@luxonis/visualizer-protobuf 2.66.7 → 2.66.8
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/{index-CR9ZZr7_.js → index-BCNQjEez.js} +2 -2
- package/dist/{index-DKEcQxvw.js → index-BLaE8vrb.js} +1 -1
- package/dist/{index-Brf_c1SY.js → index-BRSoQ8_Y.js} +1 -1
- package/dist/{index-CE5UvJEK.js → index-BYTVvykH.js} +1 -1
- package/dist/{index-Bh1K2fdQ.js → index-BkruEbO5.js} +1 -1
- package/dist/{index-DsI_LKa6.js → index-BqkFobGp.js} +1 -1
- package/dist/{index-Cuz3eK79.js → index-BxuDWAWd.js} +1 -1
- package/dist/{index-Bdbez_kQ.js → index-C05AhKNz.js} +1 -1
- package/dist/{index-CwoKA3TI.js → index-CPFO1Uvg.js} +1 -1
- package/dist/{index-BbCJPKqP.js → index-CUuB2DeV.js} +20 -20
- package/dist/{index-BokmU-9s.js → index-CfLr9xrN.js} +1 -1
- package/dist/{index-IhyjAROl.js → index-D1xmWApp.js} +101 -31
- package/dist/{index-CkJYVb2C.js → index-DE5zu3LB.js} +1 -1
- package/dist/{index-BDiEoQwc.js → index-DIY7ddlQ.js} +1 -1
- package/dist/{index-fChvFOT8.js → index-DgYMoCLL.js} +1 -1
- package/dist/{index-HHNfaqCT.js → index-DxPt_hhw.js} +1 -1
- package/dist/{index-43TgprEu.js → index-DyM7JMrj.js} +1 -1
- package/dist/{index-BRqRNqQp.js → index-OV08AjM2.js} +1 -1
- package/dist/{index-BNjJ_8FK.js → index-UAnOeVfw.js} +1 -1
- package/dist/index.js +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.d.ts +1 -0
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js +95 -28
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/annotations/ImageAnnotations.d.ts.map +1 -1
- package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/annotations/ImageAnnotations.js.map +1 -1
- package/package.json +1 -1
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import { ImagePanel } from './index-
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import { ImagePanel } from './index-D1xmWApp.js';
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import 'react';
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import './isArrayLikeObject-Bytw9p-q.js';
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import './index-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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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-
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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-CUuB2DeV.js';
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return new LanguageSupport(StreamLanguage.define(parser));
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}
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function sql$1(dialectName) {
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return import('./index-
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return import('./index-BkruEbO5.js').then(m => m.sql({ dialect: m[dialectName] }));
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}
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/**
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An array of language descriptions for known language packages.
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name: "C",
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extensions: ["c", "h", "ino"],
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load() {
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return import('./index-DyM7JMrj.js').then(m => m.cpp());
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}
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/*@__PURE__*/LanguageDescription.of({
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alias: ["cpp"],
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extensions: ["cpp", "c++", "cc", "cxx", "hpp", "h++", "hh", "hxx"],
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load() {
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return import('./index-DyM7JMrj.js').then(m => m.cpp());
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}
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/*@__PURE__*/LanguageDescription.of({
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name: "Go",
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load() {
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return import('./index-
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return import('./index-BYTVvykH.js').then(m => m.go());
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}
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/*@__PURE__*/LanguageDescription.of({
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name: "Java",
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return import('./index-BxuDWAWd.js').then(m => m.java());
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extensions: ["php", "php3", "php4", "php5", "php7", "phtml"],
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return import('./index-BLaE8vrb.js').then(m => m.php());
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extensions: ["BUILD", "bzl", "py", "pyw"],
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name: "Rust",
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return import('./index-DE5zu3LB.js').then(m => m.sass({ indented: true }));
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name: "SCSS",
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extensions: ["wat", "wast"],
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alias: ["rss", "wsdl", "xsd"],
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// Legacy modes ported from CodeMirror 5
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name: "Angular Template",
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87849
87849
|
})
|
|
87850
87850
|
];
|
|
@@ -166553,7 +166553,7 @@ function createRenderDelaySampler() {
|
|
|
166553
166553
|
};
|
|
166554
166554
|
}
|
|
166555
166555
|
|
|
166556
|
-
const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-
|
|
166556
|
+
const ImagePanelComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-BCNQjEez.js'));
|
|
166557
166557
|
const ImagePanelBody = ({
|
|
166558
166558
|
topic,
|
|
166559
166559
|
frameRenderedEvent,
|
|
@@ -166648,7 +166648,7 @@ const DEFAULT_CAMERA_STATE = {
|
|
|
166648
166648
|
// License, v2.0. If a copy of the MPL was not distributed with this
|
|
166649
166649
|
// file, You can obtain one at http://mozilla.org/MPL/2.0/
|
|
166650
166650
|
|
|
166651
|
-
const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-
|
|
166651
|
+
const ThreeDeeRenderComponent = /*#__PURE__*/React__default.lazy(async () => await import('./index-D1xmWApp.js'));
|
|
166652
166652
|
const PointCloudPanelBody = ({
|
|
166653
166653
|
topic,
|
|
166654
166654
|
frameRenderedEvent,
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
|
@@ -3,7 +3,7 @@ import React__default, { useReducer, useRef, useCallback, useLayoutEffect, Compo
|
|
|
3
3
|
import ReactDOM__default from 'react-dom';
|
|
4
4
|
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-B7VOdK0y.js';
|
|
5
5
|
import { createStore, useStore } from 'zustand';
|
|
6
|
-
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-
|
|
6
|
+
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-CUuB2DeV.js';
|
|
7
7
|
import { MosaicDragType, MosaicContext, MosaicWindowContext, getOtherBranch, getNodeAtPath } from 'react-mosaic-component';
|
|
8
8
|
import { g as getDefaultExportFromCjs, c as commonjsGlobal, d as getAugmentedNamespace } from './protobuf-BFCtaU7c.js';
|
|
9
9
|
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';
|
|
@@ -32506,6 +32506,9 @@ function getAnnotationAtPath(message, path) {
|
|
|
32506
32506
|
const syncToleranceSec = 0.15; // maximum acceptable time difference for selecting a “closest” annotation.
