@luxonis/visualizer-protobuf 3.1.12 → 3.1.14

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 (68) hide show
  1. package/dist/{FoxgloveServer-Da9kV1cr.js → FoxgloveServer-CpnCBMeV.js} +1 -1
  2. package/dist/{communicator-Dh2aL-rj.js → communicator-DO6hmBxI.js} +1 -1
  3. package/dist/{depth-DiD1V2Sg.js → depth-Me_0Xnx6.js} +89 -2
  4. package/dist/{deserialization.worker-CxHfbNSI.js → deserialization.worker-CUrCdjHf.js} +435 -154
  5. package/dist/{foxglove-protocol-BtLMVx24.js → foxglove-protocol-SrBOBs-8.js} +1 -1
  6. package/dist/{index-B5oN0fQm.js → index-5ZSfZI8d.js} +1 -1
  7. package/dist/{index-yO9F9DL5.js → index-B8aafdRQ.js} +5 -5
  8. package/dist/{index-gafqmUmi.js → index-BMew9qiQ.js} +57 -126
  9. package/dist/{index-BydKxany.js → index-BsIRFSYD.js} +36 -9
  10. package/dist/{index-B8JZ9tAh.js → index-CIhAU5Cs.js} +5 -5
  11. package/dist/{index-DuP_Wg3E.js → index-CN6tI-uI.js} +5 -5
  12. package/dist/{index-BFAcwVLJ.js → index-CQtXiN8I.js} +5 -5
  13. package/dist/{index-C-n27_wk.js → index-CZGEFE1k.js} +5 -5
  14. package/dist/{index-O1aT66OM.js → index-CeRrHeG_.js} +5 -5
  15. package/dist/{index-BtMMMbp8.js → index-CqH6rdRP.js} +5 -5
  16. package/dist/{index-CVrY6MoS.js → index-CrPun-aU.js} +5 -5
  17. package/dist/{index-9Qz76jnn.js → index-Dc3rS1Cf.js} +7 -7
  18. package/dist/{index-RxEWv1Fn.js → index-DgNYLOM9.js} +5 -5
  19. package/dist/{index-8bTMarZg.js → index-DjRF0u25.js} +5 -5
  20. package/dist/{index-CwAmHvi3.js → index-Dmc1065I.js} +5 -5
  21. package/dist/{index-BvC_JYBX.js → index-Dn6pTTdu.js} +5 -5
  22. package/dist/{index-DXdd6C_Q.js → index-N2I7Bhtx.js} +5 -5
  23. package/dist/{index-CQhsew4_.js → index-_Z7btKy-.js} +5 -5
  24. package/dist/{index-D_TjqfY9.js → index-_ggcs841.js} +5 -5
  25. package/dist/{index-oyn_LQK1.js → index-svPKcEP3.js} +5 -5
  26. package/dist/{index-DnaaNoIT.js → index-u1cGSF5c.js} +5 -5
  27. package/dist/index.js +5 -5
  28. package/dist/lib/src/components/PanelToolbar.d.ts.map +1 -1
  29. package/dist/lib/src/components/PanelToolbar.js +2 -2
  30. package/dist/lib/src/components/PanelToolbar.js.map +1 -1
  31. package/dist/lib/src/connection/foxglove-connection.d.ts.map +1 -1
  32. package/dist/lib/src/connection/foxglove-connection.js +12 -2
  33. package/dist/lib/src/connection/foxglove-connection.js.map +1 -1
  34. package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js +59 -20
  35. package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map +1 -1
  36. package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts.map +1 -1
  37. package/dist/lib/src/messaging/deserialization/pointcloud/utils.js.map +1 -1
  38. package/dist/lib/src/messaging/deserialization/video/h264.d.ts +4 -1
  39. package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map +1 -1
  40. package/dist/lib/src/messaging/deserialization/video/h264.js +25 -13
  41. package/dist/lib/src/messaging/deserialization/video/h264.js.map +1 -1
  42. package/dist/lib/src/messaging/deserialization/video/h265.d.ts +3 -0
  43. package/dist/lib/src/messaging/deserialization/video/h265.d.ts.map +1 -1
