@luxonis/visualizer-protobuf 2.64.0 → 2.66.0

package/dist/{index-C2I0SvM_.js → index-8i6rZL1F.js}

@@ -1,4 +1,4 @@
-import { Y as styleTags, Z as tags, $ as LRLanguage, a0 as LanguageSupport, a2 as LRParser, aa as LocalTokenGroup, ah as html, ai as parseMixed, ak as javascriptLanguage } from './index-btWll_X8.js';
+import { Y as styleTags, Z as tags, $ as LRLanguage, a0 as LanguageSupport, a2 as LRParser, aa as LocalTokenGroup, ah as html, ai as parseMixed, ak as javascriptLanguage } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-b8JQ8FbB.js → index-B5saAz5y.js}

@@ -1,4 +1,4 @@
-import { $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, Y as styleTags, Z as tags, a0 as LanguageSupport, a2 as LRParser } from './index-btWll_X8.js';
+import { $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, Y as styleTags, Z as tags, a0 as LanguageSupport, a2 as LRParser } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-CuBQ8sfd.js → index-BOiGPesM.js}

@@ -1,4 +1,4 @@
-import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-btWll_X8.js';
+import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-D7jkC67I.js → index-BPoYkz5D.js}

@@ -1,4 +1,4 @@
-import { Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-btWll_X8.js';
+import { Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-BnLSHvn1.js → index-BVdBdL0y.js}

@@ -1,4 +1,4 @@
-import { ImagePanel } from './index-Bt8NKGgQ.js';
+import { ImagePanel } from './index-C8keT4BV.js';
 import 'react';
 import 'react-dom';
 import './depth-CgtekUia.js';
@@ -8,7 +8,7 @@ import 'zustand';
 import 'react-mosaic-component';
 import '@mui/material';
 import './isArrayLikeObject-Bytw9p-q.js';
-import './index-btWll_X8.js';
+import './index-BVhURReD.js';
 import './comlink-DHMAu6X7.js';
 import './utils-Hzt3wxhG.js';
 import './FoxgloveServer-MMAMiqqQ.js';

