@luxonis/visualizer-protobuf 2.66.5 → 2.66.7

package/dist/{protobuf-B55JS-Px.js → protobuf-BFCtaU7c.js}

@@ -1578,13 +1578,13 @@ const Timestamp = {
           if (tag !== 8) {
             break;
           }
-          message.sec = longToNumber$6(reader.int64());
+          message.sec = longToNumber$7(reader.int64());
           continue;
         case 2:
           if (tag !== 16) {
             break;
           }
-          message.nsec = longToNumber$6(reader.int64());
+          message.nsec = longToNumber$7(reader.int64());
           continue;
       }
       if ((tag & 7) === 4 || tag === 0) {
@@ -1596,8 +1596,8 @@ const Timestamp = {
   },
   fromJSON(object) {
     return {
-      sec: isSet$6(object.sec) ? globalThis.Number(object.sec) : 0,
-      nsec: isSet$6(object.nsec) ? globalThis.Number(object.nsec) : 0
+      sec: isSet$7(object.sec) ? globalThis.Number(object.sec) : 0,
+      nsec: isSet$7(object.nsec) ? globalThis.Number(object.nsec) : 0
     };
   },
   toJSON(message) {
@@ -1695,11 +1695,11 @@ const CameraSettings = {
   },
   fromJSON(object) {
     return {
-      exposureTimeUs: isSet$6(object.exposureTimeUs) ? globalThis.Number(object.exposureTimeUs) : 0,
-      sensitivityIso: isSet$6(object.sensitivityIso) ? globalThis.Number(object.sensitivityIso) : 0,
-      lensPosition: isSet$6(object.lensPosition) ? globalThis.Number(object.lensPosition) : 0,
-      wbColorTemp: isSet$6(object.wbColorTemp) ? globalThis.Number(object.wbColorTemp) : 0,
-      lensPositionRaw: isSet$6(object.lensPositionRaw) ? globalThis.Number(object.lensPositionRaw) : 0
+      exposureTimeUs: isSet$7(object.exposureTimeUs) ? globalThis.Number(object.exposureTimeUs) : 0,
+      sensitivityIso: isSet$7(object.sensitivityIso) ? globalThis.Number(object.sensitivityIso) : 0,
+      lensPosition: isSet$7(object.lensPosition) ? globalThis.Number(object.lensPosition) : 0,
+      wbColorTemp: isSet$7(object.wbColorTemp) ? globalThis.Number(object.wbColorTemp) : 0,
+      lensPositionRaw: isSet$7(object.lensPositionRaw) ? globalThis.Number(object.lensPositionRaw) : 0
     };
   },
   toJSON(message) {
@@ -1839,14 +1839,14 @@ const ImgTransformation = {
   },
   fromJSON(object) {
     return {
-      transformationMatrix: isSet$6(object.transformationMatrix) ? TransformationMatrix.fromJSON(object.transformationMatrix) : undefined,
-      sourceIntrinsicMatrix: isSet$6(object.sourceIntrinsicMatrix) ? TransformationMatrix.fromJSON(object.sourceIntrinsicMatrix) : undefined,
-      distortionModel: isSet$6(object.distortionModel) ? cameraModelFromJSON(object.distortionModel) : 0,
-      distortionCoefficients: isSet$6(object.distortionCoefficients) ? FloatArray.fromJSON(object.distortionCoefficients) : undefined,
-      srcWidth: isSet$6(object.srcWidth) ? globalThis.Number(object.srcWidth) : 0,
-      srcHeight: isSet$6(object.srcHeight) ? globalThis.Number(object.srcHeight) : 0,
-      width: isSet$6(object.width) ? globalThis.Number(object.width) : 0,
-      height: isSet$6(object.height) ? globalThis.Number(object.height) : 0
+      transformationMatrix: isSet$7(object.transformationMatrix) ? TransformationMatrix.fromJSON(object.transformationMatrix) : undefined,
+      sourceIntrinsicMatrix: isSet$7(object.sourceIntrinsicMatrix) ? TransformationMatrix.fromJSON(object.sourceIntrinsicMatrix) : undefined,
+      distortionModel: isSet$7(object.distortionModel) ? cameraModelFromJSON(object.distortionModel) : 0,
+      distortionCoefficients: isSet$7(object.distortionCoefficients) ? FloatArray.fromJSON(object.distortionCoefficients) : undefined,
+      srcWidth: isSet$7(object.srcWidth) ? globalThis.Number(object.srcWidth) : 0,
+      srcHeight: isSet$7(object.srcHeight) ? globalThis.Number(object.srcHeight) : 0,
+      width: isSet$7(object.width) ? globalThis.Number(object.width) : 0,
+      height: isSet$7(object.height) ? globalThis.Number(object.height) : 0
     };
   },
   toJSON(message) {
@@ -2075,10 +2075,10 @@ const Color = {
   },
   fromJSON(object) {
     return {
-      r: isSet$6(object.r) ? globalThis.Number(object.r) : 0,
-      g: isSet$6(object.g) ? globalThis.Number(object.g) : 0,
-      b: isSet$6(object.b) ? globalThis.Number(object.b) : 0,
-      a: isSet$6(object.a) ? globalThis.Number(object.a) : 0
+      r: isSet$7(object.r) ? globalThis.Number(object.r) : 0,
+      g: isSet$7(object.g) ? globalThis.Number(object.g) : 0,
+      b: isSet$7(object.b) ? globalThis.Number(object.b) : 0,
+      a: isSet$7(object.a) ? globalThis.Number(object.a) : 0
     };
   },
   toJSON(message) {
@@ -2154,8 +2154,8 @@ const Point2f = {
   },
   fromJSON(object) {
     return {
-      x: isSet$6(object.x) ? globalThis.Number(object.x) : 0,
-      y: isSet$6(object.y) ? globalThis.Number(object.y) : 0
+      x: isSet$7(object.x) ? globalThis.Number(object.x) : 0,
+      y: isSet$7(object.y) ? globalThis.Number(object.y) : 0
