@luxonis/visualizer-protobuf 3.1.0 → 3.1.2

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.
Files changed (57) hide show
  1. package/dist/{depth-BJ1GI-lD.js → depth-DlC6A3Te.js} +65 -1
  2. package/dist/{deserialization.worker-CpadaVUC.js → deserialization.worker-YKcSaSWH.js} +376 -309
  3. package/dist/{index-B0OcF19n.js → index-BMIqHWwd.js} +2 -2
  4. package/dist/{index-M2eVbe_0.js → index-BN2v1iMN.js} +2 -2
  5. package/dist/{index-TElhyLth.js → index-Bq4VaIv3.js} +3 -3
  6. package/dist/{index-lYAUlgOC.js → index-C53DG9uU.js} +2 -2
  7. package/dist/{index-D2XLTZD6.js → index-C77lunov.js} +2 -2
  8. package/dist/{index-DcciMCSs.js → index-C9_ELgH0.js} +2 -2
  9. package/dist/{index-ruqK13K_.js → index-CA-EmEAR.js} +2 -2
  10. package/dist/{index-kX1V6BdV.js → index-D1zXLkli.js} +2 -2
  11. package/dist/{index-DEAiAkuM.js → index-D89yfNy9.js} +2 -2
  12. package/dist/{index-BFuISzq9.js → index-DmP7sjUz.js} +2 -2
  13. package/dist/{index-JtoOqqNH.js → index-DoXJbu-D.js} +2 -2
  14. package/dist/{index-BimzNWm5.js → index-DpUuSNx-.js} +2 -2
  15. package/dist/{index-DnF6OLu4.js → index-Du4IzW8k.js} +2 -2
  16. package/dist/{index-D_329r0B.js → index-Duh8rNuw.js} +2 -2
  17. package/dist/{index-BoW57zty.js → index-Dx4uEaE6.js} +2 -2
  18. package/dist/{index-oMO5wzwz.js → index-Eu-m3JKy.js} +2 -2
  19. package/dist/{index-ByH52TmT.js → index-IGydAG_o.js} +2 -2
  20. package/dist/{index-POkmkil6.js → index-X7vcFOB2.js} +2 -2
  21. package/dist/{index-BQ8ArLBu.js → index-fnrBNnsp.js} +2 -2
  22. package/dist/{index-DQuS45dq.js → index-plyilw_0.js} +61 -28
  23. package/dist/index.js +2 -2
  24. package/dist/lib/src/components/Panel.d.ts.map +1 -1
  25. package/dist/lib/src/components/Panel.js +3 -1
  26. package/dist/lib/src/components/Panel.js.map +1 -1
  27. package/dist/lib/src/connection/connection.d.ts.map +1 -1
  28. package/dist/lib/src/connection/connection.js +7 -1
  29. package/dist/lib/src/connection/connection.js.map +1 -1
  30. package/dist/lib/src/connection/foxglove-connection.d.ts +6 -0
  31. package/dist/lib/src/connection/foxglove-connection.d.ts.map +1 -1
  32. package/dist/lib/src/connection/foxglove-connection.js +24 -3
  33. package/dist/lib/src/connection/foxglove-connection.js.map +1 -1
  34. package/dist/lib/src/context/VisualizerContext.d.ts +2 -0
  35. package/dist/lib/src/context/VisualizerContext.d.ts.map +1 -1
  36. package/dist/lib/src/context/VisualizerContext.js +7 -0
  37. package/dist/lib/src/context/VisualizerContext.js.map +1 -1
  38. package/dist/lib/src/messaging/deserialization/detections/detection.d.ts.map +1 -1
  39. package/dist/lib/src/messaging/deserialization/detections/detection.js +117 -96
  40. package/dist/lib/src/messaging/deserialization/detections/detection.js.map +1 -1
  41. package/dist/lib/src/messaging/deserialization/video/h264.d.ts +2 -1
  42. package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map +1 -1
  43. package/dist/lib/src/messaging/deserialization/video/h264.js +142 -97
  44. package/dist/lib/src/messaging/deserialization/video/h264.js.map +1 -1
  45. package/dist/lib/src/messaging/deserialization/video/h265.d.ts +2 -1
  46. package/dist/lib/src/messaging/deserialization/video/h265.d.ts.map +1 -1
  47. package/dist/lib/src/messaging/deserialization/video/h265.js +57 -16
  48. package/dist/lib/src/messaging/deserialization/video/h265.js.map +1 -1
  49. package/dist/lib/src/messaging/deserialization.worker.d.ts +3 -1
  50. package/dist/lib/src/messaging/deserialization.worker.d.ts.map +1 -1
  51. package/dist/lib/src/messaging/deserialization.worker.js +28 -12
  52. package/dist/lib/src/messaging/deserialization.worker.js.map +1 -1
  53. package/dist/lib/src/utils/error.d.ts +17 -4
  54. package/dist/lib/src/utils/error.d.ts.map +1 -1
  55. package/dist/lib/src/utils/error.js +59 -6
  56. package/dist/lib/src/utils/error.js.map +1 -1
  57. package/package.json +1 -1
package/dist/lib/src/connection/connection.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