package/dist/{index-btWll_X8.js → index-BVhURReD.js}

@@ -86796,7 +86796,7 @@ function legacy(parser) {
     return new LanguageSupport(StreamLanguage.define(parser));
 }
 function sql$1(dialectName) {
-    return import('./index-CJ0ouF_X.js').then(m => m.sql({ dialect: m[dialectName] }));
+    return import('./index-CGtvEVA-.js').then(m => m.sql({ dialect: m[dialectName] }));
 }
 /**
 An array of language descriptions for known language packages.
@@ -86807,7 +86807,7 @@ const languages = [
         name: "C",
         extensions: ["c", "h", "ino"],
         load() {
-            return import('./index-CuBQ8sfd.js').then(m => m.cpp());
+            return import('./index-BOiGPesM.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86815,7 +86815,7 @@ const languages = [
         alias: ["cpp"],
         extensions: ["cpp", "c++", "cc", "cxx", "hpp", "h++", "hh", "hxx"],
         load() {
-            return import('./index-CuBQ8sfd.js').then(m => m.cpp());
+            return import('./index-BOiGPesM.js').then(m => m.cpp());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86835,7 +86835,7 @@ const languages = [
         name: "Go",
         extensions: ["go"],
         load() {
-            return import('./index-CTUZw7U6.js').then(m => m.go());
+            return import('./index-C6EEuWeT.js').then(m => m.go());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86850,7 +86850,7 @@ const languages = [
         name: "Java",
         extensions: ["java"],
         load() {
-            return import('./index-BxkJ2Rkh.js').then(m => m.java());
+            return import('./index-YH3sx_bg.js').then(m => m.java());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86866,7 +86866,7 @@ const languages = [
         alias: ["json5"],
         extensions: ["json", "map"],
         load() {
-            return import('./index-D7jkC67I.js').then(m => m.json());
+            return import('./index-BPoYkz5D.js').then(m => m.json());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86880,14 +86880,14 @@ const languages = [
         name: "LESS",
         extensions: ["less"],
         load() {
-            return import('./index-PCEpYVVD.js').then(m => m.less());
+            return import('./index-COTQtzxD.js').then(m => m.less());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Liquid",
         extensions: ["liquid"],
         load() {
-            return import('./index-B53S6byS.js').then(m => m.liquid());
+            return import('./index-CB4uR2F1.js').then(m => m.liquid());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86913,7 +86913,7 @@ const languages = [
         name: "PHP",
         extensions: ["php", "php3", "php4", "php5", "php7", "phtml"],
         load() {
-            return import('./index-B86puxfC.js').then(m => m.php());
+            return import('./index-DON7EBVW.js').then(m => m.php());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86930,28 +86930,28 @@ const languages = [
         extensions: ["BUILD", "bzl", "py", "pyw"],
         filename: /^(BUCK|BUILD)$/,
         load() {
-            return import('./index-fCMuSW-j.js').then(m => m.python());
+            return import('./index-CmOcsIv5.js').then(m => m.python());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Rust",
         extensions: ["rs"],
         load() {
-            return import('./index-B7nNBAQK.js').then(m => m.rust());
+            return import('./index-eLC_hXQ5.js').then(m => m.rust());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Sass",
         extensions: ["sass"],
         load() {
-            return import('./index-STYyVl4n.js').then(m => m.sass({ indented: true }));
+            return import('./index-BjqPJJVm.js').then(m => m.sass({ indented: true }));
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "SCSS",
         extensions: ["scss"],
         load() {
-            return import('./index-STYyVl4n.js').then(m => m.sass());
+            return import('./index-BjqPJJVm.js').then(m => m.sass());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86982,7 +86982,7 @@ const languages = [
         name: "WebAssembly",
         extensions: ["wat", "wast"],
         load() {
-            return import('./index-b8JQ8FbB.js').then(m => m.wast());
+            return import('./index-B5saAz5y.js').then(m => m.wast());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86990,7 +86990,7 @@ const languages = [
         alias: ["rss", "wsdl", "xsd"],
         extensions: ["xml", "xsl", "xsd", "svg"],
         load() {
-            return import('./index-B1iI7RoB.js').then(m => m.xml());
+            return import('./index-LwsDo_d_.js').then(m => m.xml());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
@@ -86998,7 +86998,7 @@ const languages = [
         alias: ["yml"],
         extensions: ["yaml", "yml"],
         load() {
-            return import('./index-Dy0KZSfH.js').then(m => m.yaml());
+            return import('./index-CxsQZNfY.js').then(m => m.yaml());
         }
     }),
     // Legacy modes ported from CodeMirror 5
@@ -87794,13 +87794,13 @@ const languages = [
         name: "Vue",
         extensions: ["vue"],
         load() {
-            return import('./index-C2I0SvM_.js').then(m => m.vue());
+            return import('./index-8i6rZL1F.js').then(m => m.vue());
         }
     }),
     /*@__PURE__*/LanguageDescription.of({
         name: "Angular Template",
         load() {
-            return import('./index-DvvaZvBj.js').then(m => m.angular());
+            return import('./index-nm8ZXnLm.js').then(m => m.angular());
         }
     })
 ];
@@ -166509,7 +166509,7 @@ function createRenderDelaySampler() {
   };
 }
 
-const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-BnLSHvn1.js'));
+const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-BVdBdL0y.js'));
 const ImagePanelBody = ({
   topic,
   frameRenderedEvent,
@@ -166604,7 +166604,7 @@ const DEFAULT_CAMERA_STATE = {
 // License, v2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
-const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-Bt8NKGgQ.js'));
+const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-C8keT4BV.js'));
 const PointCloudPanelBody = ({
   topic,
   frameRenderedEvent,

package/dist/{index-STYyVl4n.js → index-BjqPJJVm.js}

@@ -1,4 +1,4 @@
-import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, X as foldNodeProp, a8 as foldInside, U as indentNodeProp, V as continuedIndent, ae as defineCSSCompletionSource, a0 as LanguageSupport } from './index-btWll_X8.js';
+import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, X as foldNodeProp, a8 as foldInside, U as indentNodeProp, V as continuedIndent, ae as defineCSSCompletionSource, a0 as LanguageSupport } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-CTUZw7U6.js → index-C6EEuWeT.js}