|
|
32507
32507
|
const 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.
|
|
32508
32508
|
const hysteresisSec = 0.1; // how much “stickiness” we allow before switching candidates.
|
|
32509
|
+
// New: how long (seconds) of recent images we keep around to allow picking an older image that better matches annotations
|
|
32510
|
+
const imageRetentionSec = 5; // keep small window of recent images
|
|
32511
|
+
const maxImageBuffer = 120; // cap number of stored images (e.g. 24 FPS * 5s)
|
|
32509
32512
|
|
|
32510
32513
|
// Have constants for the HUD items so that they don't need to be recreated and GCed every message
|
|
32511
32514
|
const WAITING_FOR_BOTH_HUD_ITEM = {
|
|
@@ -32563,6 +32566,8 @@ class MessageHandler {
|
|
|
32563
32566
|
|
|
32564
32567
|
#onAnnotationReceivedEvent;
|
|
32565
32568
|
#annotationsFpsRefreshInterval = null;
|
|
32569
|
+
// New: keep a buffer of recent images for annotation-prioritized synchronization
|
|
32570
|
+
imagesBuffer = [];
|
|
32566
32571
|
// Store a small buffer of recent annotations per topic with computed seconds timestamps
|
|
32567
32572
|
annotationsMap = new Map();
|
|
32568
32573
|
// Track last selected annotation per topic to add hysteresis and reduce flicker
|
|
@@ -32611,6 +32616,35 @@ class MessageHandler {
|
|
|
32611
32616
|
...message,
|
|
32612
32617
|
message: image
|
|
32613
32618
|
};
|
|
32619
|
+
|
|
32620
|
+
// Compute timestamp seconds for buffer storage (prefer image stamp, then receiveTime, then wall clock)
|
|
32621
|
+
const stamp = getTimestampFromImage(image);
|
|
32622
|
+
let timeSec;
|
|
32623
|
+
const stampSec = stamp?.sec;
|
|
32624
|
+
const stampNsec = stamp?.nsec;
|
|
32625
|
+
if (typeof stampSec === "number" && typeof stampNsec === "number") {
|
|
32626
|
+
timeSec = stampSec + stampNsec / 1e9;
|
|
32627
|
+
} else {
|
|
32628
|
+
const recv = message.receiveTime;
|
|
32629
|
+
const recvSec = recv?.sec;
|
|
32630
|
+
const recvNsec = recv?.nsec;
|
|
32631
|
+
if (typeof recvSec === "number" && typeof recvNsec === "number") {
|
|
32632
|
+
timeSec = recvSec + recvNsec / 1e9;
|
|
32633
|
+
} else {
|
|
32634
|
+
timeSec = performance.now() / 1000;
|
|
32635
|
+
}
|
|
32636
|
+
}
|
|
32637
|
+
this.imagesBuffer.push({
|
|
32638
|
+
image: this.lastImage,
|
|
32639
|
+
timeSec
|
|
32640
|
+
});
|
|
32641
|
+
// Trim by time and length
|
|
32642
|
+
const nowSec = performance.now() / 1000;
|
|
32643
|
+
const cutoff = nowSec - imageRetentionSec;
|
|
32644
|
+
this.imagesBuffer = this.imagesBuffer.filter(e => e.timeSec >= cutoff);
|
|
32645
|
+
if (this.imagesBuffer.length > maxImageBuffer) {
|
|
32646
|
+
this.imagesBuffer.splice(0, this.imagesBuffer.length - maxImageBuffer);
|
|
32647
|
+
}
|
|
32614
32648
|
this.#emitState();
|
|
32615
32649
|
}
|
|
32616
32650
|
handleCameraInfo = message => {
|
|
@@ -32705,6 +32739,7 @@ class MessageHandler {
|
|
|
32705
32739
|
this.annotationsMap.clear();
|
|
32706
32740
|
this.lastSelectedByTopic.clear();
|
|
32707
32741
|
this.lastImage = undefined;
|
|
32742
|
+
this.imagesBuffer = [];
|
|
32708
32743
|
this.#oldRenderState = undefined;
|
|
32709
32744
|