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package/dist/lib/src/connection/connection.js CHANGED
@@ -96,8 +96,14 @@ export class VisualizerConnection extends FoxgloveConnection {
96
96
  // Clean up pointcloud worker pool
97
97
  this.depthToPointcloudWorkerPool.destroy();
98
98
  });
99
+ const wrappedErrorCallback = (errorCode, topic, errorData) => {
100
+ const shouldForwardError = this.handleDeserializationError(errorCode, topic, errorData);
101
+ if (shouldForwardError) {
102
+ errorCallback?.(errorCode, topic, errorData);
103
+ }
104
+ };
99
105
  const messageListener = ((event) => {
100
- this.onMessagePacket.bind(this)(event, errorCallback);
106
+ this.onMessagePacket.bind(this)(event, wrappedErrorCallback);
101
107
  });
102
108
  this.#adapter.addEventListener("open", openListener);
103
109
  this.#adapter.addEventListener("close", closeListener);
package/dist/lib/src/connection/connection.js.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"connection.js","sourceRoot":"","sources":["../../../../src/connection/connection.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAI1D,OAAO,EAAE,cAAc,EAAE,MAAM,qCAAqC,CAAC;AAErE,OAAO,EAAE,wBAAwB,EAAE,MAAM,cAAc,CAAC;AAExD,OAAO,EAAE,kBAAkB,EAAE,MAAM,0BAA0B,CAAC;AAC9D,OAAO,EAAE,YAAY,EAAE,MAAM,oBAAoB,CAAC;AAIlD,OAAO,EAAE,WAAW,EAAyB,MAAM,uBAAuB,CAAC;AAC3E,OAAO,EAAE,MAAM,EAAE,MAAM,iBAAiB,CAAC;AAEzC,MAAM,MAAM,GAAG,MAAM,CAAC,SAAS,EAAE,CAAC;AAuClC,MAAM,OAAO,oBAAqB,SAAQ,kBAAkB;IAC1D,IAAI,GAAkB,IAAI,CAAC;IAC3B,OAAO,GAAwB,IAAI,CAAC;IACpC,QAAQ,CAA4B;IACpC,eAAe,GAAqD,EAAE,CAAC;IAEvE,YAAmB,EAAE,IAAI,EAAE,IAAI,EAAE,aAAa,EAAE,SAAS,EAAE,qBAAqB,EAA4B;QAC1G,KAAK,CAAC,IAAI,KAAK,IAAI,CAAC,CAAC,CAAC,IAAI,CAAC,aAAa,CAAC,CAAC,CAAC,IAAI,CAAC,MAAM,CAAC,QAAQ,CAAC,CAAC;QAEjE,IAAI,MAAM,CAAC;QACX,IAAI,IAAI,KAAK,IAAI,EAAE,CAAC;YAClB,IAAI,CAAC,IAAI,GAAG,IAAI,CAAC,aAAa,CAAC;YAC/B,MAAM,GAAG,IAAI,MAAM,CAAC,IAAI,GAAG,CAAC,aAAa,EAAE,MAAM,CAAC,IAAI,CAAC,GAAG,CAAC,EAAE,EAAE,IAAI,EAAE,QAAQ,EAAE,CAAC,CAAC;QACnF,CAAC;aAAM,CAAC;YACN,IAAI,CAAC,OAAO,GAAG,IAAI,CAAC,MAAM,CAAC;YAC3B,MAAM,GAAG,IAAI,YAAY,CAAC,IAAI,CAAC,qBAAqB,CAAC,CAAC;QACxD,CAAC;QAED,WAAW,CAAC,WAAW,EAAE,CAAC,qBAAqB,GAAG,EAAE,SAAS,EAAE,SAAS,IAAI,KAAK,EAAE,qBAAqB,EAAE,qBAAqB,IAAI,IAAI,EAAE,CAAC;QAC1I,WAAW,CAAC,mBAAmB,EAAE,CAAC,CAAC,uDAAuD;QAE1F,MAAM,CAAC,IAAI,CACT,0EAA0E,EAC1E,WAAW,CAAC,WAAW,EAAE,CAAC,qBAAqB,CAChD,CAAC;QAEF,IAAI,CAAC,KAAK,CAAC,MAAM,EAAE,aAAa,CAAC,CAAC;IACpC,CAAC;IAEM,KAAK;QACV,0CAA0C;QAC1C,IAAI,CAAC,sBAAsB,EAAE,CAAC;QAC9B,IAAI,CAAC,QAAQ,EAAE,KAAK,EAAE,CAAC;QACvB,mCAAmC;QACnC,IAAI,CAAC,cAAc,CAAC,OAAO,EAAE,CAAC;QAC9B,kCAAkC;QAClC,IAAI,CAAC,2BAA2B,CAAC,OAAO,EAAE,CAAC;IAC7C,CAAC;IAED,sBAAsB;QACpB,IAAI,IAAI,CAAC,QAAQ,EAAE,CAAC;YAClB,KAAK,MAAM,EAAE,IAAI,EAAE,QAAQ,EAAE,IAAI,IAAI,CAAC,eAAe,EAAE,CAAC;gBACtD,IAAI,CAAC,QAAQ,CAAC,mBAAmB,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;YACpD,CAAC;YACD,IAAI,CAAC,eAAe,GAAG,EAAE,CAAC;QAC5B,CAAC;IACH,CAAC;IAEM,EAAE,CAAqC,IAAO,EAAE,QAA+B;QACpF,IAAI,CAAC,QAAQ,EAAE,EAAE,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;IACpC,CAAC;IAEM,GAAG,CAAqC,IAAO,EAAE,QAA+B;QACrF,IAAI,CAAC,QAAQ,EAAE,GAAG,CAAC,IAAI,EAAE,QAAQ,CAAC,CAAC;IACrC,CAAC;IAEM,KAAK,CAAC,OAAO,CAAC,IAAwB;QAC3C,MAAM,QAAQ,GAAG,MAAM,IAAI,CAAC,QAAQ,EAAE,OAAO,CAAC,IAAI,CAAC,CAAC;QACpD,OAAO,QAAQ,IAAI,IAAI,CAAC;IAC1B,CAAC;IAEM,SAAS,CAAC,IAA0B;QACzC,IAAI,CAAC,QAAQ,EAAE,SAAS,CAAC,IAAI,CAAC,CAAC;QAC/B,KAAK,MAAM,KAAK,IAAI,IAAI,CAAC,MAAM,EAAE,CAAC;YAChC,IAAI,CAAC,gBAAgB,CAAC,GAAG,CAAC,KAAK,EAAE,KAAK,CAAC,CAAC;QAC1C,CAAC;IACH,CAAC;IAEM,WAAW,CAAC,IAA0B;QAC3C,IAAI,CAAC,QAAQ,EAAE,WAAW,CAAC,IAAI,CAAC,CAAC;IACnC,CAAC;IAED,gDAAgD;IAChD,IAAW,SAAS;QAClB,OAAO,OAAO,CAAC,IAAI,CAAC,QAAQ,EAAE,UAAU,KAAK,SAAS,CAAC,IAAI,CAAC,CAAC;IAC/D,CAAC;IAED,KAAK,GAGO,CAAC,MAAM,EAAE,aAAa,EAAE,EAAE;QACpC,IAAI,CAAC,QAAQ,GAAG,IAAI,wBAAwB,CAC1C,EAAE,KAAK,EAAE,IAAI,CAAC,IAAK,EAAE,MAAM,EAAE,IAAI,CAAC,OAAQ,EAAE,EAC5C,MAAM,CACP,CAAC;QAEF,MAAM,YAAY,GAAG,CAAC,GAAG,EAAE;YACzB,IAAI,CAAC,cAAc,GAAG,cAAc,CAAC,OAAO,CAAC;YAC7C,IAAI,CAAC,SAAS,EAAE,CAAC;QACnB,CAAC,CAAkB,CAAC;QAEpB,MAAM,aAAa,GAAG,CAAC,GAAG,EAAE;YAC1B,IAAI,CAAC,cAAc,GAAG,cAAc,CAAC,WAAW,CAAC;YACjD,IAAI,CAAC,SAAS,EAAE,