@@ -1,4 +1,4 @@
-import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, aa as LocalTokenGroup, ab as snippetCompletion, a5 as syntaxTree, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, a3 as ifNotIn, a4 as completeFromList, ac as IterMode, ad as NodeWeakMap } from './index-btWll_X8.js';
+import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, aa as LocalTokenGroup, ab as snippetCompletion, a5 as syntaxTree, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, a3 as ifNotIn, a4 as completeFromList, ac as IterMode, ad as NodeWeakMap } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-Bt8NKGgQ.js → index-C8keT4BV.js}

@@ -3,7 +3,7 @@ import React__default, { useReducer, useRef, useCallback, useLayoutEffect, Compo
 import ReactDOM__default from 'react-dom';
 import { Z as isSymbol, $ as toString, a0 as keys, a1 as getSymbols$1, a2 as stubArray, a3 as arrayPush, a4 as baseGetAllKeys, g as getTag, a5 as getAllKeys, k as baseGet, c as baseIteratee, j as castPath, t as toKey, a6 as arrayMap$1, a7 as baseUniq, b as baseFlatten, a8 as useMustNotChange, a9 as useCurrentLayoutActions, aa as useCurrentLayoutSelector, r as reportError, A as AppError, L as Logger, u as useGuaranteedContext, ab as usePanelMosaicId, ac as useSelectedPanels, ad as PANEL_TITLE_CONFIG_KEY, ae as noop$4, o as getPanelTypeFromId, M as useShallowMemo, T as TAB_PANEL_TYPE, J as filterMap, d as dist$2, af as useAppConfiguration, ag as useValueChangedDebugLog, V as typescript, ah as useJsonTreeTheme } from './depth-CgtekUia.js';
 import { createStore, useStore } from 'zustand';
-import { g as generateUtilityClass, c as createAggregator, f as flatRest, b as baseSet, A as AnalyticsContext, P as PropTypes, E as ErrorDisplay, S as Stack$1, m as makeStyles$1, _ as _extends$1, W as WorkspaceContext, u as useAnalytics, a as AppEvent, L as LeftSidebarItemKeys, R as RightSidebarItemKeys, d as useTranslation, e as usePanelCatalog, h as EmptyState, i as isEmpty, j as PanelContext, k as PanelCatalogContext, l as usePanelStateStore, n as useDefaultPanelTitle, o as useWorkspaceStore, p as WorkspaceStoreSelectors, q as difference, r as usePanelContext, s as useMessagePipeline, v as v4, t as useHoverValue, w as useSetHoverValue, x as useClearHoverValue, y as useMessagePipelineGetter, z as usePanelSettingsTreeUpdate, B as PlayerCapabilities, C as assertNever, D as PlayerPresence, F as isEqual, G as isDesktopApp, H as createTheme, I as propTypesExports, J as DEFAULT_CAMERA_STATE$1, K as format$1, M as z, N as serializeError, O as stringify$1, Q as createIntl, T as createIntlCache } from './index-btWll_X8.js';
+import { g as generateUtilityClass, c as createAggregator, f as flatRest, b as baseSet, A as AnalyticsContext, P as PropTypes, E as ErrorDisplay, S as Stack$1, m as makeStyles$1, _ as _extends$1, W as WorkspaceContext, u as useAnalytics, a as AppEvent, L as LeftSidebarItemKeys, R as RightSidebarItemKeys, d as useTranslation, e as usePanelCatalog, h as EmptyState, i as isEmpty, j as PanelContext, k as PanelCatalogContext, l as usePanelStateStore, n as useDefaultPanelTitle, o as useWorkspaceStore, p as WorkspaceStoreSelectors, q as difference, r as usePanelContext, s as useMessagePipeline, v as v4, t as useHoverValue, w as useSetHoverValue, x as useClearHoverValue, y as useMessagePipelineGetter, z as usePanelSettingsTreeUpdate, B as PlayerCapabilities, C as assertNever, D as PlayerPresence, F as isEqual, G as isDesktopApp, H as createTheme, I as propTypesExports, J as DEFAULT_CAMERA_STATE$1, K as format$1, M as z, N as serializeError, O as stringify$1, Q as createIntl, T as createIntlCache } from './index-BVhURReD.js';
 import { MosaicDragType, MosaicContext, MosaicWindowContext, getOtherBranch, getNodeAtPath } from 'react-mosaic-component';
 import { g as getDefaultExportFromCjs, c as commonjsGlobal, d as getAugmentedNamespace } from './protobuf-B55JS-Px.js';
 import { Link, Button, alpha, IconButton, Card, CardActionArea, CardMedia, CardContent, Typography, Container, Tooltip, Fade, ListItem, ListItemButton, ListItemText, List, TextField, InputAdornment, Popper, Grow, Paper, ClickAwayListener, Menu, MenuItem, Divider, buttonClasses, Backdrop, Chip, useTheme, alertClasses, darken, lighten, inputBaseClasses, autocompleteClasses, inputClasses, Checkbox, dialogActionsClasses, filledInputClasses, inputAdornmentClasses, listSubheaderClasses, selectClasses, tableCellClasses, ThemeProvider as ThemeProvider$1, SvgIcon, tabsClasses as tabsClasses$1, tabClasses, Tabs, Tab, ListItemIcon } from '@mui/material';
@@ -31965,6 +31965,13 @@ function getFrameIdFromImage(image) {
     return image.frame_id;
   }
 }
+function getTimestampFromImage(image) {
+  if ("header" in image) {
+    return image.header.stamp;
+  } else {
+    return image.timestamp;
+  }
+}
 