     };
   },
   toJSON(message) {
@@ -2178,7 +2178,7 @@ const Point2f = {
     return message;
   }
 };
-function longToNumber$6(long) {
+function longToNumber$7(long) {
   if (long.gt(globalThis.Number.MAX_SAFE_INTEGER)) {
     throw new globalThis.Error("Value is larger than Number.MAX_SAFE_INTEGER");
   }
@@ -2191,7 +2191,7 @@ if (_m0.util.Long !== Long) {
   _m0.util.Long = Long;
   _m0.configure();
 }
-function isSet$6(value) {
+function isSet$7(value) {
   return value !== null && value !== undefined;
 }
 
@@ -2201,7 +2201,7 @@ function isSet$6(value) {
 //   protoc               v3.21.12
 // source: EncodedFrame.proto
 
-const protobufPackage$5 = "dai.proto.encoded_frame";
+const protobufPackage$6 = "dai.proto.encoded_frame";
 let Profile = /*#__PURE__*/function (Profile) {
   Profile[Profile["JPEG"] = 0] = "JPEG";
   Profile[Profile["AVC"] = 1] = "AVC";
@@ -2346,18 +2346,687 @@ const EncodedFrame = {
     if (message.tsDevice !== undefined) {
       Timestamp.encode(message.tsDevice, writer.uint32(114).fork()).ldelim();
     }
-    if (message.transformation !== undefined) {
-      ImgTransformation.encode(message.transformation, writer.uint32(122).fork()).ldelim();
+    if (message.transformation !== undefined) {
+      ImgTransformation.encode(message.transformation, writer.uint32(122).fork()).ldelim();
+    }
+    if (message.data.length !== 0) {
+      writer.uint32(130).bytes(message.data);
+    }
+    return writer;
+  },
+  decode(input, length) {
+    const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
+    let end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseEncodedFrame();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1:
+          if (tag !== 10) {
+            break;
+          }
+          message.cam = CameraSettings.decode(reader, reader.uint32());
+          continue;
+        case 2:
+          if (tag !== 16) {
+            break;
+          }
+          message.instanceNum = reader.uint32();
+          continue;
+        case 3:
+          if (tag !== 24) {
+            break;
+          }
+          message.width = reader.uint32();
+          continue;
+        case 4:
+          if (tag !== 32) {
+            break;
+          }
+          message.height = reader.uint32();
+          continue;
+        case 5:
+          if (tag !== 40) {
+            break;
+          }
+          message.quality = reader.uint32();
+          continue;
+        case 6:
+          if (tag !== 48) {
+            break;
+          }
+          message.bitrate = reader.uint32();
+          continue;
+        case 7:
+          if (tag !== 56) {
+            break;
+          }
+          message.profile = reader.int32();
+          continue;
+        case 8:
+          if (tag !== 64) {
+            break;
+          }
+          message.lossless = reader.bool();
+          continue;
+        case 9:
+          if (tag !== 72) {
+            break;
+          }
+          message.type = reader.int32();
+          continue;
+        case 10:
+          if (tag !== 80) {
+            break;
+          }
+          message.frameOffset = reader.uint32();
+          continue;
+        case 11:
+          if (tag !== 88) {
+            break;
+          }
+          message.frameSize = reader.uint32();
+          continue;
+        case 12:
+          if (tag !== 96) {
+            break;
+          }
+          message.sequenceNum = longToNumber$6(reader.int64());
+          continue;
+        case 13:
+          if (tag !== 106) {
+            break;
+          }
+          message.ts = Timestamp.decode(reader, reader.uint32());
+          continue;
+        case 14:
+          if (tag !== 114) {
+            break;
+          }
+          message.tsDevice = Timestamp.decode(reader, reader.uint32());
+          continue;
+        case 15:
+          if (tag !== 122) {
+            break;
+          }
+          message.transformation = ImgTransformation.decode(reader, reader.uint32());
+          continue;
+        case 16:
+          if (tag !== 130) {
+            break;
+          }
+          message.data = reader.bytes();
+          continue;
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skipType(tag & 7);
+    }
+    return message;
+  },
+  fromJSON(object) {
+    return {
+      cam: isSet$6(object.cam) ? CameraSettings.fromJSON(object.cam) : undefined,
+      instanceNum: isSet$6(object.instanceNum) ? globalThis.Number(object.instanceNum) : 0,
+      width: isSet$6(object.width) ? globalThis.Number(object.width) : 0,
+      height: isSet$6(object.height) ? globalThis.Number(object.height) : 0,
+      quality: isSet$6(object.quality) ? globalThis.Number(object.quality) : 0,
+      bitrate: isSet$6(object.bitrate) ? globalThis.Number(object.bitrate) : 0,
+      profile: isSet$6(object.profile) ? profileFromJSON(object.profile) : 0,