CAAC;YACjB,IAAI,CAAC,sBAAsB,EAAE,CAAC;YAC9B,4CAA4C;YAC5C,IAAI,CAAC,cAAc,CAAC,OAAO,EAAE,CAAC;YAC9B,kCAAkC;YAClC,IAAI,CAAC,2BAA2B,CAAC,OAAO,EAAE,CAAC;QAC7C,CAAC,CAAkB,CAAC;QAEpB,MAAM,aAAa,GAAG,CAAC,CAAC,MAAe,EAAE,EAAE;YACzC,IAAI,CAAC,aAAa,GAAG,EAAE,CAAC;YACxB,IAAI,CAAC,cAAc,GAAG,cAAc,CAAC,KAAK,CAAC;YAC3C,IAAI,CAAC,SAAS,EAAE,CAAC;YACjB,IAAI,CAAC,sBAAsB,EAAE,CAAC;YAC9B,2DAA2D;YAC3D,IAAI,CAAC,QAAQ,EAAE,KAAK,EAAE,CAAC;YACvB,4CAA4C;YAC5C,IAAI,CAAC,cAAc,CAAC,OAAO,EAAE,CAAC;YAC9B,kCAAkC;YAClC,IAAI,CAAC,2BAA2B,CAAC,OAAO,EAAE,CAAC;QAC7C,CAAC,CAAkB,CAAC;QAEpB,MAAM,oBAAoB,GAAiC,CAAC,SAAS,EAAE,KAAK,EAAE,SAAS,EAAE,EAAE;YACzF,MAAM,kBAAkB,GAAG,IAAI,CAAC,0BAA0B,CACxD,SAAS,EACT,KAAK,EACL,SAA6C,CAC9C,CAAC;YAEF,IAAI,kBAAkB,EAAE,CAAC;gBACvB,aAAa,EAAE,CAAC,SAAS,EAAE,KAAK,EAAE,SAAS,CAAC,CAAC;YAC/C,CAAC;QACH,CAAC,CAAC;QAEF,MAAM,eAAe,GAAG,CAAC,CAAC,KAAc,EAAE,EAAE;YAC1C,IAAI,CAAC,eAAe,CAAC,IAAI,CAAC,IAAI,CAAC,CAC7B,KAAiD,EACjD,oBAAoB,CACrB,CAAC;QACJ,CAAC,CAAkB,CAAC;QAEpB,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,MAAM,EAAE,YAAY,CAAC,CAAC;QACrD,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,OAAO,EAAE,aAAa,CAAC,CAAC;QACvD,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,OAAO,EAAE,aAAa,CAAC,CAAC;QACvD,IAAI,CAAC,QAAQ,CAAC,gBAAgB,CAAC,SAAS,EAAE,eAAe,CAAC,CAAC;QAE3D,IAAI,CAAC,eAAe,GAAG;YACrB,EAAE,IAAI,EAAE,MAAM,EAAE,QAAQ,EAAE,YAAY,EAAE;YACxC,EAAE,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,aAAa,EAAE;YAC1C,EAAE,IAAI,EAAE,OAAO,EAAE,QAAQ,EAAE,aAAa,EAAE;YAC1C,EAAE,IAAI,EAAE,SAAS,EAAE,QAAQ,EAAE,eAAe,EAAE;SAC/C,CAAC;IACJ,CAAC,CAAC;CACH"}
package/dist/lib/src/connection/foxglove-connection.d.ts CHANGED
@@ -7,6 +7,7 @@ import { DeserializationErrorCallback } from "../messaging/deserialization.worke
7
7
  import { type MessageHandler } from "../messaging/message-handler.js";
8
8
  import { MessagePacketKind } from "../messaging/protobuf";
9
9
  import { RateLimiter } from "../messaging/rate-limiter";
10
+ import { type DecodingError, type DecodingErrorCode } from "../utils/error";
10
11
  import { PoitCloudSyncFramework } from "../utils/poitcloud-sync.js";
11
12
  export type Metrics = {
12
13
  resolutions: Map<string, string | undefined>;
@@ -14,6 +15,9 @@ export type Metrics = {
14
15
  decodedMessagesFps: number | undefined;
15
16
  messageThroughput: number | undefined;
16
17
  };
18
+ type DecodingErrorData = {
19
+ message?: string;
20
+ };
17
21
  declare class ProblemManager {
18
22
  protected problems: PlayerProblem[];
19
23
  addProblem(problem: PlayerProblem): void;
@@ -34,6 +38,7 @@ export declare abstract class FoxgloveConnection {
34
38
  protected publishedTopics: Map<any, any>;
35
39
  protected subscribedTopics: Map<any, any>;
36
40
  protected unsupportedTopics: Set<string>;
41
+ protected topicDecodingErrors: Map<string, DecodingError>;
37
42
  protected advertisedServices: Map<any, any>;
38
43
  protected problems: ProblemManager;
39
44
  protected resolutions: Map<any, any>;
@@ -68,6 +73,7 @@ export declare abstract class FoxgloveConnection {
68
73
  protected emitState: (() => void) & {
69
74
  currentPromise?: Promise<void>;
70
75
  };
76
+ protected handleDeserializationError(errorCode: DecodingErrorCode, topic: string, errorData?: DecodingErrorData): boolean;
71
77
  protected isMessageTypeDominant(packetType: MessagePacketKind, topic: string): boolean;
72
78
  }
73
79
  export {};
package/dist/lib/src/connection/foxglove-connection.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"foxglove-connection.d.ts","sourceRoot":"","sources":["../../../../src/connection/foxglove-connection.ts"],"names":[],"mappings":"AAKA,OAAO,EAAyC,KAAK,IAAI,EAAE,MAAM,mBAAmB,CAAC;AAErF,OAAO,EACL,KAAK,YAAY,EAEjB,cAAc,EACd,KAAK,aAAa,EAClB,KAAK,WAAW,EACjB,MAAM,qCAAqC,CAAC;AAE7C,OAAO,KAAK,EAAE,eAAe,EAAE,MAAM,mBAAmB,CAAC;AACzD,OAAO,EAAE,2BAA2B,EAAE,MAAM,iEAAiE,CAAC;AAE9G,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,6CAA6C,CAAC;AAC5F,OAAO,EAAE,4BAA4B,EAAE,MAAM,qCAAqC,CAAC;AACnF,OAAO,EAAwB,KAAK,cAAc,EAAE,MAAM,iCAAiC,CAAC;AAC5F,OAAO,EAAE,iBAAiB,EAA+C,MAAM,uBAAuB,CAAC;AACvG,OAAO,EAAE,WAAW,EAAE,MAAM,2BAA2B,CAAC;AAGxD,OAAO,EAAuB,KAAK,aAAa,EAAE,KAAK,iBAAiB,EAAE,MAAM,gBAAgB,CAAC;AASjG,OAAO,EAAE,sBAAsB,EAAE,MAAM,4BAA4B,CAAC;AAIpE,MAAM,MAAM,OAAO,GAAG;IACpB,WAAW,EAAE,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,SAAS,CAAC,CAAC;IAC7C,mBAAmB,EAAE,MAAM,GAAG,SAAS,CAAC;IACxC,kBAAkB,EAAE,MAAM,GAAG,SAAS,CAAC;IACvC,iBAAiB,EAAE,MAAM,GAAG,SAAS,CAAC;CACvC,CAAC;AAEF,KAAK,iBAAiB,GAAG;IACvB,OAAO,CAAC,EAAE,MAAM,CAAC;CAClB,CAAC;AACF,cAAM,cAAc;IAClB,SAAS,CAAC,QAAQ,EAAE,aAAa,EAAE,CAAM;IAElC,UAAU,CAAC,OAAO,EAAE,aAAa,GAAG,IAAI;IAIxC,aAAa,IAAI,IAAI;IAIrB,WAAW,IAAI,aAAa,EAAE;CAGtC;AAED,8BAAsB,kBAAkB;IACtC,SAAS,CAAC,QAAQ,CAAC,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,CAAC;IAEjE,SAAS,CAAC,EAAE,EAAE,MAAM,CAAC;IAGrB,SAAS,CAAC,cAAc,EAAE,cAAc,CAA8B;IACtE,SAAS,CAAC,kBAAkB,WAAwC;IAGpE,SAAS,CAAC,aAAa,EAAE,YAAY,EAAE,CAAM;IAC7C,SAAS,CAAC,gBAAgB,CAAC,EAAE,YAAY,CAAC;IAE1C,SAAS,CAAC,aAAa,SAAK;IAE5B,SAAS,CAAC,SAAS,CAAC,EAAE,IAAI,CAAC;IAC3B,SAAS,CAAC,OAAO,CAAC,EAAE,IAAI,CAAC;IAEzB,SAAS,CAAC,UAAU,gBAAa;IACjC,SAAS,CAAC,eAAe,gBAAa;IACtC,SAAS,CAAC,gBAAgB,gBAAa;IACvC,SAAS,CAAC,iBAAiB,cAAqB;IAChD,SAAS,CAAC,mBAAmB,6BAAoC;IACjE,SAAS,CAAC,kBAAkB,gBAAa;IACzC,SAAS,CAAC,QAAQ,iBAAwB;IAC1C,SAAS,CAAC,WAAW,gBAAa;IAClC,SAAS,CAAC,YAAY,4DAAkC;IACxD,SAAS,CAAC,aAAa,4DAA8B;IACrD,SAAS,CAAC,iBAAiB,iEAAkC;IAC7D,SAAS,CAAC,sBAAsB,yBAAgC;IAChE,SAAS,CAAC,2BAA2B,8BAInC;IACF,SAAS,CAAC,eAAe,6CAAwB;IAEjD,SAAS,CAAC,cAAc,EAAE,cAAc,CAAC;IAEzC,SAAS,CAAC,uBAAuB,SAAK;IACtC,SAAS,CAAC,gBAAgB,EAAE,MAAM,CAAC,iBAAiB,EAAE,MAAM,CAAC,CAK3D;IACF,SAAS,CAAC,WAAW,EAAE,WAAW,CAYhC;IAEF,SAAS,CAAC,MAAM,EAAE;QAChB,CAAC,GAAG,EAAE,MAAM,GAAG;YACb,IAAI,EAAE,MAAM,CAAC;YACb,UAAU,EAAE,MAAM,CAAC;SACpB,CAAC;KACH,CAAM;gBAEY,EAAE,EAAE,MAAM;IAKtB,WAAW,CAAC,QAAQ,EAAE,CAAC,WAAW,EAAE,WAAW,KAAK,OAAO,CAAC,IAAI,CAAC,GAAG,IAAI;IAKxE,eAAe,CAAC,KAAK,EAAE,MAAM,GAAG,OAAO;IAW9C,SAAS,CAAC,cAAc,IAAI,IAAI;IAIhC,SAAS,CAAC,eAAe,CACvB,KAAK,EAAE,UAAU,CAAC,YAAY,CAAC,eAAe,CAAC,EAC/C,aAAa,CAAC,EAAE,4BAA4B,GAC3C,IAAI;IA0CP,SAAS,CAAC,6BAA6B,CACrC,YAAY,EAAE,YAAY,EAC1B,cAAc,EAAE,wBAAwB,EACxC,OAAO,EAAE,OAAO,GACf,IAAI;cAkBS,4BAA4B,CAAC,YAAY,EAAE,YAAY,GAAG,OAAO,CAAC,IAAI,CAAC;IAiCvF,SAAS,CAAC,0BAA0B,CAClC,OAAO,EAAE,OAAO,EAChB,KAAK,EAAE,MAAM,GACZ;QAAE,KAAK,EAAE,MAAM,GAAG,SAAS,CAAC;QAAC,MAAM,EAAE,MAAM,GAAG,SAAS,CAAA;KAAE;IAU5D,SAAS,CAAC,mBAAmB,CAAC,KAAK,EAAE,YAAY,GAAG,IAAI;IA6CxD,SAAS,CAAC,SAAS;;MAiEhB;IAEH,SAAS,CAAC,0BAA0B,CAClC,SAAS,EAAE,iBAAiB,EAC5B,KAAK,EAAE,MAAM,EACb,SAAS,CAAC,EAAE,iBAAiB,GAC5B,OAAO;IAgBV,SAAS,CAAC,qBAAqB,CAAC,UAAU,EAAE,iBAAiB,EAAE,KAAK,EAAE,MAAM,GAAG,OAAO;CA2BvF"}
package/dist/lib/src/connection/foxglove-connection.js CHANGED
@@ -10,6 +10,7 @@ import { createMessageHandler } from "../messaging/message-handler.js";
10
10
  import { protobufsBySchema, protobufSchemaNameToType } from "../messaging/protobuf";
11
11
  import { RateLimiter } from "../messaging/rate-limiter";
12
12
  import { FrameStore } from "../utils/frame-store";
13
+ import { createDecodingError } from "../utils/error";
13
14
  import { getIMUEventEmitter } from "../utils/imu-manager.js";
14
15
  import { Logger } from "../utils/logger";
15
16
  import { constructKeyForTopicRenderMetrics, globalDecodeMetricsManager, globalInputEventMetricsManager, globalThroughputMetricsManager } from "../utils/metrics-manager.js";
@@ -43,6 +44,7 @@ export class FoxgloveConnection {
43
44
  publishedTopics = new Map();
44
45
  subscribedTopics = new Map();
45
46
  unsupportedTopics = new Set();
47
+ topicDecodingErrors = new Map();
46
48
  advertisedServices = new Map();
47
49
  problems = new ProblemManager();
48
50
  resolutions = new Map();
@@ -168,6 +170,7 @@ export class FoxgloveConnection {
168
170
  return { width: undefined, height: undefined };
169
171
  }
170
172
  handleParsedMessage(event) {
173
+ this.topicDecodingErrors.delete(event.topic);
171
174
  this.decodeMetrics.registerEvent(event.topic);
172
175
  // FIXME: This isn't pretty but PC frames are transformed inside submitPointcloudFrameCallback
173
176
  // FIXME: and we only want to register them to FrameStore when they are transformed.
