@luxonis/visualizer-protobuf 2.38.0 → 2.40.0

package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js

@@ -1,8 +1,6 @@
 // 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/
-import { AVLTree } from "@foxglove/avl";
-import { compare as compareTime, fromNanoSec, isLessThan, toNanoSec, } from "@foxglove/rostime";
 import { normalizeCompressedImage, normalizeRawImage, normalizeRosCompressedImage, normalizeRosImage, } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/Images/imageNormalizers";
 import { normalizeCameraInfo } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/projections";
 import { normalizeAnnotations } from "./annotations/normalizeAnnotations";
@@ -39,7 +37,6 @@ class EventMetricsManager {
         const fps = 1_000 / (totalInterval / (topicMetrics.length - 1));
         return Math.round(fps);
     }
-    // Remove events which are older than CLEANUP_EVENTS_OLDER_THAN_MS
     removeOldEvents(topic) {
         const now = performance.now();
         if (this.metrics[topic]) {
@@ -51,16 +48,6 @@ class EventMetricsManager {
         }
     }
 }
-const TIMESTAMP_ERROR_NS = 100000000n; // 0.1 seconds
-function timeEqualWithError(left, right) {
-    // Convert both timestamps to nanoseconds
-    const leftNs = toNanoSec({ sec: left.sec, nsec: left.nsec });
-    const rightNs = toNanoSec({ sec: right.sec, nsec: right.nsec });
-    // Get absolute difference while staying in bigint
-    const diffNs = leftNs > rightNs ? leftNs - rightNs : rightNs - leftNs;
-    // Convert TIMESTAMP_ERROR_NS to bigint for comparison
-    return diffNs <= TIMESTAMP_ERROR_NS;
-}
 // Have constants for the HUD items so that they don't need to be recreated and GCed every message
 export const WAITING_FOR_BOTH_HUD_ITEM = {
     id: WAITING_FOR_BOTH_MESSAGES_HUD_ID,
@@ -113,8 +100,6 @@ export class MessageHandler {
     #oldRenderState;
     /** internal state of last received messages */
     #lastReceivedMessages;
-    /** sorted tree that holds state for synchronized messages. Used to find most recent synchronized set of image and annotations. */
-    #tree;
     /** listener functions that are called when the state changes. */
     #listeners = [];
     /** Holds what annotations are currently available on the given source. These are needed because annotations
@@ -122,12 +107,15 @@ export class MessageHandler {
      * This can cause synchronized annotations to never resolve if the source does not have the annotation topic
      * with no indication to the user that the annotation is not available.
      */
-    #availableAnnotationTopics;
     #onAnnotationsFpsUpdate;
     #annotationsFpsMetrics = new EventMetricsManager();
     #annotationsFpsRefreshInterval = null;
-    #averageAnnotationsFps = 0;
-    #ghostAnnotation = undefined;
+    lastImage;
+    annotationsMap = new Map();
+    ghostAnnotationsMap = new Map();
+    syncToleranceMs = 150;
+    ghostTimeoutMs = 1000;
+    availableAnnotationTopics;
     /**
      *
      * @param config - subset of ImageMode settings required for message handling
@@ -138,11 +126,9 @@ export class MessageHandler {
         this.#lastReceivedMessages = {
             annotationsByTopic: new Map(),
         };
-        this.#tree = new AVLTree(compareTime);
-        this.#availableAnnotationTopics = new Set();
+        this.availableAnnotationTopics = new Set();
         this.#annotationsFpsRefreshInterval = setInterval(() => {
             const newAverageAnnotationsFps = this.#annotationsFpsMetrics.calculate(ANNOTATIONS_METRICS_KEY);
-            this.#averageAnnotationsFps = newAverageAnnotationsFps;
             if (this.#onAnnotationsFpsUpdate) {
                 this.#onAnnotationsFpsUpdate(newAverageAnnotationsFps);
             }
@@ -175,120 +161,59 @@ export class MessageHandler {
         this.handleImage(messageEvent, normalizeCompressedImage(messageEvent.message));
     };
     handleImage(message, image) {
-        const normalizedImageMessage = {
+        const normalized = {
             ...message,
             message: image,
         };
-        this.#lastReceivedMessages.image = normalizedImageMessage;
-        if (this.#config.synchronize !== true) {
-            this.#emitState();
-            return;
-        }
-        // Update the image at the stamp time
-        this.#addImageToTree(normalizedImageMessage);
+        this.lastImage = normalized;
         this.#emitState();
     }
-    #normalizeTimestamp(stamp) {
-        if (this.#tree.has(stamp)) {
-            return [stamp];
-        }
-        const matches = [];
-        for (const [time] of this.#tree.entries()) {
-            if (timeEqualWithError(stamp, time)) {
-                matches.push(time);
-            }
-        }
-        return matches.length > 0 ? matches : [stamp];
-    }
-    #addImageToTree(message) {
-        const timestamps = this.#normalizeTimestamp(message.receiveTime);
-        for (const stamp of timestamps) {
-            const item = this.#tree.get(stamp);
-            if (item) {
-                item.image = message;
-            }
-            else {
-                this.#tree.set(stamp, {
-                    image: message,
-                    annotationsByTopic: new Map(),
-                });
-            }
-        }
-    }
-    #visibleAnnotations() {
-        const visibleAnnotations = new Set();
-        for (const [topic, settings] of Object.entries(this.#config.annotations ?? {})) {
-            if (settings?.visible === true && this.#availableAnnotationTopics.has(topic)) {
-                visibleAnnotations.add(topic);
-            }
-        }
-        return visibleAnnotations;
-    }
     handleCameraInfo = (message) => {
         const cameraInfo = normalizeCameraInfo(message.message);
         this.#lastReceivedMessages.cameraInfo = cameraInfo;
         this.#emitState();
     };
     handleAnnotations = (messageEvent) => {