  44. package/dist/lib/src/messaging/deserialization/video/h265.js +21 -9
  45. package/dist/lib/src/messaging/deserialization/video/h265.js.map +1 -1
  46. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.d.ts +5 -5
  47. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.d.ts.map +1 -1
  48. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.js +362 -91
  49. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.js.map +1 -1
  50. package/dist/lib/src/messaging/protobuf.d.ts +2 -2
  51. package/dist/lib/src/messaging/protobuf.d.ts.map +1 -1
  52. package/dist/lib/src/messaging/protobuf.js +3 -3
  53. package/dist/lib/src/messaging/protobuf.js.map +1 -1
  54. package/dist/lib/src/utils/poitcloud-sync.d.ts +7 -2
  55. package/dist/lib/src/utils/poitcloud-sync.d.ts.map +1 -1
  56. package/dist/lib/src/utils/poitcloud-sync.js +10 -6
  57. package/dist/lib/src/utils/poitcloud-sync.js.map +1 -1
  58. package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.d.ts.map +1 -1
  59. package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js +7 -2
  60. package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js.map +1 -1
  61. package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.d.ts.map +1 -1
  62. package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.js +33 -1
  63. package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.js.map +1 -1
  64. package/dist/{pointcloudFromDepth.worker-60RA4Ief.js → pointcloudFromDepth.worker-wzSOsJVb.js} +86 -47
  65. package/dist/{protobuf-OcbVtxg1.js → protobuf-CKMA2Rn8.js} +214 -214
  66. package/dist/{worker-C2MHIq3t.js → worker-Bhe7uYcO.js} +4 -4
  67. package/dist/{worker-Be-hru8f.js → worker-VIU0v1ZW.js} +3 -3
  68. package/package.json +1 -1
package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/lib/src/messaging/protobuf.d.ts CHANGED
@@ -4,8 +4,8 @@ import { ImageAnnotations } from "../protobuf.generated/ImageAnnotations.js";
4
4
  import { ImgDetections } from "../protobuf.generated/ImgDetections.js";
5
5
  import { ImgFrame } from "../protobuf.generated/ImgFrame.js";
6
6
  import { PointCloudData } from "../protobuf.generated/PointCloudData.js";
7
- import { SpatialImgDetections } from "../protobuf.generated/SpatialImgDetections.js";
8
7
  import { RGBDData } from "../protobuf.generated/RGBDData.js";
8
+ import { SpatialImgDetections } from "../protobuf.generated/SpatialImgDetections.js";
9
9
  export type ProtobufKind = MessagePacketKind;
10
10
  export declare const protobufs: {
11
11
  encodedFrame: {
@@ -49,7 +49,7 @@ export declare const protobufs: {
49
49
  kind: "rgbd";
50
50
  };
51
51
  };
52
- export type MessagePacketKind = "image" | "pointCloud" | "annotations" | "imu" | 'rgbd';
52
+ export type MessagePacketKind = "image" | "pointCloud" | "annotations" | "imu" | "rgbd";
53
53
  export declare function protobufSchemaNameToType(name: string | undefined): MessagePacketKind;
54
54
  export type ProtobufType = keyof typeof protobufs;
55
55
  export declare const protobufsBySchema: {