+      lossless: isSet$6(object.lossless) ? globalThis.Boolean(object.lossless) : false,
+      type: isSet$6(object.type) ? frameTypeFromJSON(object.type) : 0,
+      frameOffset: isSet$6(object.frameOffset) ? globalThis.Number(object.frameOffset) : 0,
+      frameSize: isSet$6(object.frameSize) ? globalThis.Number(object.frameSize) : 0,
+      sequenceNum: isSet$6(object.sequenceNum) ? globalThis.Number(object.sequenceNum) : 0,
+      ts: isSet$6(object.ts) ? Timestamp.fromJSON(object.ts) : undefined,
+      tsDevice: isSet$6(object.tsDevice) ? Timestamp.fromJSON(object.tsDevice) : undefined,
+      transformation: isSet$6(object.transformation) ? ImgTransformation.fromJSON(object.transformation) : undefined,
+      data: isSet$6(object.data) ? bytesFromBase64$2(object.data) : new Uint8Array(0)
+    };
+  },
+  toJSON(message) {
+    const obj = {};
+    if (message.cam !== undefined) {
+      obj.cam = CameraSettings.toJSON(message.cam);
+    }
+    if (message.instanceNum !== 0) {
+      obj.instanceNum = Math.round(message.instanceNum);
+    }
+    if (message.width !== 0) {
+      obj.width = Math.round(message.width);
+    }
+    if (message.height !== 0) {
+      obj.height = Math.round(message.height);
+    }
+    if (message.quality !== 0) {
+      obj.quality = Math.round(message.quality);
+    }
+    if (message.bitrate !== 0) {
+      obj.bitrate = Math.round(message.bitrate);
+    }
+    if (message.profile !== 0) {
+      obj.profile = profileToJSON(message.profile);
+    }
+    if (message.lossless !== false) {
+      obj.lossless = message.lossless;
+    }
+    if (message.type !== 0) {
+      obj.type = frameTypeToJSON(message.type);
+    }
+    if (message.frameOffset !== 0) {
+      obj.frameOffset = Math.round(message.frameOffset);
+    }
+    if (message.frameSize !== 0) {
+      obj.frameSize = Math.round(message.frameSize);
+    }
+    if (message.sequenceNum !== 0) {
+      obj.sequenceNum = Math.round(message.sequenceNum);
+    }
+    if (message.ts !== undefined) {
+      obj.ts = Timestamp.toJSON(message.ts);
+    }
+    if (message.tsDevice !== undefined) {
+      obj.tsDevice = Timestamp.toJSON(message.tsDevice);
+    }
+    if (message.transformation !== undefined) {
+      obj.transformation = ImgTransformation.toJSON(message.transformation);
+    }
+    if (message.data.length !== 0) {
+      obj.data = base64FromBytes$2(message.data);
+    }
+    return obj;
+  },
+  create(base) {
+    return EncodedFrame.fromPartial(base ?? {});
+  },
+  fromPartial(object) {
+    const message = createBaseEncodedFrame();
+    message.cam = object.cam !== undefined && object.cam !== null ? CameraSettings.fromPartial(object.cam) : undefined;
+    message.instanceNum = object.instanceNum ?? 0;
+    message.width = object.width ?? 0;
+    message.height = object.height ?? 0;
+    message.quality = object.quality ?? 0;
+    message.bitrate = object.bitrate ?? 0;
+    message.profile = object.profile ?? 0;
+    message.lossless = object.lossless ?? false;
+    message.type = object.type ?? 0;
+    message.frameOffset = object.frameOffset ?? 0;
+    message.frameSize = object.frameSize ?? 0;
+    message.sequenceNum = object.sequenceNum ?? 0;
+    message.ts = object.ts !== undefined && object.ts !== null ? Timestamp.fromPartial(object.ts) : undefined;
+    message.tsDevice = object.tsDevice !== undefined && object.tsDevice !== null ? Timestamp.fromPartial(object.tsDevice) : undefined;
+    message.transformation = object.transformation !== undefined && object.transformation !== null ? ImgTransformation.fromPartial(object.transformation) : undefined;
+    message.data = object.data ?? new Uint8Array(0);
+    return message;
+  }
+};
+function bytesFromBase64$2(b64) {
+  if (globalThis.Buffer) {
+    return Uint8Array.from(globalThis.Buffer.from(b64, "base64"));
+  } else {
+    const bin = globalThis.atob(b64);
+    const arr = new Uint8Array(bin.length);
+    for (let i = 0; i < bin.length; ++i) {
+      arr[i] = bin.charCodeAt(i);
+    }
+    return arr;
+  }
+}
+function base64FromBytes$2(arr) {
+  if (globalThis.Buffer) {
+    return globalThis.Buffer.from(arr).toString("base64");
+  } else {
+    const bin = [];
+    arr.forEach(byte => {
+      bin.push(globalThis.String.fromCharCode(byte));
+    });
+    return globalThis.btoa(bin.join(""));
+  }
+}
+function longToNumber$6(long) {
+  if (long.gt(globalThis.Number.MAX_SAFE_INTEGER)) {
+    throw new globalThis.Error("Value is larger than Number.MAX_SAFE_INTEGER");
+  }
+  if (long.lt(globalThis.Number.MIN_SAFE_INTEGER)) {
+    throw new globalThis.Error("Value is smaller than Number.MIN_SAFE_INTEGER");
+  }
+  return long.toNumber();
+}
+if (_m0.util.Long !== Long) {
+  _m0.util.Long = Long;
+  _m0.configure();
+}
+function isSet$6(value) {
+  return value !== null && value !== undefined;
+}
+const protobufName$5 = "EncodedFrame";
+
+// Code generated by protoc-gen-ts_proto. DO NOT EDIT.