@@ -207,7 +210,16 @@ export class FoxgloveConnection {
207
210
  emitState = debouncePromise(async () => {
208
211
  const messages = this.messageEvents;
209
212
  this.messageEvents = [];
210
- if (!this.listener || messages.length === 0) {
213
+ const activeDecodingProblems = [...this.topicDecodingErrors.values()].map((error) => ({
214
+ severity: "error",
215
+ message: `Unable to decode topic "${error.topicName}"`,
216
+ tip: error.message,
217
+ error,
218
+ }));
219
+ const transientProblems = this.problems.getProblems();
220
+ this.problems.clearProblems();
221
+ const problems = activeDecodingProblems.concat(transientProblems);
222
+ if (!this.listener || (messages.length === 0 && problems.length === 0)) {
211
223
  await Promise.resolve();
212
224
  return;
213
225
  }
@@ -218,8 +230,6 @@ export class FoxgloveConnection {
218
230
  if (!this.endTime || isGreaterThan(currentTime, this.endTime)) {
219
231
  this.endTime = currentTime;
220
232
  }
221
- const problems = this.problems.getProblems();
222
- this.problems.clearProblems();
223
233
  for (const message of messages) {
224
234
  this.topics[message.topic] = {
225
235
  name: message.topic,
@@ -257,6 +267,17 @@ export class FoxgloveConnection {
257
267
  };
258
268
  await this.listener(newPlayerState);
259
269
  });
270
+ handleDeserializationError(errorCode, topic, errorData) {
271
+ const nextError = createDecodingError(errorCode, topic, errorData?.message);
272
+ const previousError = this.topicDecodingErrors.get(topic);
273
+ if (previousError?.code === nextError.code &&
274
+ previousError.message === nextError.message) {
275
+ return false;
276
+ }
277
+ this.topicDecodingErrors.set(topic, nextError);
278
+ void this.emitState();
279
+ return true;
280
+ }
260
281
  isMessageTypeDominant(packetType, topic) {
261
282
  const fpsPerPacketTypeList = [
262
283
  {
package/dist/lib/src/connection/foxglove-connection.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/lib/src/context/VisualizerContext.d.ts CHANGED
@@ -1,7 +1,9 @@
1
1
  import React from "react";
2
2
  import { PlayerProblem } from "@foxglove/studio-base/players/types";
3
3
  import { VisualizerConnection } from "../connection/connection.js";
4
+ import { DecodingError } from "../utils/error.js";
4
5
  export declare function useSourceProblems(): readonly PlayerProblem[];
6
+ export declare function useTopicDecodingError(topic: string): DecodingError | undefined;
5
7
  interface VisualizerContextProps {
6
8
  children: React.ReactNode;
7
9
  connections: VisualizerConnection[];
package/dist/lib/src/context/VisualizerContext.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"VisualizerContext.d.ts","sourceRoot":"","sources":["../../../../src/context/VisualizerContext.tsx"],"names":[],"mappings":"AAIA,OAAO,KAAK,MAAM,OAAO,CAAC;AAW1B,OAAO,EAAE,aAAa,EAAE,MAAM,qCAAqC,CAAC;AAQpE,OAAO,EAAE,oBAAoB,EAAE,MAAM,6BAA6B,CAAC;AAEnE,wBAAgB,iBAAiB,IAAI,SAAS,aAAa,EAAE,CAE5D;AAED,UAAU,sBAAsB;IAC9B,QAAQ,EAAE,KAAK,CAAC,SAAS,CAAC;IAC1B,WAAW,EAAE,oBAAoB,EAAE,CAAC;CACrC;AAED,eAAO,MAAM,iBAAiB,oDA6F5B,CAAC"}
1
+ {"version":3,"file":"VisualizerContext.d.ts","sourceRoot":"","sources":["../../../../src/context/VisualizerContext.tsx"],"names":[],"mappings":"AAIA,OAAO,KAAK,MAAM,OAAO,CAAC;AAW1B,OAAO,EAAE,aAAa,EAAE,MAAM,qCAAqC,CAAC;AAQpE,OAAO,EAAE,oBAAoB,EAAE,MAAM,6BAA6B,CAAC;AACnE,OAAO,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC;AAElD,wBAAgB,iBAAiB,IAAI,SAAS,aAAa,EAAE,CAE5D;AAED,wBAAgB,qBAAqB,CAAC,KAAK,EAAE,MAAM,GAAG,aAAa,GAAG,SAAS,CAQ9E;AAED,UAAU,sBAAsB;IAC9B,QAAQ,EAAE,KAAK,CAAC,SAAS,CAAC;IAC1B,WAAW,EAAE,oBAAoB,EAAE,CAAC;CACrC;AAED,eAAO,MAAM,iBAAiB,oDA6F5B,CAAC"}
package/dist/lib/src/context/VisualizerContext.js CHANGED
@@ -18,9 +18,16 @@ import { PanelStateContextProvider } from "@foxglove/studio-base/providers/Panel
18
18
  import TimelineInteractionStateProvider from "@foxglove/studio-base/providers/TimelineInteractionStateProvider";
19
19
  import { ConnectionsProvider } from "./ConnectionsProvider.js";
20
20
  import { MessagePipelineProvider } from "./MessagePipelineProvider";
21
+ import { DecodingError } from "../utils/error.js";
21
22
  export function useSourceProblems() {
22
23
  return useMessagePipeline((ctx) => ctx.playerState.problems ?? []);
23
24
  }
25
+ export function useTopicDecodingError(topic) {
26
+ return useMessagePipeline((ctx) => {
27
+ const problems = ctx.playerState.problems ?? [];
28
+ return problems.find((problem) => problem.error instanceof DecodingError && problem.error.topicName === topic)?.error;
29
+ });
30
+ }
24
31
  export const VisualizerContext = React.memo(function VisualizerContext({ children, connections, }) {
25
32
  // eslint-disable-next-line no-warning-comments
26
33
  // TODO(milan.medvec) improve it
package/dist/lib/src/context/VisualizerContext.js.map CHANGED
@@ -1 +1 @@
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1