-        const annotations = normalizeAnnotations(messageEvent.message, messageEvent.schemaName);
-        // We only want to log Annotations event if the array is not empty
-        if (annotations.length > 0) {
+        const list = normalizeAnnotations(messageEvent.message, messageEvent.schemaName);
+        const timestamp = performance.now();
+        if (list.length > 0 && messageEvent.topic) {
             this.#annotationsFpsMetrics.registerEvent(ANNOTATIONS_METRICS_KEY);
-        }
-        const { topic } = messageEvent;
-        if (this.#config.synchronize !== true) {
-            this.#lastReceivedMessages.annotationsByTopic.set(topic, {
-                originalMessage: messageEvent,
-                annotations,
+            this.annotationsMap.set(messageEvent.topic, {
+                annotation: {
+                    originalMessage: messageEvent,
+                    annotations: list,
+                },
+                timestamp: timestamp,
             });
+            this.ghostAnnotationsMap.set(messageEvent.topic, {
+                annotation: {
+                    originalMessage: messageEvent,
+                    annotations: list,
+                },
+                timestamp: timestamp,
+            });
+        }
+        if (this.#config.synchronize === false) {
             this.#emitState();
             return;
         }
-        const groups = new Map();
-        // Group annotation by timestamp
-        for (const annotation of annotations) {
-            const key = toNanoSec(annotation.stamp);
-            const arr = groups.get(key);
-            if (arr) {
-                arr.push(annotation);
-                continue;
-            }
-            groups.set(key, [annotation]);
-        }
-        for (const [stampNsec, group] of groups) {
-            const timestamps = this.#normalizeTimestamp(fromNanoSec(stampNsec));
-            for (const stamp of timestamps) {
-                let item = this.#tree.get(stamp);
-                if (!item) {
-                    item = {
-                        image: undefined,
-                        annotationsByTopic: new Map(),
-                    };
-                    this.#tree.set(stamp, item);
+        if (list.length === 0 && messageEvent.topic) {
+            for (const [topic, data] of this.ghostAnnotationsMap.entries()) {
+                if (Math.abs(timestamp - data.timestamp) <= this.syncToleranceMs) {
+                    this.annotationsMap.set(topic, { annotation: data.annotation, timestamp });
                 }
-                item.annotationsByTopic.set(topic, {
-                    originalMessage: messageEvent,
-                    annotations: group,
-                });
             }
+            this.#emitState();
+            return;
         }
-        //console.error("Tree after adding annotations", [...this.#tree.entries()]);
-        this.#emitState();
     };
     setConfig(newConfig) {
         let changed = false;
         if (newConfig.synchronize != undefined && newConfig.synchronize !== this.#config.synchronize) {
             this.#oldRenderState = undefined;
-            this.#tree.clear();
-            if (newConfig.synchronize && this.#lastReceivedMessages.image != undefined) {
-                this.#addImageToTree(this.#lastReceivedMessages.image);
-            }
             changed = true;
         }
         if ("imageTopic" in newConfig && this.#config.imageTopic !== newConfig.imageTopic) {
-            for (const item of this.#tree.values()) {
-                item.image = undefined;
-            }
             this.#lastReceivedMessages.image = undefined;
             changed = true;
         }
@@ -311,14 +236,6 @@ export class MessageHandler {
                     changed = true;
                 }
             }
-            for (const syncEntry of this.#tree.values()) {
-                for (const topic of syncEntry.annotationsByTopic.keys()) {
-                    if (!newVisibleTopics.has(topic)) {
-                        syncEntry.annotationsByTopic.delete(topic);
-                        changed = true;
-                    }
-                }
-            }
         }
         this.#config = newConfig;
         if (changed) {
@@ -326,14 +243,13 @@ export class MessageHandler {
         }
     }
     setAvailableAnnotationTopics(topicNames) {
-        this.#availableAnnotationTopics = new Set(topicNames);
+        this.availableAnnotationTopics = new Set(topicNames);
         this.#emitState();
     }
     clear() {
         this.#lastReceivedMessages = {
             annotationsByTopic: new Map(),
         };
-        this.#tree.clear();
         this.#oldRenderState = undefined;
         this.#emitState();
     }
@@ -356,130 +272,33 @@ export class MessageHandler {
         const waitingForCalibration = calibrationRequired && state.cameraInfo == undefined;
         const waitingForBoth = waitingForImage && waitingForCalibration;
         this.#hud.displayIfTrue(waitingForBoth, WAITING_FOR_BOTH_HUD_ITEM);
-        // don't show other empty states when waiting for both to reduce noise
         this.#hud.displayIfTrue(waitingForCalibration && !waitingForBoth, WAITING_FOR_CALIBRATION_HUD_ITEM);
         this.#hud.displayIfTrue(waitingForImage && !calibrationRequired && !waitingForBoth, WAITING_FOR_IMAGE_EMPTY_HUD_ITEM);
         this.#hud.displayIfTrue(waitingForImage && calibrationRequired, WAITING_FOR_IMAGE_NOTICE_HUD_ITEM);
     }
     #getRenderState() {
-        if (this.#config.synchronize !== true) {
-            return { ...this.#lastReceivedMessages };
-        }
-        const result = findSynchronizedSetAndRemoveOlderItems(this.#tree, this.#visibleAnnotations());
-        // If there were matching annotations we want to update Ghost annotation to last known annotations
-        const now = performance.now();
-        if (result.found && result.messages.annotationsByTopic.size > 0) {
