Data Streams

from reactivex import operators as ops
from dimos.utils.reactive import backpressure
from dimos.types.timestamped import align_timestamped
from dimos.msgs.sensor_msgs.Image import sharpness_barrier

# Camera at 30fps, lidar at 10Hz
camera_stream = camera.observable()
lidar_stream = lidar.observable()

# Pipeline: filter blurry frames -> align with lidar -> handle slow consumers
processed = (
    camera_stream.pipe(
        sharpness_barrier(10.0),  # Keep sharpest frame per 100ms window (10Hz)
    )
)

aligned = align_timestamped(
    backpressure(processed),     # Camera as primary
    lidar_stream,                # Lidar as secondary
    match_tolerance=0.1,
)

aligned.subscribe(lambda pair: process_frame_with_pointcloud(*pair))