+ {"version":3,"file":"VisualizerContext.js","sourceRoot":"","sources":["../../../../src/context/VisualizerContext.tsx"],"names":[],"mappings":";AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,KAAK,MAAM,OAAO,CAAC;AAC1B,OAAO,EAAE,WAAW,EAAE,MAAM,WAAW,CAAC;AACxC,OAAO,EAAE,YAAY,EAAE,MAAM,yBAAyB,CAAC;AACvD,OAAO,EAAE,aAAa,EAAE,mBAAmB,EAAiC,MAAM,wBAAwB,CAAC;AAE3G,OAAO,WAAW,MAAM,8CAA8C,CAAC;AACvE,OAAO,aAAa,MAAM,gDAAgD,CAAC;AAC3E,OAAO,SAAS,MAAM,4CAA4C,CAAC;AACnE,OAAO,EAAE,kBAAkB,EAAE,MAAM,kDAAkD,CAAC;AACtF,OAAO,uBAA8C,MAAM,uDAAuD,CAAC;AACnH,OAAO,mBAAkC,MAAM,mDAAmD,CAAC;AAEnG,OAAO,qBAAqB,MAAM,uDAAuD,CAAC;AAC1F,OAAO,cAAc,MAAM,gDAAgD,CAAC;AAC5E,OAAO,EAAE,yBAAyB,EAAE,MAAM,2DAA2D,CAAC;AACtG,OAAO,gCAAgC,MAAM,kEAAkE,CAAC;AAEhH,OAAO,EAAE,mBAAmB,EAAE,MAAM,0BAA0B,CAAC;AAC/D,OAAO,EAAE,uBAAuB,EAAE,MAAM,2BAA2B,CAAC;AAEpE,OAAO,EAAE,aAAa,EAAE,MAAM,mBAAmB,CAAC;AAElD,MAAM,UAAU,iBAAiB;IAC/B,OAAO,kBAAkB,CAAC,CAAC,GAAG,EAAE,EAAE,CAAC,GAAG,CAAC,WAAW,CAAC,QAAQ,IAAI,EAAE,CAAC,CAAC;AACrE,CAAC;AAED,MAAM,UAAU,qBAAqB,CAAC,KAAa;IACjD,OAAO,kBAAkB,CAAC,CAAC,GAAG,EAAE,EAAE;QAChC,MAAM,QAAQ,GAAG,GAAG,CAAC,WAAW,CAAC,QAAQ,IAAI,EAAE,CAAC;QAChD,OAAO,QAAQ,CAAC,IAAI,CAClB,CAAC,OAAO,EAAuD,EAAE,CAC/D,OAAO,CAAC,KAAK,YAAY,aAAa,IAAI,OAAO,CAAC,KAAK,CAAC,SAAS,KAAK,KAAK,CAC9E,EAAE,KAAK,CAAC;IACX,CAAC,CAAC,CAAC;AACL,CAAC;AAOD,MAAM,CAAC,MAAM,iBAAiB,GAAG,KAAK,CAAC,IAAI,CAAC,SAAS,iBAAiB,CAAC,EACrE,QAAQ,EACR,WAAW,GACY;IACvB,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,gBAAgB,GAAsB;QAC1C,GAAG,KAAK,CAAC;QACT,GAAG,EAAE,KAAK,IAAI,EAAE;YACd,MAAM,OAAO,CAAC,OAAO,EAAE,CAAC;QAC1B,CAAC;QACD,iBAAiB,EAAE,GAAG,EAAE,GAAG,CAAC;QAC5B,oBAAoB,EAAE,GAAG,EAAE,GAAG,CAAC;KACX,CAAC;IAEvB,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,OAAO,GAAG;QACd,UAAU,EAAE,GAAG,EAAE,GAAG,CAAC;QACrB,MAAM,EAAE,CAAC,KAAc,EAAE,EAAE,GAAG,CAAC;QAC/B,MAAM,EAAE,CAAC,KAAc,EAAE,WAAoB,EAAE,EAAE,GAAG,CAAC;QACrD,OAAO,EAAE,GAAG,EAAE,GAAG,CAAC;QAClB,IAAI,EAAE,CAAC,KAAc,EAAE,EAAE,GAAG,CAAC;QAC7B,WAAW,EAAE,CAAC,KAAc,EAAE,QAAiB,EAAE,EAAE,GAAG,CAAC;KACxD,CAAC;IAEF,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,aAAa,GAAmC;QACpD,aAAa,EAAE,OAAwD;QACvE,QAAQ,EAAE,UAAU;QACpB,kBAAkB,EAAE,oBAAoB;KACzC,CAAC;IAEF,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,mBAAmB,GAAwB;QAC/C,kBAAkB,EAAE,oBAAoB;QACxC,mBAAmB,EAAE;YACnB,KAAK,EAAE,KAAK,EAAE,GAAG,KAAgB,EAAiB,EAAE,GAAG,CAAC;YACxD,cAAc,EAAE,KAAK,EAAE,GAAG,KAAgB,EAAiB,EAAE,GAAG,CAAC;YACjE,yBAAyB,EAAE,CAAC,KAAyB,EAAE,EAAE,GAAG,CAAC;YAC7D,OAAO,EAAE,GAAe,EAAE;gBACxB,OAAO,EAAE,CAAC;YACZ,CAAC;YACD,iBAAiB,EAAE,CAAC,kBAA+C,EAA6B,EAAE;gBAChG,OAAO,IAAI,CAAC;YACd,CAAC;SACF;KACF,CAAC;IAEF,+CAA+C;IAC/C,gCAAgC;IAChC,MAAM,YAAY,GAAG;QACnB,SAAS;YACP,OAAO,EAAE,CAAC;QACZ,CAAC;QACD,cAAc,CAAC,KAAa;YAC1B,OAAO,SAAS,CAAC;QACnB,CAAC;KACF,CAAC;IAEF,iBAAiB;IACjB,OAAO,CACL,KAAC,uBAAuB,CAAC,QAAQ,IAAC,KAAK,EAAE,gBAAgB,YACvD,MAAC,WAAW,IAAC,OAAO,EAAE,YAAY,aAC9B,KAAC,SAAS,KAAG,EACb,KAAC,WAAW,cACV,KAAC,aAAa,cACZ,KAAC,gCAAgC,cAC/B,KAAC,qBAAqB,cACpB,KAAC,mBAAmB,IAAC,KAAK,EAAE,WAAW,YACrC,KAAC,uBAAuB,cACtB,KAAC,cAAc,cACb,KAAC,aAAa,CAAC,QAAQ,IAAC,KAAK,EAAE,aAAa,YAC1C,KAAC,mBAAmB,CAAC,QAAQ,IAAC,KAAK,EAAE,mBAAmB,YACtD,KAAC,mBAAmB,CAAC,QAAQ,IAAC,KAAK,EAAE,YAAY,YAC/C,KAAC,yBAAyB,cACvB,QAAQ,GACiB,GACC,GACF,GACR,GACV,GACO,GACN,GACA,GACS,GACrB,GACH,IACL,GACoB,CACrC,CAAC;AACJ,CAAC,CAAC,CAAC"}
package/dist/lib/src/messaging/deserialization/detections/detection.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"detection.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/detections/detection.ts"],"names":[],"mappings":"AAMA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAUnE,OAAO,EAAE,aAAa,EAAE,MAAM,8CAA8C,CAAC;AAI7E,MAAM,MAAM,UAAU,GAAG,GAAG,CAC1B,MAAM,EACN;IACE,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,CACF,CAAC;AAEF,MAAM,MAAM,4BAA4B,GAAG;IACzC,KAAK,EAAE,MAAM,CAAC;IACd,UAAU,EAAE,UAAU,CAAC;IACvB,OAAO,EAAE,aAAa,CAAC;IACvB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,CAAC;AAsBF,wBAAgB,wBAAwB,CAAC,EACvC,KAAK,EACL,OAAO,EACP,QAAQ,EACR,UAAU,GACX,EAAE,4BAA4B,GAAG,IAAI,CAwNrC"}
1
+ {"version":3,"file":"detection.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/detections/detection.ts"],"names":[],"mappings":"AAMA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAWnE,OAAO,EAAgB,aAAa,EAAE,MAAM,8CAA8C,CAAC;AAG3F,MAAM,MAAM,UAAU,GAAG,GAAG,CAC1B,MAAM,EACN;IACE,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,CACF,CAAC;AAEF,MAAM,MAAM,4BAA4B,GAAG;IACzC,KAAK,EAAE,MAAM,CAAC;IACd,UAAU,EAAE,UAAU,CAAC;IACvB,OAAO,EAAE,aAAa,CAAC;IACvB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,CAAC;AA8MF,wBAAgB,wBAAwB,CAAC,EACvC,KAAK,EACL,OAAO,EACP,QAAQ,EACR,UAAU,GACX,EAAE,4BAA4B,GAAG,IAAI,CA8HrC"}
package/dist/lib/src/messaging/deserialization/detections/detection.js CHANGED
@@ -17,6 +17,111 @@ function rotatePoint(point, centerX, centerY, angleDegrees) {
17
17
  y: yRotated + centerY,
18
18
  };
19
19
  }
20
+ function getDetectionGeometry(detection, highlightSizeX, highlightSizeY) {
21
+ const rotatedBoundingBox = detection.boundingBox;
22
+ if (rotatedBoundingBox?.center && rotatedBoundingBox.size) {
23
+ const { center, size, angle } = rotatedBoundingBox;
24
+ const halfWidth = size.width / 2;
25
+ const halfHeight = size.height / 2;
26
+ const topLeft = rotatePoint({ x: center.x - halfWidth, y: center.y - halfHeight }, center.x, center.y, angle);
27
+ const bottomLeft = rotatePoint({ x: center.x - halfWidth, y: center.y + halfHeight }, center.x, center.y, angle);