package/dist/lib/src/messaging/protobuf.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"protobuf.d.ts","sourceRoot":"","sources":["../../../../src/messaging/protobuf.ts"],"names":[],"mappings":"AAIA,OAAO,EACL,YAAY,EAGb,MAAM,uCAAuC,CAAC;AAC/C,OAAO,EAAE,OAAO,EAAmB,MAAM,kCAAkC,CAAC;AAC5E,OAAO,EACL,gBAAgB,EAGjB,MAAM,2CAA2C,CAAC;AACnD,OAAO,EACL,aAAa,EAGd,MAAM,wCAAwC,CAAC;AAChD,OAAO,EACL,QAAQ,EAGT,MAAM,mCAAmC,CAAC;AAC3C,OAAO,EACL,cAAc,EAGf,MAAM,yCAAyC,CAAC;AACjD,OAAO,EAGL,oBAAoB,EACrB,MAAM,+CAA+C,CAAC;AACvD,OAAO,EACL,QAAQ,EAGT,MAAM,mCAAmC,CAAC;AAE3C,MAAM,MAAM,YAAY,GAAG,iBAAiB,CAAC;AAE7C,eAAO,MAAM,SAAS;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAyCrB,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG,OAAO,GAAG,YAAY,GAAG,aAAa,GAAG,KAAK,GAAG,MAAM,CAAC;AAExF,wBAAgB,wBAAwB,CAAC,IAAI,EAAE,MAAM,GAAG,SAAS,GAAG,iBAAiB,CAkBpF;AAED,MAAM,MAAM,YAAY,GAAG,MAAM,OAAO,SAAS,CAAC;AAElD,eAAO,MAAM,iBAAiB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAE7B,CAAC"}
1
+ {"version":3,"file":"protobuf.d.ts","sourceRoot":"","sources":["../../../../src/messaging/protobuf.ts"],"names":[],"mappings":"AAIA,OAAO,EACL,YAAY,EAGb,MAAM,uCAAuC,CAAC;AAC/C,OAAO,EAAE,OAAO,EAAmB,MAAM,kCAAkC,CAAC;AAC5E,OAAO,EACL,gBAAgB,EAGjB,MAAM,2CAA2C,CAAC;AACnD,OAAO,EACL,aAAa,EAGd,MAAM,wCAAwC,CAAC;AAChD,OAAO,EACL,QAAQ,EAGT,MAAM,mCAAmC,CAAC;AAC3C,OAAO,EACL,cAAc,EAGf,MAAM,yCAAyC,CAAC;AACjD,OAAO,EACL,QAAQ,EAGT,MAAM,mCAAmC,CAAC;AAC3C,OAAO,EAGL,oBAAoB,EACrB,MAAM,+CAA+C,CAAC;AAEvD,MAAM,MAAM,YAAY,GAAG,iBAAiB,CAAC;AAE7C,eAAO,MAAM,SAAS;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAyCrB,CAAC;AAEF,MAAM,MAAM,iBAAiB,GAAG,OAAO,GAAG,YAAY,GAAG,aAAa,GAAG,KAAK,GAAG,MAAM,CAAC;AAExF,wBAAgB,wBAAwB,CAAC,IAAI,EAAE,MAAM,GAAG,SAAS,GAAG,iBAAiB,CAkBpF;AAED,MAAM,MAAM,YAAY,GAAG,MAAM,OAAO,SAAS,CAAC;AAElD,eAAO,MAAM,iBAAiB;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;CAE7B,CAAC"}
package/dist/lib/src/messaging/protobuf.js CHANGED
@@ -7,8 +7,8 @@ import { ImageAnnotations, protobufName as ImageAnnotationsProto, protobufPackag
7
7
  import { ImgDetections, protobufName as ImgDetectionsProto, protobufPackage as ImgDetectionsPackage, } from "../protobuf.generated/ImgDetections.js";
8
8
  import { ImgFrame, protobufName as ImgFrameProto, protobufPackage as ImgFramePackage, } from "../protobuf.generated/ImgFrame.js";
9
9
  import { PointCloudData, protobufName as PointCloudDataProto, protobufPackage as PointCloudDataPackage, } from "../protobuf.generated/PointCloudData.js";
10
- import { protobufName as SpatialImgDetectionsProto, protobufPackage as SpatialImgDetectionsPackage, SpatialImgDetections, } from "../protobuf.generated/SpatialImgDetections.js";
11
10
  import { RGBDData, protobufName as RGBDDataProto, protobufPackage as RGBDDataPackage, } from "../protobuf.generated/RGBDData.js";
11
+ import { protobufName as SpatialImgDetectionsProto, protobufPackage as SpatialImgDetectionsPackage, SpatialImgDetections, } from "../protobuf.generated/SpatialImgDetections.js";
12
12
  export const protobufs = {
13
13
  encodedFrame: {
14
14
  name: `${EncodedFramePackage}.${EncodedFrameProto}`,
@@ -64,8 +64,8 @@ export function protobufSchemaNameToType(name) {