 // 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
@@ -32499,6 +32506,15 @@ function getAnnotationAtPath(message, path) {
 // License, v2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
+const syncToleranceSec = Number(localStorage.getItem('viewer-syncToleranceSec')) || 0.15; // maximum acceptable time difference for selecting a “closest” annotation.
+const maxStalenessSec = Number(localStorage.getItem('viewer-maxStalenessSec')) || 1.1; // how long we can hold the last older annotation if no better match is available. 1s corresponds to 1 FPS + 100ms window for jitter.
+const hysteresisSec = Number(localStorage.getItem('viewer-hysteresisSec')) || 0.1; // 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
 const WAITING_FOR_BOTH_HUD_ITEM = {
   id: WAITING_FOR_BOTH_MESSAGES_HUD_ID,
@@ -32555,13 +32571,14 @@ class MessageHandler {
 
   #onAnnotationReceivedEvent;
   #annotationsFpsRefreshInterval = null;
+  // 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();
   /**
-   *
-   * @param config - subset of ImageMode settings required for message handling
+   * Create a MessageHandler
+   * @param {Immutable<Config>} config - subset of ImageMode settings required for message handling
+   * @param {HUDItemManager} hud - HUD manager used to display informational messages on the canvas
    */
   constructor(config, hud) {
     this.#config = config;
@@ -32570,6 +32587,17 @@ 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) {
@@ -32598,54 +32626,59 @@ 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);
+
+      // Keep unlimited buffer length, but drop entries older than 20 seconds based on arrival time
+      const retentionSec = 20;
+      const nowSec = performance.now() / 1000;
+      const cutoffArrival = nowSec - retentionSec;
+      const trimmed = buffer.filter(e => e.arrivalSec >= cutoffArrival);
+      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;
@@ -32688,6 +32721,9 @@ class MessageHandler {
     this.#lastReceivedMessages = {
       annotationsByTopic: new Map()
     };
+    this.annotationsMap.clear();
+    this.lastSelectedByTopic.clear();
+    this.lastImage = undefined;
     this.#oldRenderState = undefined;
     this.#emitState();
   }
@@ -32727,40 +32763,65 @@ 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);
-        continue;
+    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 none older within staleness, fall back to closest within tolerance
+      let fallback = buffer[0];
+      let fallbackDelta = Math.abs(fallback.timeSec - imageTimestampSec);
+      for (let i = 1; 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;
+      }
 
-      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);
+      // 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/{index-B53S6byS.js → index-CB4uR2F1.js}