+// versions:
+//   protoc-gen-ts_proto  v1.181.1
+//   protoc               v3.21.12
+// source: IMUData.proto
+
+const protobufPackage$5 = "dai.proto.imu_data";
+let Accuracy = /*#__PURE__*/function (Accuracy) {
+  Accuracy[Accuracy["UNRELIABLE"] = 0] = "UNRELIABLE";
+  Accuracy[Accuracy["LOW"] = 1] = "LOW";
+  Accuracy[Accuracy["MEDIUM"] = 2] = "MEDIUM";
+  Accuracy[Accuracy["HIGH"] = 3] = "HIGH";
+  Accuracy[Accuracy["UNRECOGNIZED"] = -1] = "UNRECOGNIZED";
+  return Accuracy;
+}({});
+function accuracyFromJSON(object) {
+  switch (object) {
+    case 0:
+    case "UNRELIABLE":
+      return Accuracy.UNRELIABLE;
+    case 1:
+    case "LOW":
+      return Accuracy.LOW;
+    case 2:
+    case "MEDIUM":
+      return Accuracy.MEDIUM;
+    case 3:
+    case "HIGH":
+      return Accuracy.HIGH;
+    case -1:
+    case "UNRECOGNIZED":
+    default:
+      return Accuracy.UNRECOGNIZED;
+  }
+}
+function accuracyToJSON(object) {
+  switch (object) {
+    case Accuracy.UNRELIABLE:
+      return "UNRELIABLE";
+    case Accuracy.LOW:
+      return "LOW";
+    case Accuracy.MEDIUM:
+      return "MEDIUM";
+    case Accuracy.HIGH:
+      return "HIGH";
+    case Accuracy.UNRECOGNIZED:
+    default:
+      return "UNRECOGNIZED";
+  }
+}
+function createBaseIMUVec() {
+  return {
+    x: 0,
+    y: 0,
+    z: 0
+  };
+}
+const IMUVec = {
+  encode(message, writer = _m0.Writer.create()) {
+    if (message.x !== 0) {
+      writer.uint32(13).float(message.x);
+    }
+    if (message.y !== 0) {
+      writer.uint32(21).float(message.y);
+    }
+    if (message.z !== 0) {
+      writer.uint32(29).float(message.z);
+    }
+    return writer;
+  },
+  decode(input, length) {
+    const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
+    let end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseIMUVec();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1:
+          if (tag !== 13) {
+            break;
+          }
+          message.x = reader.float();
+          continue;
+        case 2:
+          if (tag !== 21) {
+            break;
+          }
+          message.y = reader.float();
+          continue;
+        case 3:
+          if (tag !== 29) {
+            break;
+          }
+          message.z = reader.float();
+          continue;
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skipType(tag & 7);
+    }
+    return message;
+  },
+  fromJSON(object) {
+    return {
+      x: isSet$5(object.x) ? globalThis.Number(object.x) : 0,
+      y: isSet$5(object.y) ? globalThis.Number(object.y) : 0,
+      z: isSet$5(object.z) ? globalThis.Number(object.z) : 0
+    };
+  },
+  toJSON(message) {
+    const obj = {};
+    if (message.x !== 0) {
+      obj.x = message.x;
+    }
+    if (message.y !== 0) {
+      obj.y = message.y;
+    }
+    if (message.z !== 0) {
+      obj.z = message.z;
+    }
+    return obj;
+  },
+  create(base) {
+    return IMUVec.fromPartial(base ?? {});
+  },
+  fromPartial(object) {
+    const message = createBaseIMUVec();
+    message.x = object.x ?? 0;
+    message.y = object.y ?? 0;
+    message.z = object.z ?? 0;
+    return message;
+  }
+};
+function createBaseIMUQuat() {
+  return {
+    x: 0,
+    y: 0,
+    z: 0,
+    w: 0
+  };
+}
+const IMUQuat = {
+  encode(message, writer = _m0.Writer.create()) {
+    if (message.x !== 0) {
+      writer.uint32(13).float(message.x);
+    }
+    if (message.y !== 0) {
+      writer.uint32(21).float(message.y);
+    }
+    if (message.z !== 0) {
+      writer.uint32(29).float(message.z);
+    }
+    if (message.w !== 0) {
+      writer.uint32(37).float(message.w);
+    }
+    return writer;
+  },
+  decode(input, length) {
+    const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
+    let end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseIMUQuat();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1:
+          if (tag !== 13) {
+            break;
+          }
+          message.x = reader.float();
+          continue;
+        case 2:
+          if (tag !== 21) {
+            break;
+          }
+          message.y = reader.float();
+          continue;
+        case 3:
+          if (tag !== 29) {
+            break;
+          }
+          message.z = reader.float();
+          continue;
+        case 4:
+          if (tag !== 37) {
+            break;
+          }
+          message.w = reader.float();
+          continue;
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skipType(tag & 7);
+    }
+    return message;
+  },
+  fromJSON(object) {
+    return {
+      x: isSet$5(object.x) ? globalThis.Number(object.x) : 0,
+      y: isSet$5(object.y) ? globalThis.Number(object.y) : 0,
+      z: isSet$5(object.z) ? globalThis.Number(object.z) : 0,
+      w: isSet$5(object.w) ? globalThis.Number(object.w) : 0
+    };
+  },
+  toJSON(message) {
+    const obj = {};
+    if (message.x !== 0) {
+      obj.x = message.x;
+    }
+    if (message.y !== 0) {
+      obj.y = message.y;
+    }
+    if (message.z !== 0) {
+      obj.z = message.z;
+    }
+    if (message.w !== 0) {
+      obj.w = message.w;
+    }
+    return obj;
+  },
+  create(base) {
+    return IMUQuat.fromPartial(base ?? {});
+  },
+  fromPartial(object) {
+    const message = createBaseIMUQuat();
+    message.x = object.x ?? 0;
+    message.y = object.y ?? 0;
+    message.z = object.z ?? 0;
+    message.w = object.w ?? 0;
+    return message;
+  }
+};