28
+ const bottomRight = rotatePoint({ x: center.x + halfWidth, y: center.y + halfHeight }, center.x, center.y, angle);
29
+ const topRight = rotatePoint({ x: center.x + halfWidth, y: center.y - halfHeight }, center.x, center.y, angle);
30
+ const outline = [
31
+ topLeft,
32
+ bottomLeft,
33
+ bottomRight,
34
+ topRight,
35
+ ];
36
+ const highlightTopWidth = Math.min(highlightSizeX, size.width);
37
+ const highlightSideHeight = Math.min(highlightSizeY, size.height);
38
+ const highlightSegments = [
39
+ [
40
+ topLeft,
41
+ rotatePoint({ x: center.x - halfWidth + highlightTopWidth, y: center.y - halfHeight }, center.x, center.y, angle),
42
+ ],
43
+ [
44
+ topLeft,
45
+ rotatePoint({ x: center.x - halfWidth, y: center.y - halfHeight + highlightSideHeight }, center.x, center.y, angle),
46
+ ],
47
+ [
48
+ topRight,
49
+ rotatePoint({ x: center.x + halfWidth - highlightTopWidth, y: center.y - halfHeight }, center.x, center.y, angle),
50
+ ],
51
+ [
52
+ topRight,
53
+ rotatePoint({ x: center.x + halfWidth, y: center.y - halfHeight + highlightSideHeight }, center.x, center.y, angle),
54
+ ],
55
+ [
56
+ bottomRight,
57
+ rotatePoint({ x: center.x + halfWidth - highlightTopWidth, y: center.y + halfHeight }, center.x, center.y, angle),
58
+ ],
59
+ [
60
+ bottomRight,
61
+ rotatePoint({ x: center.x + halfWidth, y: center.y + halfHeight - highlightSideHeight }, center.x, center.y, angle),
62
+ ],
63
+ [
64
+ bottomLeft,
65
+ rotatePoint({ x: center.x - halfWidth + highlightTopWidth, y: center.y + halfHeight }, center.x, center.y, angle),
66
+ ],
67
+ [
68
+ bottomLeft,
69
+ rotatePoint({ x: center.x - halfWidth, y: center.y + halfHeight - highlightSideHeight }, center.x, center.y, angle),
70
+ ],
71
+ ];
72
+ const minX = Math.min(...outline.map((point) => point.x));
73
+ const minY = Math.min(...outline.map((point) => point.y));
74
+ return {
75
+ outline,
76
+ highlightSegments,
77
+ labelPosition: { x: minX + highlightSizeX / 2, y: minY + highlightSizeY },
78
+ };
79
+ }
80
+ const outline = [
81
+ { x: detection.xmin, y: detection.ymin },
82
+ { x: detection.xmin, y: detection.ymax },
83
+ { x: detection.xmax, y: detection.ymax },
84
+ { x: detection.xmax, y: detection.ymin },
85
+ ];
86
+ return {
87
+ outline,
88
+ highlightSegments: [
89
+ [
90
+ { x: detection.xmin, y: detection.ymin },
91
+ { x: detection.xmin + highlightSizeX, y: detection.ymin },
92
+ ],
93
+ [
94
+ { x: detection.xmin, y: detection.ymin },
95
+ { x: detection.xmin, y: detection.ymin + highlightSizeY },
96
+ ],
97
+ [
98
+ { x: detection.xmax, y: detection.ymin },
99
+ { x: detection.xmax - highlightSizeX, y: detection.ymin },
100
+ ],
101
+ [
102
+ { x: detection.xmax, y: detection.ymin },
103
+ { x: detection.xmax, y: detection.ymin + highlightSizeY },
104
+ ],
105
+ [
106
+ { x: detection.xmax, y: detection.ymax },
107
+ { x: detection.xmax - highlightSizeX, y: detection.ymax },
108
+ ],
109
+ [
110
+ { x: detection.xmax, y: detection.ymax },
111
+ { x: detection.xmax, y: detection.ymax - highlightSizeY },
112
+ ],
113
+ [
114
+ { x: detection.xmin, y: detection.ymax },
115
+ { x: detection.xmin + highlightSizeX, y: detection.ymax },
116
+ ],
117
+ [
118
+ { x: detection.xmin, y: detection.ymax },
119
+ { x: detection.xmin, y: detection.ymax - highlightSizeY },
120
+ ],
121
+ ],
122
+ labelPosition: { x: detection.xmin + highlightSizeX / 2, y: detection.ymin + highlightSizeY },
123
+ };
124
+ }
20
125
  export function deserializeImgDetections({ topic, message, callback, topicSizes, }) {
21
126
  const { receiveTime } = parseMessage(message);
22
127
  const foxgloveMessage = {
@@ -26,33 +131,23 @@ export function deserializeImgDetections({ topic, message, callback, topicSizes,
26
131
  };
27
132
  if (message.detections.length > 0) {
28
133
  for (const detection of message.detections) {
29
- const detectionWidth = detection.xmax - detection.xmin;
134
+ const detectionWidth = detection.boundingBox?.size?.width ?? detection.xmax - detection.xmin;
135
+ const detectionHeight = detection.boundingBox?.size?.height ?? detection.ymax - detection.ymin;
30
136
  const { width, height } = (message.transformation?.width && message.transformation.height
31
137
  ? { width: message.transformation.width, height: message.transformation.height }
32
138
  : topicSizes.values().next().value ?? { width: DEFAULT_WIDTH, height: DEFAULT_HEIGHT });
33
139
  const ratio = width / height;
34
140
  const highligtLength = 0.035;
35
141
  const highlightSizeX = Math.min(highligtLength, detectionWidth);
36
- const highlightSizeY = Math.min(highligtLength * ratio, detection.ymax - detection.ymin);
142
+ const highlightSizeY = Math.min(highligtLength * ratio, detectionHeight);
143
+ const geometry = getDetectionGeometry(detection, highlightSizeX, highlightSizeY);
37
144
  const style = DETECTION_STYLE[detection.label] ?? DEFAULT_STYLE;
38
145
  if (detection.labelName) {
39
146
  style.label = detection.labelName;
40
147
  }
41
148
  foxgloveMessage.points.push({
42
149
  timestamp: receiveTime,
43
- points: detection.boundingBox?.angle && detection.boundingBox?.center ?
