fix(k1): stabilize repeated acquisition and live viewer recovery

2026-07-29 01:55:12 +03:00
parent 37b8930527
commit 2a97cf28c0
28 changed files with 2776 additions and 286 deletions
@@ -104,6 +104,14 @@ function normalizeState(
    viewerSettings: state.viewer_settings,
    sourceMode: confirmedRuntimeSourceMode(state),
    metrics: {
+      publishedFrameCount: (
+        Number.isSafeInteger(metrics?.pcl_frames) &&
+        Number.isSafeInteger(metrics?.pose_frames) &&
+        (metrics?.pcl_frames ?? -1) >= 0 &&
+        (metrics?.pose_frames ?? -1) >= 0
+      )
+        ? (metrics?.pcl_frames ?? 0) + (metrics?.pose_frames ?? 0)
+        : null,
      latencyMs: pipelineLatency(metrics),
      frameRateHz: finiteMetric(metrics?.frame_rate ?? metrics?.frame_rate_hz),
      pointCount: finiteMetric(metrics?.point_count),