this.#emitState();
|
|
32710
32745
|
}
|
|
@@ -32733,30 +32768,45 @@ class MessageHandler {
|
|
|
32733
32768
|
this.#hud.displayIfTrue(waitingForImage && calibrationRequired, WAITING_FOR_IMAGE_NOTICE_HUD_ITEM);
|
|
32734
32769
|
}
|
|
32735
32770
|
#getRenderState() {
|
|
32736
|
-
if (
|
|
32771
|
+
if (this.imagesBuffer.length === 0) {
|
|
32737
32772
|
return {
|
|
32738
32773
|
annotationsByTopic: new Map(),
|
|
32739
32774
|
presentAnnotationTopics: undefined,
|
|
32740
32775
|
missingAnnotationTopics: undefined
|
|
32741
32776
|
};
|
|
32742
32777
|
}
|
|
32743
|
-
|
|
32744
|
-
|
|
32745
|
-
|
|
32746
|
-
|
|
32747
|
-
|
|
32748
|
-
|
|
32749
|
-
|
|
32750
|
-
|
|
32751
|
-
|
|
32752
|
-
|
|
32753
|
-
|
|
32754
|
-
|
|
32755
|
-
|
|
32756
|
-
|
|
32757
|
-
|
|
32758
|
-
|
|
32759
|
-
|
|
32778
|
+
|
|
32779
|
+
// Visible topics
|
|
32780
|
+
const visibleTopics = new Set();
|
|
32781
|
+
if (this.#config.annotations) {
|
|
32782
|
+
for (const [topic, settings] of Object.entries(this.#config.annotations)) {
|
|
32783
|
+
if (settings?.visible) visibleTopics.add(topic);
|
|
32784
|
+
}
|
|
32785
|
+
}
|
|
32786
|
+
|
|
32787
|
+
// Required topics (available & visible)
|
|
32788
|
+
const requiredTopics = [];
|
|
32789
|
+
for (const t of visibleTopics) {
|
|
32790
|
+
if (this.availableAnnotationTopics.size === 0 || this.availableAnnotationTopics.has(t)) {
|
|
32791
|
+
requiredTopics.push(t);
|
|
32792
|
+
}
|
|
32793
|
+
}
|
|
32794
|
+
|
|
32795
|
+
// New policy: always start from newest image (do not freeze on older frame).
|
|
32796
|
+
const newestImageEntry = this.imagesBuffer[this.imagesBuffer.length - 1];
|
|
32797
|
+
const imageTimestampSec = newestImageEntry.timeSec;
|
|
32798
|
+
const selectedAnnotations = new Map();
|
|
32799
|
+
const presentTopics = [];
|
|
32800
|
+
const missingTopics = [];
|
|
32801
|
+
for (const topic of visibleTopics) {
|
|
32802
|
+
const buffer = this.annotationsMap.get(topic);
|
|
32803
|
+
if (!buffer || buffer.length === 0) {
|
|
32804
|
+
// No annotations yet for this topic
|
|
32805
|
+
if (requiredTopics.includes(topic)) ;
|
|
32806
|
+
continue;
|
|
32807
|
+
}
|
|
32808
|
+
|
|
32809
|
+
// Find preferred (newest <= image time within staleness)
|
|
32760
32810
|
let preferred;
|
|
32761
32811
|
for (let i = buffer.length - 1; i >= 0; i--) {
|
|
32762
32812
|
const entry = buffer[i];
|
|
@@ -32767,28 +32817,28 @@ class MessageHandler {
|
|
|
32767
32817
|
}
|
|
32768
32818
|
}
|
|
32769
32819
|
|
|
32770
|
-
//
|
|
32771
|
-
let
|
|
32772
|
-
let
|
|
32820
|
+
// Fallback: closest within tolerance window
|
|
32821
|
+
let closest = buffer[0];
|
|
32822
|
+
let closestDelta = Math.abs(closest.timeSec - imageTimestampSec);
|
|
32773
32823
|
for (let i = 1; i < buffer.length; i++) {
|
|
32774
32824
|
const entry = buffer[i];
|
|
32775
32825
|
const delta = Math.abs(entry.timeSec - imageTimestampSec);
|
|
32776
|
-
if (delta <
|
|
32777
|
-
|
|
32778
|
-
|
|
32826
|
+
if (delta < closestDelta) {
|
|
32827
|
+
closest = entry;
|
|
32828
|
+
closestDelta = delta;
|
|
32779
32829
|
}
|
|
32780
32830
|
}
|
|
32781
|
-
let candidate = preferred ??