+function createBaseIMUReport() {
+  return {
+    sequence: 0,
+    accuracy: 0,
+    ts: undefined,
+    tsDevice: undefined
+  };
+}
+const IMUReport = {
+  encode(message, writer = _m0.Writer.create()) {
+    if (message.sequence !== 0) {
+      writer.uint32(8).int32(message.sequence);
+    }
+    if (message.accuracy !== 0) {
+      writer.uint32(16).int32(message.accuracy);
+    }
+    if (message.ts !== undefined) {
+      Timestamp.encode(message.ts, writer.uint32(26).fork()).ldelim();
+    }
+    if (message.tsDevice !== undefined) {
+      Timestamp.encode(message.tsDevice, writer.uint32(34).fork()).ldelim();
+    }
+    return writer;
+  },
+  decode(input, length) {
+    const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
+    let end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseIMUReport();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1:
+          if (tag !== 8) {
+            break;
+          }
+          message.sequence = reader.int32();
+          continue;
+        case 2:
+          if (tag !== 16) {
+            break;
+          }
+          message.accuracy = reader.int32();
+          continue;
+        case 3:
+          if (tag !== 26) {
+            break;
+          }
+          message.ts = Timestamp.decode(reader, reader.uint32());
+          continue;
+        case 4:
+          if (tag !== 34) {
+            break;
+          }
+          message.tsDevice = Timestamp.decode(reader, reader.uint32());
+          continue;
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skipType(tag & 7);
+    }
+    return message;
+  },
+  fromJSON(object) {
+    return {
+      sequence: isSet$5(object.sequence) ? globalThis.Number(object.sequence) : 0,
+      accuracy: isSet$5(object.accuracy) ? accuracyFromJSON(object.accuracy) : 0,
+      ts: isSet$5(object.ts) ? Timestamp.fromJSON(object.ts) : undefined,
+      tsDevice: isSet$5(object.tsDevice) ? Timestamp.fromJSON(object.tsDevice) : undefined
+    };
+  },
+  toJSON(message) {
+    const obj = {};
+    if (message.sequence !== 0) {
+      obj.sequence = Math.round(message.sequence);
+    }
+    if (message.accuracy !== 0) {
+      obj.accuracy = accuracyToJSON(message.accuracy);
+    }
+    if (message.ts !== undefined) {
+      obj.ts = Timestamp.toJSON(message.ts);
+    }
+    if (message.tsDevice !== undefined) {
+      obj.tsDevice = Timestamp.toJSON(message.tsDevice);
+    }
+    return obj;
+  },
+  create(base) {
+    return IMUReport.fromPartial(base ?? {});
+  },
+  fromPartial(object) {
+    const message = createBaseIMUReport();
+    message.sequence = object.sequence ?? 0;
+    message.accuracy = object.accuracy ?? 0;
+    message.ts = object.ts !== undefined && object.ts !== null ? Timestamp.fromPartial(object.ts) : undefined;
+    message.tsDevice = object.tsDevice !== undefined && object.tsDevice !== null ? Timestamp.fromPartial(object.tsDevice) : undefined;
+    return message;
+  }
+};
+function createBaseIMUReportVec() {
+  return {
+    report: undefined,
+    vec: undefined
+  };
+}
+const IMUReportVec = {
+  encode(message, writer = _m0.Writer.create()) {
+    if (message.report !== undefined) {
+      IMUReport.encode(message.report, writer.uint32(10).fork()).ldelim();
+    }
+    if (message.vec !== undefined) {
+      IMUVec.encode(message.vec, writer.uint32(18).fork()).ldelim();
+    }
+    return writer;
+  },
+  decode(input, length) {
+    const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
+    let end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseIMUReportVec();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1:
+          if (tag !== 10) {
+            break;
+          }
+          message.report = IMUReport.decode(reader, reader.uint32());
+          continue;
+        case 2:
+          if (tag !== 18) {
+            break;
+          }
+          message.vec = IMUVec.decode(reader, reader.uint32());
+          continue;
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skipType(tag & 7);
+    }
+    return message;
+  },
+  fromJSON(object) {
+    return {
+      report: isSet$5(object.report) ? IMUReport.fromJSON(object.report) : undefined,
+      vec: isSet$5(object.vec) ? IMUVec.fromJSON(object.vec) : undefined
+    };
+  },
+  toJSON(message) {
+    const obj = {};
+    if (message.report !== undefined) {
+      obj.report = IMUReport.toJSON(message.report);
+    }
+    if (message.vec !== undefined) {
+      obj.vec = IMUVec.toJSON(message.vec);
+    }
+    return obj;
+  },
+  create(base) {
+    return IMUReportVec.fromPartial(base ?? {});
+  },
+  fromPartial(object) {
+    const message = createBaseIMUReportVec();
+    message.report = object.report !== undefined && object.report !== null ? IMUReport.fromPartial(object.report) : undefined;
+    message.vec = object.vec !== undefined && object.vec !== null ? IMUVec.fromPartial(object.vec) : undefined;
+    return message;
+  }
+};
+function createBaseIMUReportQuatWAcc() {
+  return {
+    report: undefined,
+    quat: undefined,
+    rotationVectorAccuracy: 0
+  };
+}
+const IMUReportQuatWAcc = {
+  encode(message, writer = _m0.Writer.create()) {
+    if (message.report !== undefined) {
+      IMUReport.encode(message.report, writer.uint32(10).fork()).ldelim();
+    }
+    if (message.quat !== undefined) {
+      IMUQuat.encode(message.quat, writer.uint32(18).fork()).ldelim();
     }
