433
|
let acceptableIndex = imageEntries - ACCEPT_LAST_INDEX + 1;
|
|
434
|
+
// console.warn("acceptableIndex", acceptableIndex);
|
|
332
435
|
if (acceptableIndex < 0) {
|
|
333
436
|
acceptableIndex = 0;
|
|
334
437
|
}
|
|
335
438
|
let index = 0;
|
|
439
|
+
// Go throught the tree in order and find first entry that has image and all annotations
|
|
336
440
|
for (const entry of tree.entries()) {
|
|
441
|
+
// Skip entries with no images
|
|
337
442
|
if (!entry[1].image) {
|
|
338
443
|
continue;
|
|
339
444
|
}
|
|
445
|
+
// When we encounter the first acceptable index we use that as the entry
|
|
340
446
|
if (index === acceptableIndex) {
|
|
341
447
|
validEntry = entry;
|
|
342
448
|
}
|
|
343
449
|
else if (index > acceptableIndex) {
|
|
344
|
-
|
|
450
|
+
// Any bigger index with all annotations which is newer than already used index is the better option
|
|
451
|
+
const hasAllAnnotations = Array.from(visibleAnnotations).every((topic) => entry[1].annotationsByTopic.has(topic));
|
|
345
452
|
if (hasAllAnnotations) {
|
|
453
|
+
console.warn("upgrading to new valid entry", entry);
|
|
346
454
|
validEntry = entry;
|
|
347
455
|
}
|
|
348
456
|
}
|
|
349
457
|
index += 1;
|
|
350
458
|
}
|
|
351
459
|
}
|
|
352
|
-
else {
|
|
353
|
-
validEntry = lastEntry;
|
|
354
|
-
}
|
|
355
460
|
if (validEntry) {
|
|
461
|
+
if (validEntry[1].annotationsByTopic.size === 0 && lastAnnotationsOrphanEntry) {
|
|
462
|
+
console.warn("Using annotationsByTopic from lastAnnotationsEntry orphan");
|
|
463
|
+
validEntry[1].annotationsByTopic = lastAnnotationsOrphanEntry[1].annotationsByTopic;
|
|
464
|
+
}
|
|
356
465
|
// Drop older messages
|
|
357
466
|
let minKey = tree.minKey();
|
|
358
467
|
while (minKey && isLessThan(minKey, validEntry[0])) {
|
|
@@ -363,4 +472,11 @@ function findSynchronizedSetAndRemoveOlderItems(tree, visibleAnnotations) {
|
|
|
363
472
|
}
|
|
364
473
|
return { found: false, missingAnnotationTopics: [], presentAnnotationTopics: [] };
|
|
365
474
|
}
|
|
475
|
+
function annoationsFpsToGhostTimeMs(annotationsFps) {
|
|
476
|
+
if (annotationsFps === undefined || annotationsFps === 0 || !Number.isFinite(annotationsFps)) {
|
|
477
|
+
return 1_000; // If there is no annotations fps, we want set the ghost time to 1 second
|
|
478
|
+
}
|
|
479
|
+
const period = 1 / annotationsFps;
|
|
480
|
+
return period * 1_000 * 2; // To miliseconds times two
|
|
481
|
+
}
|
|
366
482
|
//# sourceMappingURL=MessageHandler.js.map
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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|
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1
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+
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