|
|
32831
|
+
let candidate = preferred ?? closest;
|
|
32782
32832
|
if (!candidate) continue;
|
|
32783
32833
|
const candidateDelta = Math.abs(candidate.timeSec - imageTimestampSec);
|
|
32784
32834
|
const candidateAge = imageTimestampSec - candidate.timeSec;
|
|
32785
|
-
const acceptable = preferred
|
|
32835
|
+
const acceptable = preferred && candidateAge >= 0 && candidateAge <= maxStalenessSec || !preferred && candidateDelta <= syncToleranceSec;
|
|
32786
32836
|
const notFutureFar = candidate.timeSec <= imageTimestampSec + syncToleranceSec;
|
|
32787
32837
|
if (!acceptable || !notFutureFar) {
|
|
32838
|
+
// can't use for now
|
|
32788
32839
|
continue;
|
|
32789
32840
|
}
|
|
32790
|
-
|
|
32791
|
-
// Hysteresis: if previous selection is very close and still valid, keep it to avoid flicker
|
|
32841
|
+
// Hysteresis: keep previous if close
|
|
32792
32842
|
const prevTime = this.lastSelectedByTopic.get(topic);
|
|
32793
32843
|
if (prevTime != undefined) {
|
|
32794
32844
|
const prevEntry = buffer.find(e => Math.abs(e.timeSec - prevTime) < 1e-6);
|
|
@@ -32801,10 +32851,30 @@ class MessageHandler {
|
|
|
32801
32851
|
}
|
|
32802
32852
|
}
|
|
32803
32853
|
}
|
|
32804
|
-
|
|
32854
|
+
selectedAnnotations.set(topic, candidate.annotation);
|
|
32855
|
+
presentTopics.push(topic);
|
|
32805
32856
|
this.lastSelectedByTopic.set(topic, candidate.timeSec);
|
|
32806
32857
|
}
|
|
32807
|
-
|
|
32858
|
+
|
|
32859
|
+
// Determine missing topics (we have at least some annotation messages for them but could not align one this frame)
|
|
32860
|
+
for (const t of requiredTopics) {
|
|
32861
|
+
if (!presentTopics.includes(t)) {
|
|
32862
|
+
const buf = this.annotationsMap.get(t);
|
|
32863
|
+
if (buf && buf.length > 0) {
|
|
32864
|
+
// We received data but could not synchronize within tolerance -> mark missing
|
|
32865
|
+
missingTopics.push(t);
|
|
32866
|
+
}
|
|
32867
|
+
}
|
|
32868
|
+
}
|
|
32869
|
+
|
|
32870
|
+
// Always return newest image; do not block rendering if annotations incomplete
|
|
32871
|
+
return {
|
|
32872
|
+
image: newestImageEntry.image,
|
|
32873
|
+
annotationsByTopic: selectedAnnotations,
|
|
32874
|
+
// Provide mismatch info only if we have both present and missing; otherwise undefined to reduce HUD noise
|
|
32875
|
+
presentAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? presentTopics.sort() : undefined,
|
|
32876
|
+
missingAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? missingTopics.sort() : undefined
|
|
32877
|
+
};
|
|
32808
32878
|
}
|
|
32809
32879
|
}
|
|
32810
32880
|
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
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-
|
|
1
|
+
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-CUuB2DeV.js';
|
|
2
2
|
import './depth-B7VOdK0y.js';
|
|
3
3
|
import './protobuf-BFCtaU7c.js';
|
|
4
4
|
import 'protobufjs/minimal';
|
package/dist/index.js
CHANGED
|
@@ -1,4 +1,4 @@
|
|
|
1
|
-