-    if (message.data.length !== 0) {
-      writer.uint32(130).bytes(message.data);
+    if (message.rotationVectorAccuracy !== 0) {
+      writer.uint32(29).float(message.rotationVectorAccuracy);
     }
     return writer;
   },
   decode(input, length) {
     const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
     let end = length === undefined ? reader.len : reader.pos + length;
-    const message = createBaseEncodedFrame();
+    const message = createBaseIMUReportQuatWAcc();
     while (reader.pos < end) {
       const tag = reader.uint32();
       switch (tag >>> 3) {
@@ -2365,98 +3034,213 @@ const EncodedFrame = {
           if (tag !== 10) {
             break;
           }
-          message.cam = CameraSettings.decode(reader, reader.uint32());
+          message.report = IMUReport.decode(reader, reader.uint32());
           continue;
         case 2:
-          if (tag !== 16) {
+          if (tag !== 18) {
             break;
           }
-          message.instanceNum = reader.uint32();
+          message.quat = IMUQuat.decode(reader, reader.uint32());
           continue;
         case 3:
-          if (tag !== 24) {
-            break;
-          }
-          message.width = reader.uint32();
-          continue;
-        case 4:
-          if (tag !== 32) {
-            break;
-          }
-          message.height = reader.uint32();
-          continue;
-        case 5:
-          if (tag !== 40) {
-            break;
-          }
-          message.quality = reader.uint32();
-          continue;
-        case 6:
-          if (tag !== 48) {
+          if (tag !== 29) {
             break;
           }
-          message.bitrate = reader.uint32();
+          message.rotationVectorAccuracy = reader.float();
           continue;
-        case 7:
-          if (tag !== 56) {
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skipType(tag & 7);
+    }
+    return message;
+  },
+  fromJSON(object) {
+    return {
+      report: isSet$5(object.report) ? IMUReport.fromJSON(object.report) : undefined,
+      quat: isSet$5(object.quat) ? IMUQuat.fromJSON(object.quat) : undefined,
+      rotationVectorAccuracy: isSet$5(object.rotationVectorAccuracy) ? globalThis.Number(object.rotationVectorAccuracy) : 0
+    };
+  },
+  toJSON(message) {
+    const obj = {};
+    if (message.report !== undefined) {
+      obj.report = IMUReport.toJSON(message.report);
+    }
+    if (message.quat !== undefined) {
+      obj.quat = IMUQuat.toJSON(message.quat);
+    }
+    if (message.rotationVectorAccuracy !== 0) {
+      obj.rotationVectorAccuracy = message.rotationVectorAccuracy;
+    }
+    return obj;
+  },
+  create(base) {
+    return IMUReportQuatWAcc.fromPartial(base ?? {});
+  },
+  fromPartial(object) {
+    const message = createBaseIMUReportQuatWAcc();
+    message.report = object.report !== undefined && object.report !== null ? IMUReport.fromPartial(object.report) : undefined;
+    message.quat = object.quat !== undefined && object.quat !== null ? IMUQuat.fromPartial(object.quat) : undefined;
+    message.rotationVectorAccuracy = object.rotationVectorAccuracy ?? 0;
+    return message;
+  }
+};
+function createBaseIMUPacket() {
+  return {
+    accelerometer: undefined,
+    gyroscope: undefined,
+    magnetometer: undefined,
+    rotationVector: undefined
+  };
+}
+const IMUPacket = {
+  encode(message, writer = _m0.Writer.create()) {
+    if (message.accelerometer !== undefined) {
+      IMUReportVec.encode(message.accelerometer, writer.uint32(10).fork()).ldelim();
+    }
+    if (message.gyroscope !== undefined) {
+      IMUReportVec.encode(message.gyroscope, writer.uint32(18).fork()).ldelim();
+    }
+    if (message.magnetometer !== undefined) {
+      IMUReportVec.encode(message.magnetometer, writer.uint32(26).fork()).ldelim();
+    }
+    if (message.rotationVector !== undefined) {
+      IMUReportQuatWAcc.encode(message.rotationVector, writer.uint32(34).fork()).ldelim();
+    }
+    return writer;
+  },
+  decode(input, length) {
+    const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
+    let end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseIMUPacket();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1:
+          if (tag !== 10) {
             break;
           }
-          message.profile = reader.int32();
+          message.accelerometer = IMUReportVec.decode(reader, reader.uint32());
           continue;
-        case 8:
-          if (tag !== 64) {
+        case 2:
+          if (tag !== 18) {
             break;
           }
-          message.lossless = reader.bool();
+          message.gyroscope = IMUReportVec.decode(reader, reader.uint32());
           continue;
-        case 9:
-          if (tag !== 72) {
+        case 3:
+          if (tag !== 26) {
             break;
           }
-          message.type = reader.int32();
+          message.magnetometer = IMUReportVec.decode(reader, reader.uint32());
           continue;
-        case 10:
-          if (tag !== 80) {
+        case 4:
+          if (tag !== 34) {
             break;
           }
-          message.frameOffset = reader.uint32();
+          message.rotationVector = IMUReportQuatWAcc.decode(reader, reader.uint32());
           continue;
-        case 11:
-          if (tag !== 88) {
+      }
+      if ((tag & 7) === 4 || tag === 0) {
+        break;
+      }
+      reader.skipType(tag & 7);
+    }
+    return message;