44
- [
45
- rotatePoint({ x: detection.xmin, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
46
- rotatePoint({ x: detection.xmin, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
47
- rotatePoint({ x: detection.xmax, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
48
- rotatePoint({ x: detection.xmax, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
49
- ]
50
- : [
51
- { x: detection.xmin, y: detection.ymin },
52
- { x: detection.xmin, y: detection.ymax },
53
- { x: detection.xmax, y: detection.ymax },
54
- { x: detection.xmax, y: detection.ymin },
55
- ],
150
+ points: geometry.outline,
56
151
  type: PointsAnnotationType.LINE_LOOP,
57
152
  outline_colors: [],
58
153
  thickness: 0,
@@ -105,90 +200,16 @@ export function deserializeImgDetections({ topic, message, callback, topicSizes,
105
200
  outline_color: style.outline,
106
201
  fill_color: DEBUG_COLOR,
107
202
  };
108
- foxgloveMessage.points.push({
109
- ...baseHighlightConfig,
110
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
111
- rotatePoint({ x: detection.xmin, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
112
- rotatePoint({ x: detection.xmin + highlightSizeX, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
113
- ] : [
114
- { x: detection.xmin, y: detection.ymin },
115
- { x: detection.xmin + highlightSizeX, y: detection.ymin },
116
- ],
117
- });
118
- foxgloveMessage.points.push({
119
- ...baseHighlightConfig,
120
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
121
- rotatePoint({ x: detection.xmin, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
122
- rotatePoint({ x: detection.xmin, y: detection.ymin + highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
123
- ] : [
124
- { x: detection.xmin, y: detection.ymin },
125
- { x: detection.xmin, y: detection.ymin + highlightSizeY },
126
- ],
127
- });
128
- foxgloveMessage.points.push({
129
- ...baseHighlightConfig,
130
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
131
- rotatePoint({ x: detection.xmax, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
132
- rotatePoint({ x: detection.xmax - highlightSizeX, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
133
- ] : [
134
- { x: detection.xmax, y: detection.ymin },
135
- { x: detection.xmax - highlightSizeX, y: detection.ymin },
136
- ],
137
- });
138
- foxgloveMessage.points.push({
139
- ...baseHighlightConfig,
140
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
141
- rotatePoint({ x: detection.xmax, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
142
- rotatePoint({ x: detection.xmax, y: detection.ymin + highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
143
- ] : [
144
- { x: detection.xmax, y: detection.ymin },
145
- { x: detection.xmax, y: detection.ymin + highlightSizeY },
146
- ],
147
- });
148
- foxgloveMessage.points.push({
149
- ...baseHighlightConfig,
150
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
151
- rotatePoint({ x: detection.xmax, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
152
- rotatePoint({ x: detection.xmax - highlightSizeX, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
153
- ] : [
154
- { x: detection.xmax, y: detection.ymax },
155
- { x: detection.xmax - highlightSizeX, y: detection.ymax },
156
- ],
157
- });
158
- foxgloveMessage.points.push({
159
- ...baseHighlightConfig,
160
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
161
- rotatePoint({ x: detection.xmax, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
162
- rotatePoint({ x: detection.xmax, y: detection.ymax - highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
163
- ] : [
164
- { x: detection.xmax, y: detection.ymax },
165
- { x: detection.xmax, y: detection.ymax - highlightSizeY },
166
- ],
167
- });
168
- foxgloveMessage.points.push({
169
- ...baseHighlightConfig,
170
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
171
- rotatePoint({ x: detection.xmin, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
172
- rotatePoint({ x: detection.xmin + highlightSizeX, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
173
- ] : [
174
- { x: detection.xmin, y: detection.ymax },
175
- { x: detection.xmin + highlightSizeX, y: detection.ymax },
176
- ],
177
- });
178
- foxgloveMessage.points.push({
179
- ...baseHighlightConfig,
180
- points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
181
- rotatePoint({ x: detection.xmin, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
182
- rotatePoint({ x: detection.xmin, y: detection.ymax - highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
183
- ] : [
184
- { x: detection.xmin, y: detection.ymax },
185
- { x: detection.xmin, y: detection.ymax - highlightSizeY },
186
- ],
187
- });
203
+ for (const segment of geometry.highlightSegments) {
204
+ foxgloveMessage.points.push({
205
+ ...baseHighlightConfig,
206
+ points: segment,
207
+ });
208
+ }
188
209
  const label = `${style.label ?? `Unknown #${detection.label}`} ${Math.round(detection.confidence * 100)}%`;
189
210
  foxgloveMessage.texts.push({
190
211
  timestamp: receiveTime,
191
- position: { x: detection.xmin + highligtLength / 2, y: detection.ymin + highlightSizeY },
212
+ position: geometry.labelPosition,
192
213
  text: label,
193
214
  font_size: getTextSize(width, height),
194
215
  text_color: DEFAULT_TEXT_COLOR,
package/dist/lib/src/messaging/deserialization/detections/detection.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/lib/src/messaging/deserialization/video/h264.d.ts CHANGED
@@ -12,7 +12,8 @@ type DeserializeEncodedFrameH264Args = {
12
12
  message: EncodedFrame | ImgFrame;
13
13
  topicDecoders: TopicDecoders;
14
14
  callback: (event: MessageEvent) => void;
15
+ onError: (error: Error) => void;
15
16
  };
16
- export declare function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback }: DeserializeEncodedFrameH264Args): Promise<void>;
17
+ export declare function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback, onError, }: DeserializeEncodedFrameH264Args): Promise<void>;
17
18
  export {};
18
19
  //# sourceMappingURL=h264.d.ts.map
package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map CHANGED
@@ -1 +1 @@
1
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