-            //console.warn("Registering ghost annotation", result.messages.annotationsByTopic);
-            this.#ghostAnnotation = { annotations: result.messages.annotationsByTopic, createdAtMs: now };
-        }
-        const renderState = result.found
-            ? {
-                cameraInfo: this.#lastReceivedMessages.cameraInfo,
-                image: result.messages.image,
-                annotationsByTopic: result.messages.annotationsByTopic,
-            }
-            : {
-                cameraInfo: this.#lastReceivedMessages.cameraInfo,
-                presentAnnotationTopics: result.presentAnnotationTopics,
-                missingAnnotationTopics: result.missingAnnotationTopics,
+        if (!this.lastImage) {
+            return {
+                annotationsByTopic: new Map(),
+                presentAnnotationTopics: undefined,
+                missingAnnotationTopics: undefined,
             };
-        const ghostTimeMs = annoationsFpsToGhostTimeMs(this.#averageAnnotationsFps);
-        if (result.found &&
-            [...result.messages.annotationsByTopic.values()].length === 0 &&
-            this.#ghostAnnotation &&
-            now - this.#ghostAnnotation.createdAtMs < ghostTimeMs) {
-            //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`,
-            //);
-            renderState.annotationsByTopic = this.#ghostAnnotation.annotations;
-        }
-        else {
-            // console.warn("Ghost annotation not used");
-            // console.warn("found", result.found);
-            // console.warn("ghostTimeMs", ghostTimeMs);
-            // console.warn("diff", this.#ghostAnnotation?.createdAtMs ? now - this.#ghostAnnotation.createdAtMs : "No annotation");
-            // console.warn("ghostAnnotation", this.#ghostAnnotation);
-        }
-        return renderState;
-    }
-}
-const ACCEPT_LAST_INDEX = 5;
-/**
- * Find the newest entry where we have everything synchronized and remove all older entries from tree.
- * @param tree - AVL tree that stores a [image?, annotations?] in sorted order by timestamp.
- * @param visibleAnnotations - visible annotation topics
- * @returns - the newest synchronized item with all active annotations and image, or set of missing annotations if synchronization failed
- */
-function findSynchronizedSetAndRemoveOlderItems(tree, visibleAnnotations) {
-    let lastEntry = undefined;
-    let lastAnnotationsOrphanEntry = undefined;
-    let validEntry = undefined;
-    let imageEntries = 0;
-    // Calculate number of entries that have images
-    for (const entry of tree.entries()) {
-        if (entry[1].image) {
-            imageEntries += 1;
-            lastEntry = entry;
-        }
-        else if (entry[1].annotationsByTopic.size > 0) {
-            // If there are annotations we want to use the last entry with annotations
-            lastAnnotationsOrphanEntry = entry;
-        }
-    }
-    // If there are no annotations active we use the newest entry with image
-    if (visibleAnnotations.size === 0) {
-        validEntry = lastEntry;
-    }
-    else {
-        // Else we try to find first
-        let acceptableIndex = imageEntries - ACCEPT_LAST_INDEX + 1;
-        // console.warn("acceptableIndex", acceptableIndex);
-        if (acceptableIndex < 0) {
-            acceptableIndex = 0;
         }
-        let index = 0;
-        // Go throught the tree in order and find first entry that has image and all annotations
-        for (const entry of tree.entries()) {
-            // Skip entries with no images
-            if (!entry[1].image) {
-                continue;
-            }
-            // When we encounter the first acceptable index we use that as the entry
-            if (index === acceptableIndex) {
-                validEntry = entry;
-            }
-            else if (index > acceptableIndex) {
-                // Any bigger index with all annotations which is newer than already used index is the better option
-                const hasAllAnnotations = Array.from(visibleAnnotations).every((topic) => entry[1].annotationsByTopic.has(topic));
-                if (hasAllAnnotations) {
-                    validEntry = entry;
-                }
+        const state = {
+            image: this.lastImage,
+            annotationsByTopic: new Map(),
+        };
+        const imageTimestamp = this.lastImage.receiveTime
+            ? Number(this.lastImage.receiveTime)
+            : performance.now();
+        const now = performance.now();
+        for (const [topic, data] of this.annotationsMap.entries()) {
+            if (Math.abs(imageTimestamp - data.timestamp) <= this.syncToleranceMs ||
+                now - data.timestamp < this.ghostTimeoutMs) {
+                state.annotationsByTopic.set(topic, data.annotation);
             }
-            index += 1;
-        }
-    }
-    if (validEntry) {
-        if (validEntry[1].annotationsByTopic.size === 0 && lastAnnotationsOrphanEntry) {
-            // console.warn("Using annotationsByTopic from lastAnnotationsEntry orphan");
-            validEntry[1].annotationsByTopic = lastAnnotationsOrphanEntry[1].annotationsByTopic;
-        }
-        // Drop  older messages
-        let minKey = tree.minKey();
-        while (minKey && isLessThan(minKey, validEntry[0])) {
-            tree.shift();
-            minKey = tree.minKey();
         }
-        return { found: true, messages: validEntry[1] };
-    }
-    return { found: false, missingAnnotationTopics: [], presentAnnotationTopics: [] };
-}
-function annoationsFpsToGhostTimeMs(annotationsFps) {
-    if (annotationsFps === undefined || annotationsFps === 0 || !Number.isFinite(annotationsFps)) {
-        return 1_000; // If there is no annotations fps, we want set the ghost time to 1 second
+        return state;
     }
-    const period = 1 / annotationsFps;
-    return period * 1_000 * 2; // To miliseconds times two
 }
 //# sourceMappingURL=MessageHandler.js.map

package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js.map

@@ -1 +1 @@
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package/dist/{worker-5EVhuR0-.js → worker-BCJnECSn.js}

@@ -1,8 +1,8 @@
 import { F as FoxgloveClient } from './FoxgloveServer-C39Uooyk.js';
-import { F as FoxgloveCommunicator } from './communicator-BjQGdkEF.js';
+import { F as FoxgloveCommunicator } from './communicator-Rs8pk0Io.js';
 import './_commonjsHelpers-E-ZsRS8r.js';
 import 'ms';
-import './encoding-BaoHXAPX.js';
+import './encoding-D95pQf33.js';
 import 'protobufjs/minimal';
 
 // This Source Code Form is subject to the terms of the Mozilla Public

package/dist/{worker-4R8nuLc9.js → worker-ChOPGWcQ.js}

@@ -1,5 +1,5 @@
-import { r as recordToDataView } from './encoding-BaoHXAPX.js';
-import { F as FoxgloveCommunicator } from './communicator-BjQGdkEF.js';
+import { r as recordToDataView } from './encoding-D95pQf33.js';
+import { F as FoxgloveCommunicator } from './communicator-Rs8pk0Io.js';
 import { m as makeServiceCallRequest } from './foxglove-protocol-CYoMweAY.js';
 import 'protobufjs/minimal';
 import './FoxgloveServer-C39Uooyk.js';

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@luxonis/visualizer-protobuf",
-  "version": "2.38.0",
+  "version": "2.40.0",
   "type": "module",
   "description": "RobotHub Visualizer Library",
   "author": "Luxonis Corp",