+  },
+  fromJSON(object) {
+    return {
+      accelerometer: isSet$5(object.accelerometer) ? IMUReportVec.fromJSON(object.accelerometer) : undefined,
+      gyroscope: isSet$5(object.gyroscope) ? IMUReportVec.fromJSON(object.gyroscope) : undefined,
+      magnetometer: isSet$5(object.magnetometer) ? IMUReportVec.fromJSON(object.magnetometer) : undefined,
+      rotationVector: isSet$5(object.rotationVector) ? IMUReportQuatWAcc.fromJSON(object.rotationVector) : undefined
+    };
+  },
+  toJSON(message) {
+    const obj = {};
+    if (message.accelerometer !== undefined) {
+      obj.accelerometer = IMUReportVec.toJSON(message.accelerometer);
+    }
+    if (message.gyroscope !== undefined) {
+      obj.gyroscope = IMUReportVec.toJSON(message.gyroscope);
+    }
+    if (message.magnetometer !== undefined) {
+      obj.magnetometer = IMUReportVec.toJSON(message.magnetometer);
+    }
+    if (message.rotationVector !== undefined) {
+      obj.rotationVector = IMUReportQuatWAcc.toJSON(message.rotationVector);
+    }
+    return obj;
+  },
+  create(base) {
+    return IMUPacket.fromPartial(base ?? {});
+  },
+  fromPartial(object) {
+    const message = createBaseIMUPacket();
+    message.accelerometer = object.accelerometer !== undefined && object.accelerometer !== null ? IMUReportVec.fromPartial(object.accelerometer) : undefined;
+    message.gyroscope = object.gyroscope !== undefined && object.gyroscope !== null ? IMUReportVec.fromPartial(object.gyroscope) : undefined;
+    message.magnetometer = object.magnetometer !== undefined && object.magnetometer !== null ? IMUReportVec.fromPartial(object.magnetometer) : undefined;
+    message.rotationVector = object.rotationVector !== undefined && object.rotationVector !== null ? IMUReportQuatWAcc.fromPartial(object.rotationVector) : undefined;
+    return message;
+  }
+};
+function createBaseIMUData() {
+  return {
+    packets: [],
+    sequenceNum: 0,
+    ts: undefined,
+    tsDevice: undefined
+  };
+}
+const IMUData = {
+  encode(message, writer = _m0.Writer.create()) {
+    for (const v of message.packets) {
+      IMUPacket.encode(v, writer.uint32(10).fork()).ldelim();
+    }
+    if (message.sequenceNum !== 0) {
+      writer.uint32(16).int64(message.sequenceNum);
+    }
+    if (message.ts !== undefined) {
+      Timestamp.encode(message.ts, writer.uint32(26).fork()).ldelim();
+    }
+    if (message.tsDevice !== undefined) {
+      Timestamp.encode(message.tsDevice, writer.uint32(34).fork()).ldelim();
+    }
+    return writer;
+  },
+  decode(input, length) {
+    const reader = input instanceof _m0.Reader ? input : _m0.Reader.create(input);
+    let end = length === undefined ? reader.len : reader.pos + length;
+    const message = createBaseIMUData();
+    while (reader.pos < end) {
+      const tag = reader.uint32();
+      switch (tag >>> 3) {
+        case 1:
+          if (tag !== 10) {
             break;
           }
-          message.frameSize = reader.uint32();
+          message.packets.push(IMUPacket.decode(reader, reader.uint32()));
           continue;
-        case 12:
-          if (tag !== 96) {
+        case 2:
+          if (tag !== 16) {
             break;
           }
           message.sequenceNum = longToNumber$5(reader.int64());
           continue;
-        case 13:
-          if (tag !== 106) {
+        case 3:
+          if (tag !== 26) {
             break;
           }
           message.ts = Timestamp.decode(reader, reader.uint32());
           continue;
-        case 14:
-          if (tag !== 114) {
+        case 4:
+          if (tag !== 34) {
             break;
           }
           message.tsDevice = Timestamp.decode(reader, reader.uint32());
           continue;
-        case 15:
-          if (tag !== 122) {
-            break;
-          }
-          message.transformation = ImgTransformation.decode(reader, reader.uint32());
-          continue;
-        case 16:
-          if (tag !== 130) {
-            break;
-          }
-          message.data = reader.bytes();
-          continue;
       }
       if ((tag & 7) === 4 || tag === 0) {
         break;
@@ -2467,58 +3251,16 @@ const EncodedFrame = {
   },
   fromJSON(object) {
     return {
-      cam: isSet$5(object.cam) ? CameraSettings.fromJSON(object.cam) : undefined,
-      instanceNum: isSet$5(object.instanceNum) ? globalThis.Number(object.instanceNum) : 0,
-      width: isSet$5(object.width) ? globalThis.Number(object.width) : 0,
-      height: isSet$5(object.height) ? globalThis.Number(object.height) : 0,
-      quality: isSet$5(object.quality) ? globalThis.Number(object.quality) : 0,
-      bitrate: isSet$5(object.bitrate) ? globalThis.Number(object.bitrate) : 0,
-      profile: isSet$5(object.profile) ? profileFromJSON(object.profile) : 0,
-      lossless: isSet$5(object.lossless) ? globalThis.Boolean(object.lossless) : false,
-      type: isSet$5(object.type) ? frameTypeFromJSON(object.type) : 0,
-      frameOffset: isSet$5(object.frameOffset) ? globalThis.Number(object.frameOffset) : 0,
-      frameSize: isSet$5(object.frameSize) ? globalThis.Number(object.frameSize) : 0,
+      packets: globalThis.Array.isArray(object?.packets) ? object.packets.map(e => IMUPacket.fromJSON(e)) : [],
       sequenceNum: isSet$5(object.sequenceNum) ? globalThis.Number(object.sequenceNum) : 0,
       ts: isSet$5(object.ts) ? Timestamp.fromJSON(object.ts) : undefined,
