websocket-proxy 0.1.2__tar.gz → 0.3.0__tar.gz

{websocket_proxy-0.1.2 → websocket_proxy-0.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.3
 Name: websocket-proxy
-Version: 0.1.2
+Version: 0.3.0
 Summary: Foxglove WebSocket proxy with message transformations
 Keywords: websocket,foxglove,robotics,ros,ros2,proxy,compression
 Author: Marko Bausch
@@ -18,14 +18,12 @@ Classifier: Programming Language :: Python :: 3.13
 Classifier: Topic :: Internet
 Classifier: Topic :: Scientific/Engineering
 Classifier: Typing :: Typed
-Requires-Dist: numpy>=2.0.0
-Requires-Dist: pointcloud2>=0.2.3
+Requires-Dist: pymcap-cli[video,pointcloud]
 Requires-Dist: websockets>=15.0.1
 Requires-Dist: typing-extensions>=4.12.2
 Requires-Dist: mcap-ros2-support-fast
 Requires-Dist: robo-ws-bridge
 Requires-Dist: rich>=14.2.0
-Requires-Dist: av>=12.0.0
 Requires-Python: >=3.10
 Project-URL: Homepage, https://github.com/mrkbac/robotic-tools
 Project-URL: Issues, https://github.com/mrkbac/robotic-tools/issues

{websocket_proxy-0.1.2 → websocket_proxy-0.3.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "websocket-proxy"
-version = "0.1.2"
+version = "0.3.0"
 description = "Foxglove WebSocket proxy with message transformations"
 readme = "README.md"
 requires-python = ">=3.10"
@@ -25,14 +25,12 @@ classifiers = [
     "Typing :: Typed",
 ]
 dependencies = [
-    "numpy>=2.0.0",
-    "pointcloud2>=0.2.3",
+    "pymcap-cli[video,pointcloud]",
     "websockets>=15.0.1",
     "typing-extensions>=4.12.2",
     "mcap-ros2-support-fast",
     "robo-ws-bridge",
     "rich>=14.2.0",
-    "av>=12.0.0",
 ]
 
 [project.urls]
@@ -49,7 +47,7 @@ build-backend = "uv_build"
 
 [tool.uv.sources]
 mcap-ros2-support-fast = { workspace = true }
-pointcloud2 = { workspace = true }
+pymcap-cli = { workspace = true }
 robo-ws-bridge = { workspace = true }
 
 [dependency-groups]

{websocket_proxy-0.1.2 → websocket_proxy-0.3.0}/src/websocket_proxy/__init__.py

@@ -3,11 +3,11 @@
 from websocket_proxy.proxy import ProxyBridge
 from websocket_proxy.transformers import TransformerRegistry
 from websocket_proxy.transformers.image_to_video import ImageToVideoTransformer
-from websocket_proxy.transformers.pointcloud_voxel import PointCloudVoxelTransformer
+from websocket_proxy.transformers.pointcloud_pureini import PointCloudPureiniTransformer
 
 __all__ = [
     "ImageToVideoTransformer",
-    "PointCloudVoxelTransformer",
+    "PointCloudPureiniTransformer",
     "ProxyBridge",
     "TransformerRegistry",
 ]

{websocket_proxy-0.1.2 → websocket_proxy-0.3.0}/src/websocket_proxy/__main__.py

@@ -12,7 +12,7 @@ from websocket_proxy.dashboard import DashboardRenderer
 from websocket_proxy.proxy import ProxyBridge
 from websocket_proxy.transformers import TransformerRegistry
 from websocket_proxy.transformers.image_to_video import ImageToVideoTransformer
-from websocket_proxy.transformers.pointcloud_voxel import PointCloudVoxelTransformer
+from websocket_proxy.transformers.pointcloud_pureini import PointCloudPureiniTransformer
 
 logger = logging.getLogger(__name__)
 
@@ -86,16 +86,22 @@ def parse_args() -> argparse.Namespace:
     )
 
     parser.add_argument(
-        "--pointcloud-voxel-size",
-        type=float,
-        default=0.1,
-        help="Voxel size (in meters) for point cloud downsampling (default: 0.1)",
+        "--pointcloud-encoding",
+        choices=["lossy", "lossless", "none"],
+        default="lossy",
+        help="Point cloud encoding mode (default: lossy)",
     )
     parser.add_argument(
-        "--pointcloud-keep-nans",
-        dest="pointcloud_skip_nans",
-        action="store_false",
-        help="Keep NaN points when voxelizing point clouds (default: drop NaNs)",
+        "--pointcloud-compression",
+        choices=["zstd", "lz4", "none"],
+        default="zstd",
+        help="Point cloud compression algorithm (default: zstd)",
+    )
+    parser.add_argument(
+        "--pointcloud-resolution",
+        type=float,
+        default=0.01,
+        help="Resolution for lossy float compression of point clouds (default: 0.01)",
     )
 
     parser.add_argument(
@@ -110,7 +116,7 @@ def parse_args() -> argparse.Namespace:
         help="Dashboard refresh rate in seconds (default: 1.0)",
     )
 
-    parser.set_defaults(image_use_hardware=True, pointcloud_skip_nans=True)
+    parser.set_defaults(image_use_hardware=True)
     return parser.parse_args()
 
 
@@ -132,9 +138,10 @@ async def main_async(args: argparse.Namespace) -> None:
     )
     registry.register(image_transformer)
 
-    pointcloud_transformer = PointCloudVoxelTransformer(
-        voxel_size=args.pointcloud_voxel_size,
-        skip_nans=args.pointcloud_skip_nans,
+    pointcloud_transformer = PointCloudPureiniTransformer(
+        encoding=args.pointcloud_encoding,
+        compression=args.pointcloud_compression,
+        resolution=args.pointcloud_resolution,
     )
     registry.register(pointcloud_transformer)