64
64
  return "imu";
65
65
  case "pointCloud":
66
66
  return "pointCloud";
67
- case 'rgbd':
68
- return 'rgbd';
67
+ case "rgbd":
68
+ return "rgbd";
69
69
  default:
70
70
  throw new Error(`Unknown protobuf schema name: ${name}`);
71
71
  }
package/dist/lib/src/messaging/protobuf.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/lib/src/utils/poitcloud-sync.d.ts CHANGED
@@ -1,9 +1,14 @@
1
1
  import type { PointCloudWithDimensions } from "../messaging/deserialization/video/depth";
2
- import { PointCloudWithColorAndDepth } from "../messaging/deserialization/video/rgbd-to-pointcloud";
2
+ import type { PointCloudWithColorAndDepth } from "../messaging/deserialization/video/rgbd-to-pointcloud.js";
3
+ type TimestampLike = {
4
+ sec: number;
5
+ nsec: number;
6
+ };
3
7
  export declare class PoitCloudSyncFramework {
4
8
  #private;
5
9
  storedFrames: PointCloudWithDimensions[] | PointCloudWithColorAndDepth[];
6
- getFrame(nsec: number): PointCloudWithDimensions | PointCloudWithColorAndDepth | null;
10
+ getFrame(timestamp: TimestampLike): PointCloudWithDimensions | PointCloudWithColorAndDepth | null;
7
11
  addFrame(frame: PointCloudWithDimensions | PointCloudWithColorAndDepth): void;
8
12
  }
13
+ export {};
9
14
  //# sourceMappingURL=poitcloud-sync.d.ts.map
package/dist/lib/src/utils/poitcloud-sync.d.ts.map CHANGED
@@ -1 +1 @@
1
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1
+ {"version":3,"file":"poitcloud-sync.d.ts","sourceRoot":"","sources":["../../../../src/utils/poitcloud-sync.ts"],"names":[],"mappings":"AAGA,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,0CAA0C,CAAC;AACzF,OAAO,KAAK,EAAE,2BAA2B,EAAE,MAAM,0DAA0D,CAAC;AAE5G,KAAK,aAAa,GAAG;IACnB,GAAG,EAAE,MAAM,CAAC;IACZ,IAAI,EAAE,MAAM,CAAC;CACd,CAAC;AAEF,qBAAa,sBAAsB;;IA4C1B,YAAY,EAAE,wBAAwB,EAAE,GAAG,2BAA2B,EAAE,CAAM;IAG9E,QAAQ,CAAC,SAAS,EAAE,aAAa,GAAG,wBAAwB,GAAG,2BAA2B,GAAG,IAAI;IAuBjG,QAAQ,CAAC,KAAK,EAAE,wBAAwB,GAAG,2BAA2B,GAAG,IAAI;CAQrF"}
package/dist/lib/src/utils/poitcloud-sync.js CHANGED
@@ -1,4 +1,7 @@
1
1
  export class PoitCloudSyncFramework {
2
+ #toTimestampKey(timestamp) {
3
+ return timestamp.sec * 1_000_000_000 + timestamp.nsec;
4
+ }
2
5
  #binarySearch(arr, targetKey) {
3
6
  let left = 0;
4
7
  let right = arr.length;
@@ -7,13 +10,13 @@ export class PoitCloudSyncFramework {
7
10
  if (!element) {
8
11
  return { res: null, index: 0 };
9
12
  }
10
- if (element.timestamp.nsec < targetKey) {
13
+ if (this.#toTimestampKey(element.timestamp) < targetKey) {
11
14
  return { res: arr[arr.length - 1], index: arr.length };
12
15
  }
13
16
  while (left <= right) {
14
17
  const mid = Math.floor((left + right) / 2);
15
18
  // biome-ignore lint/style/noNonNullAssertion:
16
- const midKey = arr[mid].timestamp.nsec;
19
+ const midKey = this.#toTimestampKey(arr[mid].timestamp);
17
20
  if (midKey === targetKey) {
18
21
  if ((Math.abs(midKey - targetKey) / 10 ** 9) < this.#MAX_DELAY_SEC) {
19
22
  return { res: bestMatch, index: left };
@@ -28,7 +31,7 @@ export class PoitCloudSyncFramework {
28
31
  right = mid - 1;
29
32
  }
30
33
  }
31
- if (bestMatch && (Math.abs(bestMatch.timestamp.nsec - targetKey) / 10 ** 9) < this.#MAX_DELAY_SEC) {
34
+ if (bestMatch && (Math.abs(this.#toTimestampKey(bestMatch.timestamp) - targetKey) / 10 ** 9) < this.#MAX_DELAY_SEC) {
32
35
  return { res: bestMatch, index: left };
33
36
  }
34
37
  return { res: null, index: left };
@@ -36,8 +39,9 @@ export class PoitCloudSyncFramework {
36
39
  storedFrames = [];
37
40
  #MAX_DELAY_SEC = 0.065;
38
41
  #MAX_STORED_FRAMES = 100;
39
- getFrame(nsec) {
40
- const { res, index = 0 } = this.#binarySearch(this.storedFrames, nsec);
42
+ getFrame(timestamp) {
43
+ const targetKey = this.#toTimestampKey(timestamp);
44
+ const { res, index = 0 } = this.#binarySearch(this.storedFrames, targetKey);
41
45
  // cleans the array
42
46
  for (let i = 0; i < index; i++) {
43
47
  Array.prototype.shift.call(this.storedFrames);
@@ -47,7 +51,7 @@ export class PoitCloudSyncFramework {
47
51
  }
48
52
  const popedFrame = this.storedFrames.pop();
49
53
  if (popedFrame) {
50
- if ((Math.abs(popedFrame.timestamp.nsec - nsec) / 10 ** 9) < this.#MAX_DELAY_SEC) {
54
+ if ((Math.abs(this.#toTimestampKey(popedFrame.timestamp) - targetKey) / 10 ** 9) < this.#MAX_DELAY_SEC) {
51
55
  return popedFrame;
52
56
  }
53
57
  //@ts-ignore
package/dist/lib/src/utils/poitcloud-sync.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.d.ts.map CHANGED
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package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js CHANGED
@@ -1228,9 +1228,14 @@ export class Renderer extends EventEmitter {
1228
1228
  }
1229
1229
  // 4. Get the intersection point in local space
1230
1230
  const intersection = intersects[0];
1231
+ if (!intersection) {
1232
+ return null;
1233
+ }
1231
1234
  const localPoint = picked.worldToLocal(intersection.point.clone());
1232
- // 5. Normalize localPoint to [0, 1] based on the bounding box
1233
- const box = new THREE.Box3().setFromObject(picked);
1235
+ // 5. Normalize localPoint to [0, 1] based on the object's local-space bounding box.
1236
+ picked.updateWorldMatrix(true, true);
1237
+ const inverseMatrix = picked.matrixWorld.clone().invert();
1238
+ const box = new THREE.Box3().setFromObject(picked).applyMatrix4(inverseMatrix);
1234
1239
  const size = new THREE.Vector3();
1235
1240
  box.getSize(size);
1236
1241
  // Avoid division by zero
package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.d.ts.map CHANGED
@@ -1 +1 @@
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+ {"version":3,"file":"ThreeDeeRender.d.ts","sourceRoot":"","sources":["../../../../../../../packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.tsx"],"names":[],"mappings":"AAMA,OAAO,KAAK,KAAK,MAAM,OAAO,CAAC;AAI/B,OAAO,KAAK,EAAE,WAAW,EAAE,MAAM,eAAe,CAAC;AAiBjD,OAAO,KAAK,EAAE,4BAA4B,EAAE,MAAM,wDAAwD,CAAC;AAE3G,OAAO,EAEL,KAAK,oBAAoB,EAC1B,MAAM,kEAAkE,CAAC;AAG1E,OAAO,KAAK,EAMV,WAAW,EACZ,MAAM,aAAa,CAAC;AAGrB,OAAO,EAAE,QAAQ,EAAE,MAAM,YAAY,CAAC;AActC,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,SAAS,CAAC;AAgE7C;;GAEG;AACH,wBAAgB,cAAc,CAAC,KAAK,EAAE;IACpC,OAAO,EAAE,4BAA4B,CAAC;IACtC,aAAa,EAAE,aAAa,CAAC;IAC7B,WAAW,EAAE,WAAW,CAAC;IACzB,mFAAmF;IACnF,qBAAqB,CAAC,EAAE,WAAW,CAAC,oBAAoB,CAAC,CAAC;IAC1D,kBAAkB,CAAC,EAAE,MAAM,IAAI,CAAC;IAChC,8BAA8B,CAAC,EAAE,MAAM,IAAI,CAAC;IAC5C,aAAa,CAAC,EAAE,CACd,KAAK,EAAE,KAAK,CAAC,UAAU,EACvB,iBAAiB,EAAE;QAAE,OAAO,EAAE,MAAM,CAAC;QAAC,OAAO,EAAE,MAAM,CAAA;KAAE,GAAG,SAAS,KAChE,IAAI,CAAC;IACV,0BAA0B,CAAC,EAAE,CAC3B,WAAW,EAAE;QAAE,CAAC,EAAE,MAAM,CAAC;QAAC,CAAC,EAAE,MAAM,CAAA;KAAE,EACrC,iBAAiB,EAAE;QAAE,OAAO,EAAE,MAAM,CAAC;QAAC,OAAO,EAAE,MAAM,CAAA;KAAE,GAAG,SAAS,KAChE,IAAI,CAAC;IACV,gBAAgB,CAAC,EAAE,CAAC,QAAQ,EAAE,QAAQ,KAAK,IAAI,CAAC;IAChD,kBAAkB,CAAC,EAAE,MAAM,IAAI,CAAC;IAChC,aAAa,CAAC,EAAE,GAAG,CAAC,OAAO,CAAC;CAC7B,GAAG,GAAG,CAAC,OAAO,CAg0Bd"}
package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.js CHANGED
@@ -30,6 +30,34 @@ const PANEL_STYLE = {
30
30
  display: "flex",
31
31
  position: "relative",
32
32
  };
33
+ const POINT_CLOUD_RENDER_SCHEMAS = new Set([
34
+ "foxglove.PointCloud",
35
+ "foxglove.PointClouds",
36
+ "foxglove.PointCloud.Colored",
37
+ "foxglove.PointClouds.Colored",
38
+ ]);
39
+ function getOffsetCoordsFromPickedInstance(selection) {
40
+ if (!selection || selection.instanceIndex == undefined) {
41
+ return undefined;
42
+ }
43
+ const pointCloud = selection.renderable.userData.pointCloud;
44
+ const width = pointCloud?.width;
45
+ const height = pointCloud?.height;
46
+ if (width == undefined ||
47
+ height == undefined ||
48
+ width <= 0 ||
49
+ height <= 0 ||
50
+ selection.instanceIndex < 0 ||
51
+ selection.instanceIndex >= width * height) {
52
+ return undefined;
53
+ }
54
+ const pixelX = selection.instanceIndex % width;
55
+ const pixelY = Math.floor(selection.instanceIndex / width);
56
+ return {
57
+ offsetX: (pixelX + 0.5) / width,
58
+ offsetY: (pixelY + 0.5) / height,
59
+ };
60
+ }
33
61
  /**
34
62
  * A panel that renders a 3D scene. This is a thin wrapper around a `Renderer` instance.
35
63
  */
@@ -290,7 +318,7 @@ export function ThreeDeeRender(props) {
290
318
  // allFrames has messages on preloaded topics across all frames (as they are loaded)
291
319
  setAllFrames(renderState.allFrames);
292
320
  if (props.frameRenderedEvent !== undefined &&
293
- renderState.currentFrame?.find((m) => m.schemaName === "foxglove.PointCloud")) {
321
+ renderState.currentFrame?.find((m) => POINT_CLOUD_RENDER_SCHEMAS.has(m.schemaName))) {
294
322
  props.frameRenderedEvent();
295
323
  }
296
324
  });
@@ -638,6 +666,10 @@ export function ThreeDeeRender(props) {
638
666
  if (!selectedObject) {
639
667
  return;
640
668
  }
669
+ const pointCloudOffsetCoords = getOffsetCoordsFromPickedInstance(selectedObject);
670
+ if (pointCloudOffsetCoords) {
671
+ return pointCloudOffsetCoords;
672
+ }
641
673
  // Calculate the percentage offset coordinates relative to the renderable
642
674
  // This is number from <0, 1> range and can be used to map click position to depth data
643
675
  const percentageOffsetCoordinates = renderer.getCursorRelativeCoords(cursorCoordinates, selectedObject.renderable);