export { av as FrameStore, ao as ImagePanel, an as PanelLayout, ap as PointCloudPanel, al as VisualizerConnection, am as VisualizerContext, aq as constructKeyForTopicRenderMetrics, aw as getIMUEventEmitter, as as globalDecodeMetricsManager, ar as globalInputEventMetricsManager, at as globalRenderMetricsManager, au as globalThroughputMetricsManager } from './index-
|
|
1
|
+
export { av as FrameStore, ao as ImagePanel, an as PanelLayout, ap as PointCloudPanel, al as VisualizerConnection, am as VisualizerContext, aq as constructKeyForTopicRenderMetrics, aw as getIMUEventEmitter, as as globalDecodeMetricsManager, ar as globalInputEventMetricsManager, at as globalRenderMetricsManager, au as globalThroughputMetricsManager } from './index-CUuB2DeV.js';
|
|
2
2
|
export { S as getDistanceFromDepthDataForOffset } from './depth-B7VOdK0y.js';
|
|
3
3
|
import './comlink-DHMAu6X7.js';
|
|
4
4
|
import './utils-Hzt3wxhG.js';
|
|
@@ -38,6 +38,7 @@ export declare const WAITING_FOR_SYNC_EMPTY_HUD_ITEM: HUDItem;
|
|
|
38
38
|
export declare class MessageHandler implements IMessageHandler {
|
|
39
39
|
#private;
|
|
40
40
|
private lastImage?;
|
|
41
|
+
private imagesBuffer;
|
|
41
42
|
private annotationsMap;
|
|
42
43
|
private lastSelectedByTopic;
|
|
43
44
|
availableAnnotationTopics: Set<string>;
|
|
@@ -1 +1 @@
|
|
|
1
|
-
{"version":3,"file":"MessageHandler.d.ts","sourceRoot":"","sources":["../../../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.ts"],"names":[],"mappings":"AAIA,OAAO,EACL,eAAe,EACf,gBAAgB,IAAI,wBAAwB,EAC5C,QAAQ,EACT,MAAM,mBAAmB,CAAC;AAC3B,OAAO,EAAE,SAAS,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAC3D,OAAO,EACL,OAAO,EACP,cAAc,EACf,MAAM,4DAA4D,CAAC;AACpE,OAAO,EAAE,eAAe,EAAE,MAAM,uDAAuD,CAAC;AACxF,OAAO,EACL,QAAQ,EAET,MAAM,2EAA2E,CAAC;AAQnF,OAAO,EACL,WAAW,IAAI,cAAc,EAC7B,gBAAgB,IAAI,mBAAmB,EACxC,MAAM,sCAAsC,CAAC;AAG9C,OAAO,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAC;AAUjD,OAAO,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AAC3D,OAAO,EAAE,UAAU,EAAE,eAAe,IAAI,kBAAkB,EAAE,KAAK,IAAI,QAAQ,EAAE,MAAM,WAAW,CAAC;
|
|
1
|
+
{"version":3,"file":"MessageHandler.d.ts","sourceRoot":"","sources":["../../../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.ts"],"names":[],"mappings":"AAIA,OAAO,EACL,eAAe,EACf,gBAAgB,IAAI,wBAAwB,EAC5C,QAAQ,EACT,MAAM,mBAAmB,CAAC;AAC3B,OAAO,EAAE,SAAS,EAAE,YAAY,EAAE,MAAM,kBAAkB,CAAC;AAC3D,OAAO,EACL,OAAO,EACP,cAAc,EACf,MAAM,4DAA4D,CAAC;AACpE,OAAO,EAAE,eAAe,EAAE,MAAM,uDAAuD,CAAC;AACxF,OAAO,EACL,QAAQ,EAET,MAAM,2EAA2E,CAAC;AAQnF,OAAO,EACL,WAAW,IAAI,cAAc,EAC7B,gBAAgB,IAAI,mBAAmB,EACxC,MAAM,sCAAsC,CAAC;AAG9C,OAAO,EAAE,UAAU,EAAE,MAAM,qBAAqB,CAAC;AAUjD,OAAO,EAAE,mBAAmB,EAAE,MAAM,sBAAsB,CAAC;AAC3D,OAAO,EAAE,UAAU,EAAE,eAAe,IAAI,kBAAkB,EAAE,KAAK,IAAI,QAAQ,EAAE,MAAM,WAAW,CAAC;AAUjG,KAAK,qBAAqB,GAAG;IAC3B,eAAe,EAAE,YAAY,CAAC,mBAAmB,GAAG,cAAc,GAAG,wBAAwB,CAAC,CAAC;IAC/F,WAAW,EAAE,UAAU,EAAE,CAAC;CAC3B,CAAC;AAEF,KAAK,MAAM,GAAG,IAAI,CAChB,eAAe,EACf,aAAa,GAAG,aAAa,GAAG,kBAAkB,GAAG,YAAY,CAClE,CAAC;AAEF,KAAK,mBAAmB,GAAG;IACzB,KAAK,CAAC,EAAE,YAAY,CAAC,QAAQ,CAAC,CAAC;IAC/B,UAAU,CAAC,EAAE,UAAU,CAAC;IACxB,kBAAkB,EAAE,GAAG,CAAC,MAAM,EAAE,qBAAqB,CAAC,CAAC;IAEvD,+DAA+D;IAC/D,uBAAuB,CAAC,EAAE,MAAM,EAAE,CAAC;IACnC,6EAA6E;IAC7E,uBAAuB,CAAC,EAAE,MAAM,EAAE,CAAC;CACpC,CAAC;AAEF,MAAM,MAAM,kBAAkB,GAAG,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC,CAAC;AAExE,KAAK,mBAAmB,GAAG,CACzB,QAAQ,EAAE,kBAAkB,EAC5B,QAAQ,EAAE,kBAAkB,GAAG,SAAS,KACrC,IAAI,CAAC;AAGV,eAAO,MAAM,yBAAyB,EAAE,OAKvC,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,iCAAiC,EAAE,OAK/C,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,gCAAgC,EAAE,OAK9C,CAAC;AAEF,eAAO,MAAM,+BAA+B,EAAE,OAK7C,CAAC;AAEF;;;;;GAKG;AACH,qBAAa,cAAe,YAAW,eAAe;;IA0BpD,OAAO,CAAC,SAAS,CAAC,CAAyB;IAE3C,OAAO,CAAC,YAAY,CAAiE;IAErF,OAAO,CAAC,cAAc,CAOR;IAEd,OAAO,CAAC,mBAAmB,CAAkC;IAC7D,yBAAyB,EAAE,GAAG,CAAC,MAAM,CAAC,CAAC;IAEvC;;;;OAIG;gBACgB,MAAM,EAAE,SAAS,CAAC,MAAM,CAAC,EAAE,GAAG,EAAE,cAAc;IAS1D,OAAO,IAAI,IAAI;IAMf,WAAW,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI;IAIhD,iCAAiC,CAAC,OAAO,EAAE,MAAM,IAAI,GAAG,IAAI;IAI5D,cAAc,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI;IAInD,iBAAiB,iBAAkB,mBAAmB,CAAC,QAAQ,CAAC,KAAG,IAAI,CAE5E;IAEK,wBAAwB,iBACf,mBAAmB,CAAC,kBAAkB,CAAC,KACpD,IAAI,CAEL;IAEK,cAAc,iBAAkB,mBAAmB,CAAC,QAAQ,CAAC,KAAG,IAAI,CAEzE;IAEK,qBAAqB,iBAAkB,mBAAmB,CAAC,eAAe,CAAC,KAAG,IAAI,CAEvF;IAEF,SAAS,CAAC,WAAW,CAAC,OAAO,EAAE,mBAAmB,CAAC,QAAQ,CAAC,EAAE,KAAK,EAAE,QAAQ,GAAG,IAAI;IAoC7E,gBAAgB,YAAa,mBAAmB,CAAC,UAAU,CAAC,KAAG,IAAI,CAGxE;IAEK,iBAAiB,iBACR,YAAY,CAAC,wBAAwB,GAAG,cAAc,GAAG,mBAAmB,CAAC,UAmD3F;IAEK,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,eAAe,CAAC,GAAG,IAAI;IA+CtD,4BAA4B,CAAC,UAAU,EAAE,MAAM,EAAE,GAAG,IAAI;IAKxD,KAAK,IAAI,IAAI;IAqBpB,0CAA0C;IACnC,0BAA0B,IAAI,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC;CAwJ5E;AAED,MAAM,WAAW,eAAe;IAC9B,iBAAiB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,QAAQ,CAAC,KAAK,IAAI,CAAC;IACzE,wBAAwB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,kBAAkB,CAAC,KAAK,IAAI,CAAC;IAC1F,cAAc,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,QAAQ,CAAC,KAAK,IAAI,CAAC;IACtE,qBAAqB,EAAE,CAAC,YAAY,EAAE,mBAAmB,CAAC,eAAe,CAAC,KAAK,IAAI,CAAC;IACpF,gBAAgB,EAAE,CAAC,OAAO,EAAE,mBAAmB,CAAC,UAAU,CAAC,KAAK,IAAI,CAAC;IACrE,iBAAiB,EAAE,CACjB,YAAY,EAAE,YAAY,CAAC,wBAAwB,GAAG,cAAc,GAAG,mBAAmB,CAAC,KACxF,IAAI,CAAC;IAEV;;;OAGG;IACH,WAAW,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI,CAAC;IAEjD,wDAAwD;IACxD,cAAc,CAAC,QAAQ,EAAE,mBAAmB,GAAG,IAAI,CAAC;IAEpD,SAAS,CAAC,SAAS,EAAE,SAAS,CAAC,OAAO,CAAC,eAAe,CAAC,CAAC,GAAG,IAAI,CAAC;IAEhE,KAAK,IAAI,IAAI,CAAC;IAEd,0BAA0B,IAAI,QAAQ,CAAC,OAAO,CAAC,mBAAmB,CAAC,CAAC,CAAC;IAErE;;;OAGG;IACH,4BAA4B,CAAC,oBAAoB,EAAE,MAAM,EAAE,GAAG,IAAI,CAAC;IAEnE,iCAAiC,CAAC,OAAO,EAAE,MAAM,IAAI,GAAG,IAAI,CAAC;IAE7D,OAAO,CAAC,IAAI,IAAI,CAAC;CAClB"}
|
package/dist/packages/studio-base/src/panels/ThreeDeeRender/renderables/ImageMode/MessageHandler.js
CHANGED
|
@@ -10,6 +10,9 @@ import { t3D } from "../../t3D";
|
|
|
10
10
|
const syncToleranceSec = 0.15; // maximum acceptable time difference for selecting a “closest” annotation.
|
|
11
11
|
const 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.
|
|
12
12
|
const hysteresisSec = 0.1; // how much “stickiness” we allow before switching candidates.
|
|
13
|
+
// New: how long (seconds) of recent images we keep around to allow picking an older image that better matches annotations
|
|
14
|
+
const imageRetentionSec = 5; // keep small window of recent images
|
|
15
|
+
const maxImageBuffer = 120; // cap number of stored images (e.g. 24 FPS * 5s)
|
|
13
16
|
// Have constants for the HUD items so that they don't need to be recreated and GCed every message
|
|
14
17
|
export const WAITING_FOR_BOTH_HUD_ITEM = {
|
|
15
18
|
id: WAITING_FOR_BOTH_MESSAGES_HUD_ID,
|
|
@@ -72,6 +75,8 @@ export class MessageHandler {
|
|
|
72
75
|
#onAnnotationReceivedEvent;
|
|
73
76
|
#annotationsFpsRefreshInterval = null;
|
|
74
77
|
lastImage;
|
|
78
|
+
// New: keep a buffer of recent images for annotation-prioritized synchronization
|
|
79
|
+
imagesBuffer = [];
|
|
75
80
|
// Store a small buffer of recent annotations per topic with computed seconds timestamps
|
|
76
81
|
annotationsMap = new Map();
|
|
77
82
|
// Track last selected annotation per topic to add hysteresis and reduce flicker
|
|
@@ -121,6 +126,33 @@ export class MessageHandler {
|
|
|
121
126
|
...message,
|
|
122
127
|
message: image,
|
|
123
128
|
};
|
|
129
|
+
// Compute timestamp seconds for buffer storage (prefer image stamp, then receiveTime, then wall clock)
|
|
130
|
+
const stamp = getTimestampFromImage(image);
|
|
131
|
+
let timeSec;
|
|
132
|
+
const stampSec = stamp?.sec;
|
|
133
|
+
const stampNsec = stamp?.nsec;
|
|
134
|
+
if (typeof stampSec === "number" && typeof stampNsec === "number") {
|
|
135
|
+
timeSec = stampSec + stampNsec / 1e9;
|
|
136
|
+
}
|
|
137
|
+
else {
|
|
138
|
+
const recv = message.receiveTime;
|
|
139
|
+
const recvSec = recv?.sec;
|
|
140
|
+
const recvNsec = recv?.nsec;
|
|
141
|
+
if (typeof recvSec === "number" && typeof recvNsec === "number") {
|
|
142
|
+
timeSec = recvSec + recvNsec / 1e9;
|
|
143
|
+
}
|
|
144
|
+
else {
|
|
145
|
+
timeSec = performance.now() / 1000;
|
|
146
|
+
}
|
|
147
|
+
}
|
|
148
|
+
this.imagesBuffer.push({ image: this.lastImage, timeSec });
|
|
149
|
+
// Trim by time and length
|
|
150
|
+
const nowSec = performance.now() / 1000;
|
|
151
|
+
const cutoff = nowSec - imageRetentionSec;
|
|
152
|
+
this.imagesBuffer = this.imagesBuffer.filter((e) => e.timeSec >= cutoff);
|
|
153
|
+
if (this.imagesBuffer.length > maxImageBuffer) {
|
|
154
|
+
this.imagesBuffer.splice(0, this.imagesBuffer.length - maxImageBuffer);
|
|
155
|
+
}
|
|
124
156
|
this.#emitState();
|
|
125
157
|
}
|
|
126
158
|
handleCameraInfo = (message) => {
|
|
@@ -213,6 +245,7 @@ export class MessageHandler {
|
|
|
213
245
|
this.annotationsMap.clear();
|
|
214
246
|
this.lastSelectedByTopic.clear();
|
|
215
247
|
this.lastImage = undefined;
|
|
248
|
+
this.imagesBuffer = [];
|
|
216
249
|
this.#oldRenderState = undefined;
|
|
217
250
|
this.#emitState();
|
|
218
251
|
}
|
|
@@ -240,30 +273,45 @@ export class MessageHandler {
|
|
|
240
273
|
this.#hud.displayIfTrue(waitingForImage && calibrationRequired, WAITING_FOR_IMAGE_NOTICE_HUD_ITEM);
|
|
241
274
|
}
|
|
242
275
|
#getRenderState() {
|
|
243
|
-
if (
|
|
276
|
+
if (this.imagesBuffer.length === 0) {
|
|
244
277
|
return {
|
|
245
278
|
annotationsByTopic: new Map(),
|
|
246
279
|
presentAnnotationTopics: undefined,
|
|
247
280
|
missingAnnotationTopics: undefined,
|
|
248
281
|
};
|
|
249
282
|
}
|
|
250
|
-
|
|
251
|
-
|
|
252
|
-
|
|
253
|
-
|
|
254
|
-
|
|
255
|
-
|
|
256
|
-
|
|
257
|
-
|
|
258
|
-
|
|
259
|
-
|
|
283
|
+
// Visible topics
|
|
284
|
+
const visibleTopics = new Set();
|
|
285
|
+
if (this.#config.annotations) {
|
|
286
|
+
for (const [topic, settings] of Object.entries(this.#config.annotations)) {
|
|
287
|
+
if (settings?.visible)
|
|
288
|
+
visibleTopics.add(topic);
|
|
289
|
+
}
|
|
290
|
+
}
|
|
291
|
+
// Required topics (available & visible)
|
|
292
|
+
const requiredTopics = [];
|
|
293
|
+
for (const t of visibleTopics) {
|
|
294
|
+
if (this.availableAnnotationTopics.size === 0 || this.availableAnnotationTopics.has(t)) {
|
|
295
|
+
requiredTopics.push(t);
|
|
260
296
|
}
|
|
261
|
-
|
|
262
|
-
|
|
263
|
-
|
|
264
|
-
|
|
297
|
+
}
|
|
298
|
+
// New policy: always start from newest image (do not freeze on older frame).
|
|
299
|
+
const newestImageEntry = this.imagesBuffer[this.imagesBuffer.length - 1];
|
|
300
|
+
const imageTimestampSec = newestImageEntry.timeSec;
|
|
301
|
+
const selectedAnnotations = new Map();
|
|
302
|
+
const presentTopics = [];
|
|
303
|
+
const missingTopics = [];
|
|
304
|
+
for (const topic of visibleTopics) {
|
|
305
|
+
const buffer = this.annotationsMap.get(topic);
|
|
306
|
+
if (!buffer || buffer.length === 0) {
|
|
307
|
+
// No annotations yet for this topic
|
|
308
|
+
if (requiredTopics.includes(topic)) {
|
|
309
|
+
// waiting, but we still render image
|
|
310
|
+
// do not classify as missing because no candidate arrived yet
|
|
311
|
+
}
|
|
265
312
|
continue;
|
|
266
|
-
|
|
313
|
+
}
|
|
314
|
+
// Find preferred (newest <= image time within staleness)
|
|
267
315
|
let preferred;
|
|
268
316
|
for (let i = buffer.length - 1; i >= 0; i--) {
|
|
269
317
|
const entry = buffer[i];
|
|
@@ -273,29 +321,30 @@ export class MessageHandler {
|
|
|
273
321
|
break;
|
|
274
322
|
}
|
|
275
323
|
}
|
|
276
|
-
//
|
|
277
|
-
let
|
|
278
|
-
let
|
|
324
|
+
// Fallback: closest within tolerance window
|
|
325
|
+
let closest = buffer[0];
|
|
326
|
+
let closestDelta = Math.abs(closest.timeSec - imageTimestampSec);
|
|
279
327
|
for (let i = 1; i < buffer.length; i++) {
|
|
280
328
|
const entry = buffer[i];
|
|
281
329
|
const delta = Math.abs(entry.timeSec - imageTimestampSec);
|
|
282
|
-
if (delta <
|
|
283
|
-
|
|
284
|
-
|
|
330
|
+
if (delta < closestDelta) {
|
|
331
|
+
closest = entry;
|
|
332
|
+
closestDelta = delta;
|
|
285
333
|
}
|
|
286
334
|
}
|
|
287
|
-
let candidate = preferred ??
|
|
335
|
+
let candidate = preferred ?? closest;
|
|
288
336
|
if (!candidate)
|
|
289
337
|
continue;
|
|
290
338
|
const candidateDelta = Math.abs(candidate.timeSec - imageTimestampSec);
|
|
291
339
|
const candidateAge = imageTimestampSec - candidate.timeSec;
|
|
292
|
-
const acceptable = (preferred
|
|
293
|
-
(preferred
|
|
340
|
+
const acceptable = (preferred && candidateAge >= 0 && candidateAge <= maxStalenessSec) ||
|
|
341
|
+
(!preferred && candidateDelta <= syncToleranceSec);
|
|
294
342
|
const notFutureFar = candidate.timeSec <= imageTimestampSec + syncToleranceSec;
|
|
295
343
|
if (!acceptable || !notFutureFar) {
|
|
344
|
+
// can't use for now
|
|
296
345
|
continue;
|
|
297
346
|
}
|
|
298
|
-
// Hysteresis:
|
|
347
|
+
// Hysteresis: keep previous if close
|
|
299
348
|
const prevTime = this.lastSelectedByTopic.get(topic);
|
|
300
349
|
if (prevTime != undefined) {
|
|
301
350
|
const prevEntry = buffer.find((e) => Math.abs(e.timeSec - prevTime) < 1e-6);
|
|
@@ -308,10 +357,28 @@ export class MessageHandler {
|
|
|
308
357
|
}
|
|
309
358
|
}
|
|
310
359
|
}
|
|
311
|
-
|
|
360
|
+
selectedAnnotations.set(topic, candidate.annotation);
|
|
361
|
+
presentTopics.push(topic);
|
|
312
362
|
this.lastSelectedByTopic.set(topic, candidate.timeSec);
|
|
313
363
|
}
|
|
314
|
-
|
|
364
|
+
// Determine missing topics (we have at least some annotation messages for them but could not align one this frame)
|
|
365
|
+
for (const t of requiredTopics) {
|
|
366
|
+
if (!presentTopics.includes(t)) {
|
|
367
|
+
const buf = this.annotationsMap.get(t);
|
|
368
|
+
if (buf && buf.length > 0) {
|
|
369
|
+
// We received data but could not synchronize within tolerance -> mark missing
|
|
370
|
+
missingTopics.push(t);
|
|
371
|
+
}
|
|
372
|
+
}
|
|
373
|
+
}
|
|
374
|
+
// Always return newest image; do not block rendering if annotations incomplete
|
|
375
|
+
return {
|
|
376
|
+
image: newestImageEntry.image,
|
|
377
|
+
annotationsByTopic: selectedAnnotations,
|
|
378
|
+
// Provide mismatch info only if we have both present and missing; otherwise undefined to reduce HUD noise
|
|
379
|
+
presentAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? presentTopics.sort() : undefined,
|
|
380
|
+
missingAnnotationTopics: presentTopics.length > 0 && missingTopics.length > 0 ? missingTopics.sort() : undefined,
|
|
381
|
+
};
|
|
315
382
|
}
|
|
316
383
|
}
|
|
317
384
|
//# sourceMappingURL=MessageHandler.js.map
|
|
@@ -1 +1 @@
|
|
|
1
|
-
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