-      tsDevice: isSet$5(object.tsDevice) ? Timestamp.fromJSON(object.tsDevice) : undefined,
-      transformation: isSet$5(object.transformation) ? ImgTransformation.fromJSON(object.transformation) : undefined,
-      data: isSet$5(object.data) ? bytesFromBase64$2(object.data) : new Uint8Array(0)
+      tsDevice: isSet$5(object.tsDevice) ? Timestamp.fromJSON(object.tsDevice) : undefined
     };
   },
   toJSON(message) {
     const obj = {};
-    if (message.cam !== undefined) {
-      obj.cam = CameraSettings.toJSON(message.cam);
-    }
-    if (message.instanceNum !== 0) {
-      obj.instanceNum = Math.round(message.instanceNum);
-    }
-    if (message.width !== 0) {
-      obj.width = Math.round(message.width);
-    }
-    if (message.height !== 0) {
-      obj.height = Math.round(message.height);
-    }
-    if (message.quality !== 0) {
-      obj.quality = Math.round(message.quality);
-    }
-    if (message.bitrate !== 0) {
-      obj.bitrate = Math.round(message.bitrate);
-    }
-    if (message.profile !== 0) {
-      obj.profile = profileToJSON(message.profile);
-    }
-    if (message.lossless !== false) {
-      obj.lossless = message.lossless;
-    }
-    if (message.type !== 0) {
-      obj.type = frameTypeToJSON(message.type);
-    }
-    if (message.frameOffset !== 0) {
-      obj.frameOffset = Math.round(message.frameOffset);
-    }
-    if (message.frameSize !== 0) {
-      obj.frameSize = Math.round(message.frameSize);
+    if (message.packets?.length) {
+      obj.packets = message.packets.map(e => IMUPacket.toJSON(e));
     }
     if (message.sequenceNum !== 0) {
       obj.sequenceNum = Math.round(message.sequenceNum);
@@ -2529,61 +3271,20 @@ const EncodedFrame = {
     if (message.tsDevice !== undefined) {
       obj.tsDevice = Timestamp.toJSON(message.tsDevice);
     }
-    if (message.transformation !== undefined) {
-      obj.transformation = ImgTransformation.toJSON(message.transformation);
-    }
-    if (message.data.length !== 0) {
-      obj.data = base64FromBytes$2(message.data);
-    }
     return obj;
   },
   create(base) {
-    return EncodedFrame.fromPartial(base ?? {});
+    return IMUData.fromPartial(base ?? {});
   },
   fromPartial(object) {
-    const message = createBaseEncodedFrame();
-    message.cam = object.cam !== undefined && object.cam !== null ? CameraSettings.fromPartial(object.cam) : undefined;
-    message.instanceNum = object.instanceNum ?? 0;
-    message.width = object.width ?? 0;
-    message.height = object.height ?? 0;
-    message.quality = object.quality ?? 0;
-    message.bitrate = object.bitrate ?? 0;
-    message.profile = object.profile ?? 0;
-    message.lossless = object.lossless ?? false;
-    message.type = object.type ?? 0;
-    message.frameOffset = object.frameOffset ?? 0;
-    message.frameSize = object.frameSize ?? 0;
+    const message = createBaseIMUData();
+    message.packets = object.packets?.map(e => IMUPacket.fromPartial(e)) || [];
     message.sequenceNum = object.sequenceNum ?? 0;
     message.ts = object.ts !== undefined && object.ts !== null ? Timestamp.fromPartial(object.ts) : undefined;
     message.tsDevice = object.tsDevice !== undefined && object.tsDevice !== null ? Timestamp.fromPartial(object.tsDevice) : undefined;
-    message.transformation = object.transformation !== undefined && object.transformation !== null ? ImgTransformation.fromPartial(object.transformation) : undefined;
-    message.data = object.data ?? new Uint8Array(0);
     return message;
   }
 };
-function bytesFromBase64$2(b64) {
-  if (globalThis.Buffer) {
-    return Uint8Array.from(globalThis.Buffer.from(b64, "base64"));
-  } else {
-    const bin = globalThis.atob(b64);
-    const arr = new Uint8Array(bin.length);
-    for (let i = 0; i < bin.length; ++i) {
-      arr[i] = bin.charCodeAt(i);
-    }
-    return arr;
-  }
-}
-function base64FromBytes$2(arr) {
-  if (globalThis.Buffer) {
-    return globalThis.Buffer.from(arr).toString("base64");
-  } else {
-    const bin = [];
-    arr.forEach(byte => {
-      bin.push(globalThis.String.fromCharCode(byte));
-    });
-    return globalThis.btoa(bin.join(""));
-  }
-}
 function longToNumber$5(long) {
   if (long.gt(globalThis.Number.MAX_SAFE_INTEGER)) {
     throw new globalThis.Error("Value is larger than Number.MAX_SAFE_INTEGER");
@@ -2600,7 +3301,6 @@ if (_m0.util.Long !== Long) {
 function isSet$5(value) {
   return value !== null && value !== undefined;
 }
-const protobufName$5 = "EncodedFrame";
 
 // Code generated by protoc-gen-ts_proto. DO NOT EDIT.
 // versions:
@@ -5080,7 +5780,7 @@ const protobufName = "SpatialImgDetections";
 
 const protobufs = {
   encodedFrame: {
-    name: `${protobufPackage$5}.${protobufName$5}`,
+    name: `${protobufPackage$6}.${protobufName$5}`,
     decoder: EncodedFrame,
     kind: "image"
   },
@@ -5104,6 +5804,11 @@ const protobufs = {
     decoder: SpatialImgDetections,
     kind: "annotations"
   },
+  imu: {
+    name: `${protobufPackage$5}.IMUData`,
+    decoder: IMUData,
+    kind: "imu"
+  },
   pointCloud: {
     name: `${protobufPackage$1}.${protobufName$1}`,
     decoder: PointCloudData,
@@ -5119,6 +5824,8 @@ function protobufSchemaNameToType(name) {
     case "imageDetectionsCustom":
     case "imageDetectionsSpatial":
       return "annotations";
+    case "imu":
+      return "imu";
     case "pointCloud":
       return "pointCloud";
     default: