@luxonis/visualizer-protobuf 2.63.0 → 2.65.0

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

@@ -1,11 +1,16 @@
 // 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 { getTimestampFromImage } from "@foxglove/studio-base/panels/ThreeDeeRender/renderables/Images/ImageTypes";
 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";
 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";
 import { t3D } from "../../t3D";
+const syncToleranceSec = Number(localStorage.getItem('viewer-syncToleranceSec')) || 0.15; // maximum acceptable time difference for selecting a “closest” annotation.
+const maxStalenessSec = Number(localStorage.getItem('viewer-maxStalenessSec')) || 0.5; // how long we can hold the last older annotation if no better match is available.
+const hysteresisSec = Number(localStorage.getItem('viewer-hysteresisSec')) || 0.03; // how much “stickiness” we allow before switching candidates.
+console.log("synchronization parameters:", { syncToleranceSec, maxStalenessSec, hysteresisSec });
 // 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,
@@ -68,10 +73,10 @@ export class MessageHandler {
     #onAnnotationReceivedEvent;
     #annotationsFpsRefreshInterval = null;
     lastImage;
+    // Store a small buffer of recent annotations per topic with computed seconds timestamps
     annotationsMap = new Map();
-    ghostAnnotationsMap = new Map();
-    syncToleranceMs = 150;
-    ghostTimeoutMs = 1000;
+    // Track last selected annotation per topic to add hysteresis and reduce flicker
+    lastSelectedByTopic = new Map();
     availableAnnotationTopics;
     /**
      *
@@ -84,6 +89,16 @@ export class MessageHandler {
             annotationsByTopic: new Map(),
         };
         this.availableAnnotationTopics = new Set();
+        // Set default values for synchronization to local storage if they're not already set
+        if (localStorage.getItem('viewer-syncToleranceSec') === null) {
+            localStorage.setItem('viewer-syncToleranceSec', syncToleranceSec.toString());
+        }
+        if (localStorage.getItem('viewer-maxStalenessSec') === null) {
+            localStorage.setItem('viewer-maxStalenessSec', maxStalenessSec.toString());
+        }
+        if (localStorage.getItem('viewer-hysteresisSec') === null) {
+            localStorage.setItem('viewer-hysteresisSec', hysteresisSec.toString());
+        }
     }
     dispose() {
         if (this.#annotationsFpsRefreshInterval) {
@@ -112,51 +127,57 @@ export class MessageHandler {
         this.handleImage(messageEvent, normalizeCompressedImage(messageEvent.message));
     };
     handleImage(message, image) {
-        const normalized = {
+        this.lastImage = {
             ...message,
             message: image,
         };
-        this.lastImage = normalized;
         this.#emitState();
     }
     handleCameraInfo = (message) => {
-        const cameraInfo = normalizeCameraInfo(message.message);
-        this.#lastReceivedMessages.cameraInfo = cameraInfo;
+        this.#lastReceivedMessages.cameraInfo = normalizeCameraInfo(message.message);
         this.#emitState();
     };
     handleAnnotations = (messageEvent) => {
         const list = normalizeAnnotations(messageEvent.message, messageEvent.schemaName);
-        const timestamp = performance.now();
+        const arrivalSec = performance.now() / 1000;
         if (list.length > 0 && messageEvent.topic) {
             this.#onAnnotationReceivedEvent?.();
-            this.annotationsMap.set(messageEvent.topic, {
-                annotation: {
-                    originalMessage: messageEvent,
-                    annotations: list,
-                },
-                timestamp: timestamp,
-            });
-            this.ghostAnnotationsMap.set(messageEvent.topic, {
+            // Prefer timestamps embedded in the annotations themselves
+            const stampTimes = [];
+            for (const a of list) {
+                const sec = a.stamp?.sec;
+                const nsec = a.stamp?.nsec;
+                if (typeof sec === "number" && typeof nsec === "number") {
+                    stampTimes.push(sec + nsec / 1e9);
+                }
+            }
+            const timeSec = stampTimes.length > 0 ? Math.max(...stampTimes) : arrivalSec;
+            const entry = {
                 annotation: {
                     originalMessage: messageEvent,
                     annotations: list,
                 },
-                timestamp: timestamp,
-            });
+                timeSec,
+                arrivalSec,
+            };
+            const topic = messageEvent.topic;
+            const buffer = this.annotationsMap.get(topic) ?? [];
+            buffer.push(entry);
+            const maxLen = 60;
+            const retentionSec = 2;
+            const cutoff = timeSec - retentionSec;
+            const trimmed = buffer.filter((e) => e.timeSec >= cutoff);
+            while (trimmed.length > maxLen) {
+                trimmed.shift();
+            }
+            this.annotationsMap.set(topic, trimmed);
         }
+        // Always emit; render selection logic will pick appropriate annotations for the last image
+        this.#emitState();
         if (this.#config.synchronize === false) {
-            this.#emitState();
-            return;
-        }
-        if (list.length === 0 && messageEvent.topic) {
-            for (const [topic, annotation] of this.ghostAnnotationsMap.entries()) {
-                if (Math.abs(timestamp - annotation.timestamp) <= this.syncToleranceMs) {
-                    this.annotationsMap.set(topic, { annotation: annotation.annotation, timestamp });
-                }
-            }
-            this.#emitState();
             return;
         }
+        // synchronized mode does selection in #getRenderState
     };
     setConfig(newConfig) {
         let changed = false;
@@ -201,6 +222,9 @@ export class MessageHandler {
         this.#lastReceivedMessages = {
             annotationsByTopic: new Map(),
         };
+        this.annotationsMap.clear();
+        this.lastSelectedByTopic.clear();
+        this.lastImage = undefined;
         this.#oldRenderState = undefined;
         this.#emitState();
     }
@@ -239,34 +263,65 @@ export class MessageHandler {
             image: this.lastImage,
             annotationsByTopic: new Map(),
         };
-        const imageTimestamp = this.lastImage.receiveTime
-            ? Number(`${this.lastImage.receiveTime.sec}.${this.lastImage.receiveTime.nsec}`)
-            : performance.now();
-        const now = performance.now();
-        for (const [topic, annotation] of this.annotationsMap.entries()) {
-            // FIXME: We can liekly get this value better from the annotation message itself
-            const annotationTimestamp = Number.parseFloat(`${annotation.annotation.originalMessage.receiveTime?.sec}.${annotation.annotation.originalMessage.receiveTime?.nsec}`);
-            // In case the annotation timestamp is not available, we just continue
-            if (Number.isNaN(annotationTimestamp)) {
-                console.warn("Skipping annotation with no/invalid timestamp", annotation);
+        const imageTimestampSec = (() => {
+            const stamp = getTimestampFromImage(this.lastImage.message);
+            const sec = stamp?.sec;
+            const nsec = stamp?.nsec;
+            if (typeof sec === "number" && typeof nsec === "number") {
+                return sec + nsec / 1e9;
+            }
+            return performance.now() / 1000;
+        })();
+        for (const [topic, buffer] of this.annotationsMap.entries()) {
+            if (buffer.length === 0)
                 continue;
+            // Prefer newest annotation older than the image within staleness window
+            let preferred;
+            for (let i = buffer.length - 1; i >= 0; i--) {
+                const entry = buffer[i];
+                const age = imageTimestampSec - entry.timeSec;
+                if (age >= 0 && age <= maxStalenessSec) {
+                    preferred = entry;
+                    break;
+                }
             }
-            // We only want to show annotations that are older (or same) than the image frame with 100ms tolerance
-            const isAnnotationOlderThanImageFrame = annotationTimestamp <= imageTimestamp + 0.1;
-            //console.log({
-            //  annotation,
-            //  imageTimestamp,
-            //  annotationTimestamp,
-            //  isAnnotationOlderThanImageFrame,
-            //});
-            const annotationGhost = now - annotation.timestamp < this.ghostTimeoutMs;
-            // console.log({ now, annotationTimestamp: annotation.timestamp, annotationGhost });
-            if ((Math.abs(imageTimestamp - annotation.timestamp) <= this.syncToleranceMs || // within tolerance
-                annotationGhost) && // I think this says "or annotation is newer than 1s"
-                isAnnotationOlderThanImageFrame // annotation has to be older than image frame within 100ms tolerance
-            ) {
-                state.annotationsByTopic.set(topic, annotation.annotation);
+            // If none older within staleness, fall back to closest within tolerance
+            let fallback;
+            let fallbackDelta = Number.POSITIVE_INFINITY;
+            for (let i = 0; i < buffer.length; i++) {
+                const entry = buffer[i];
+                const delta = Math.abs(entry.timeSec - imageTimestampSec);
+                if (delta < fallbackDelta) {
+                    fallback = entry;
+                    fallbackDelta = delta;
+                }
+            }
+            let candidate = preferred ?? fallback;
+            if (!candidate)
+                continue;
+            const candidateDelta = Math.abs(candidate.timeSec - imageTimestampSec);
+            const candidateAge = imageTimestampSec - candidate.timeSec;
+            const acceptable = (preferred != undefined && candidateAge >= 0 && candidateAge <= maxStalenessSec) ||
+                (preferred == undefined && candidateDelta <= syncToleranceSec);
+            const notFutureFar = candidate.timeSec <= imageTimestampSec + syncToleranceSec;
+            if (!acceptable || !notFutureFar) {
+                continue;
+            }
+            // Hysteresis: if previous selection is very close and still valid, keep it to avoid flicker
+            const prevTime = this.lastSelectedByTopic.get(topic);
+            if (prevTime != undefined) {
+                const prevEntry = buffer.find((e) => Math.abs(e.timeSec - prevTime) < 1e-6);
+                if (prevEntry) {
+                    const prevDelta = Math.abs(prevEntry.timeSec - imageTimestampSec);
+                    const prevAge = imageTimestampSec - prevEntry.timeSec;
+                    const prevValid = (prevAge >= 0 && prevAge <= maxStalenessSec) || prevDelta <= syncToleranceSec;
+                    if (prevValid && Math.abs(prevEntry.timeSec - candidate.timeSec) <= hysteresisSec) {
+                        candidate = prevEntry;
+                    }
+                }
             }
+            state.annotationsByTopic.set(topic, candidate.annotation);
+            this.lastSelectedByTopic.set(topic, candidate.timeSec);
         }
         return state;
     }

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

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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@luxonis/visualizer-protobuf",
-  "version": "2.63.0",
+  "version": "2.65.0",
   "type": "module",
   "description": "RobotHub Visualizer Library",
   "author": "Luxonis Corp",