@@ -1,4 +1,4 @@
-import { af as EditorView, ag as EditorSelection, $ as LRLanguage, Y as styleTags, Z as tags, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a0 as LanguageSupport, a2 as LRParser, a5 as syntaxTree, ah as html, ai as parseMixed, a1 as ExternalTokenizer } from './index-btWll_X8.js';
+import { af as EditorView, ag as EditorSelection, $ as LRLanguage, Y as styleTags, Z as tags, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a0 as LanguageSupport, a2 as LRParser, a5 as syntaxTree, ah as html, ai as parseMixed, a1 as ExternalTokenizer } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-CJ0ouF_X.js → index-CGtvEVA-.js}

@@ -1,4 +1,4 @@
-import { U as indentNodeProp, V as continuedIndent, X as foldNodeProp, Y as styleTags, Z as tags, $ as LRLanguage, a0 as LanguageSupport, a1 as ExternalTokenizer, a2 as LRParser, a3 as ifNotIn, a4 as completeFromList, a5 as syntaxTree } from './index-btWll_X8.js';
+import { U as indentNodeProp, V as continuedIndent, X as foldNodeProp, Y as styleTags, Z as tags, $ as LRLanguage, a0 as LanguageSupport, a1 as ExternalTokenizer, a2 as LRParser, a3 as ifNotIn, a4 as completeFromList, a5 as syntaxTree } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-PCEpYVVD.js → index-COTQtzxD.js}

@@ -1,4 +1,4 @@
-import { Y as styleTags, Z as tags, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, ae as defineCSSCompletionSource, a0 as LanguageSupport, a2 as LRParser, a1 as ExternalTokenizer } from './index-btWll_X8.js';
+import { Y as styleTags, Z as tags, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, ae as defineCSSCompletionSource, a0 as LanguageSupport, a2 as LRParser, a1 as ExternalTokenizer } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-fCMuSW-j.js → index-CmOcsIv5.js}

@@ -1,4 +1,4 @@
-import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, a5 as syntaxTree, a3 as ifNotIn, $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, ac as IterMode, a4 as completeFromList, ad as NodeWeakMap, ab as snippetCompletion } from './index-btWll_X8.js';
+import { a1 as ExternalTokenizer, a9 as ContextTracker, Y as styleTags, Z as tags, a2 as LRParser, a5 as syntaxTree, a3 as ifNotIn, $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, ac as IterMode, a4 as completeFromList, ad as NodeWeakMap, ab as snippetCompletion } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-Dy0KZSfH.js → index-CxsQZNfY.js}

@@ -1,4 +1,4 @@
-import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, ai as parseMixed } from './index-btWll_X8.js';
+import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport, ai as parseMixed } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-B86puxfC.js → index-DON7EBVW.js}

@@ -1,4 +1,4 @@
-import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, ah as html, a0 as LanguageSupport, ai as parseMixed } from './index-btWll_X8.js';
+import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, ah as html, a0 as LanguageSupport, ai as parseMixed } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-B1iI7RoB.js → index-LwsDo_d_.js}

@@ -1,4 +1,4 @@
-import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, X as foldNodeProp, aj as bracketMatchingHandle, a0 as LanguageSupport, af as EditorView, a5 as syntaxTree, ag as EditorSelection } from './index-btWll_X8.js';
+import { a9 as ContextTracker, a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, X as foldNodeProp, aj as bracketMatchingHandle, a0 as LanguageSupport, af as EditorView, a5 as syntaxTree, ag as EditorSelection } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-BxkJ2Rkh.js → index-YH3sx_bg.js}

@@ -1,4 +1,4 @@
-import { Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-btWll_X8.js';
+import { Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, a6 as flatIndent, a7 as delimitedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-B7nNBAQK.js → index-eLC_hXQ5.js}

@@ -1,4 +1,4 @@
-import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-btWll_X8.js';
+import { a1 as ExternalTokenizer, Y as styleTags, Z as tags, a2 as LRParser, $ as LRLanguage, U as indentNodeProp, V as continuedIndent, X as foldNodeProp, a8 as foldInside, a0 as LanguageSupport } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/{index-DvvaZvBj.js → index-nm8ZXnLm.js}

@@ -1,4 +1,4 @@
-import { Y as styleTags, Z as tags, ak as javascriptLanguage, $ as LRLanguage, a0 as LanguageSupport, a2 as LRParser, ah as html, ai as parseMixed, a1 as ExternalTokenizer } from './index-btWll_X8.js';
+import { Y as styleTags, Z as tags, ak as javascriptLanguage, $ as LRLanguage, a0 as LanguageSupport, a2 as LRParser, ah as html, ai as parseMixed, a1 as ExternalTokenizer } from './index-BVhURReD.js';
 import './depth-CgtekUia.js';
 import './protobuf-B55JS-Px.js';
 import 'protobufjs/minimal';

package/dist/index.js

@@ -1,4 +1,4 @@
-export { av as FrameStore, ao as ImagePanel, an as PanelLayout, ap as PointCloudPanel, al as VisualizerConnection, am as VisualizerContext, aq as constructKeyForTopicRenderMetrics, as as globalDecodeMetricsManager, ar as globalInputEventMetricsManager, at as globalRenderMetricsManager, au as globalThroughputMetricsManager } from './index-btWll_X8.js';
+export { av as FrameStore, ao as ImagePanel, an as PanelLayout, ap as PointCloudPanel, al as VisualizerConnection, am as VisualizerContext, aq as constructKeyForTopicRenderMetrics, as as globalDecodeMetricsManager, ar as globalInputEventMetricsManager, at as globalRenderMetricsManager, au as globalThroughputMetricsManager } from './index-BVhURReD.js';
 export { S as getDistanceFromDepthDataForOffset } from './depth-CgtekUia.js';
 import './comlink-DHMAu6X7.js';
 import './utils-Hzt3wxhG.js';

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

@@ -39,13 +39,12 @@ export declare class MessageHandler implements IMessageHandler {
     #private;
     private lastImage?;
     private annotationsMap;
-    private ghostAnnotationsMap;
-    private syncToleranceMs;
-    private ghostTimeoutMs;
+    private lastSelectedByTopic;
     availableAnnotationTopics: Set<string>;
     /**
-     *
-     * @param config - subset of ImageMode settings required for message handling
+     * Create a MessageHandler
+     * @param {Immutable<Config>} config - subset of ImageMode settings required for message handling
+     * @param {HUDItemManager} hud - HUD manager used to display informational messages on the canvas
      */
     constructor(config: Immutable<Config>, hud: HUDItemManager);
     dispose(): void;

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

@@ -1 +1 @@
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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')) || 1.1; // how long we can hold the last older annotation if no better match is available. 1s corresponds to 1 FPS + 100ms window for jitter.
+const hysteresisSec = Number(localStorage.getItem('viewer-hysteresisSec')) || 0.1; // 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,
@@ -68,14 +73,15 @@ 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;
     /**
-     *
-     * @param config - subset of ImageMode settings required for message handling
+     * Create a MessageHandler
+     * @param {Immutable<Config>} config - subset of ImageMode settings required for message handling
+     * @param {HUDItemManager} hud - HUD manager used to display informational messages on the canvas
      */
     constructor(config, hud) {
         this.#config = config;
@@ -84,6 +90,16 @@ 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 +128,55 @@ 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);
+            // Keep unlimited buffer length, but drop entries older than 20 seconds based on arrival time
+            const retentionSec = 20;
+            const nowSec = performance.now() / 1000;
+            const cutoffArrival = nowSec - retentionSec;
+            const trimmed = buffer.filter((e) => e.arrivalSec >= cutoffArrival);
+            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 +221,9 @@ export class MessageHandler {
         this.#lastReceivedMessages = {
             annotationsByTopic: new Map(),
         };
+        this.annotationsMap.clear();
+        this.lastSelectedByTopic.clear();
+        this.lastImage = undefined;
         this.#oldRenderState = undefined;
         this.#emitState();
     }
@@ -239,34 +262,65 @@ 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;
+                }
+            }
+            // If none older within staleness, fall back to closest within tolerance
+            let fallback = buffer[0];
+            let fallbackDelta = Math.abs(fallback.timeSec - imageTimestampSec);
+            for (let i = 1; 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;
             }
-            // 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);
+            // 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

@@ -1 +1 @@
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package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@luxonis/visualizer-protobuf",
-  "version": "2.64.0",
+  "version": "2.66.0",
   "type": "module",
   "description": "RobotHub Visualizer Library",
   "author": "Luxonis Corp",