### Run XViz ROS Example 2

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros/README.md

These commands set up and run the XViz ROS converter with the specified configuration. It involves navigating to the example directory, installing dependencies with yarn, and starting the server with the correct data path and configuration file.

```bash
$ cd examples/converters/ros
$ yarn
$ node index.js -d ../../../data/kitti/ --rosConfig config-2.json
```

--------------------------------

### Start Live Example (JavaScript)

Source: https://github.com/aurora-opensource/xviz/blob/master/python/README.md

Starts the live example for XVIZ protocol integration with streetscape.gl. This requires navigating to the examples directory and using yarn.

```bash
cd examples/get-started && yarn start-live
```

--------------------------------

### Serve XVIZ Data with ROS Configuration

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros/README.md

This command starts the XVIZ data server using the specified ROS configuration (config-1.json) and data directory. It requires Node.js and the 'yarn' package manager to be installed.

```bash
cd examples/converters/ros
yarn
node index.js -d ../../../data/kitti/ --rosConfig config-1.json
```

--------------------------------

### Server Startup with XVIZServer

Source: https://github.com/aurora-opensource/xviz/blob/master/dev-docs/004-server-module-rfc.md

Demonstrates the basic setup for starting an XVIZ server by instantiating XVIZServer and providing custom handlers. This code initializes the server and prepares it to handle incoming connections.

```javascript
import {CustomHandler} from './custom-handler';
import {XVIZServer} from '@xviz/server';

function main() {
  // This is the code that will receive the 
  const myHandler = new CustomHandler(...);  

  // This starts the server.
  const server = new  XVIZServer([myHandlers], ...);
}
```

--------------------------------

### Start XVIZ Stream Server

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/getting-started/running-the-example.md

Starts an XVIZ stream server to serve converted data. This requires installing dependencies, building modules, and then running the server executable with the data directory and port specified.

```bash
yarn bootstrap # Install deps and build modules
./modules/server/bin/babel-xvizserver -d data/generated/kitti/2011_09_26/2011_09_26_drive_0005_sync --port 8081
```

--------------------------------

### Install Dependencies and Build Modules

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/getting-started/xviz-server.md

This command installs project dependencies and builds the necessary modules using yarn.

```bash
yarn bootstrap
```

--------------------------------

### XVIZ Start Message (JSON)

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/protocol-formats/json-protocol.md

Example of the XVIZ 'start' message sent from the server to the client. It includes version, session type, and message format.

```JSON
{
    "type": "xviz/start",
    "data": {
        "version": "2.0.0",
        "session_type": "LIVE",
        "message_format": "JSON"
    }
}
```

--------------------------------

### Clone and Bootstrap XVIZ Project

Source: https://github.com/aurora-opensource/xviz/blob/master/README.md

This snippet demonstrates how to clone the XVIZ repository and install its dependencies using yarn. It's the initial setup step for working with the project.

```bash
# Clone XVIZ
$ git clone https://github.com/uber/xviz.git
$ cd xviz

# Install dependencies
$ yarn bootstrap
```

--------------------------------

### Install XVIZ Builder with yarn

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/developers-guide/installing-xviz.md

Installs the @xviz/builder module using yarn, which provides classes to help build and write XVIZ data.

```bash
yarn add @xviz/builder
```

--------------------------------

### Setup XVIZ Server and Conversion Commands

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros-custom/README.md

Configures command-line arguments for XVIZ server and conversion using yargs. It sets up a middleware to run the custom ROS provider registration before executing any commands.

```javascript
import {serverArgs} from '@xviz/server';
import {convertArgs} from '@xviz/ros';

function main() {
  const yargs = require('yargs');

  let args = yargs.alias('h', 'help');

  args = convertArgs(args);
  args = serverArgs(args);

  // This will parse and execute the server command
  args.middleware(setupROSProvider).parse();
}

main();
```

--------------------------------

### Install XVIZ Builder with npm

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/developers-guide/installing-xviz.md

Installs the @xviz/builder module using npm, which provides classes to help build and write XVIZ data.

```bash
npm install @xviz/builder
```

--------------------------------

### Convert KITTI to XVIZ

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/getting-started/running-the-example.md

Converts KITTI dataset to XVIZ format using a provided script. This involves installing dependencies and running the start command with the data directory. Options are available to control output, disable streams, and resize images.

```bash
cd examples/converters/kitti
yarn  # install dependencies
yarn start -d 2011_09_26/2011_09_26_drive_0005_sync
```

```bash
yarn start -d 2011_09_26/2011_09_26_drive_0005_sync --image-max-width=300 --disable-streams=image_01,image_02
```

--------------------------------

### Run XVIZ Server with ROS Data

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros-custom/README.md

Starts the XVIZ server to serve ROS data. Requires a ROS configuration file and data directory. The server can be accessed via a web browser at http://localhost:8080.

```Shell
$ node index.js server -d ../../../data/kitti --rosConfig kitti.json
```

--------------------------------

### Serve Converted XVIZ Data

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros-custom/README.md

Starts the XVIZ server to serve data that has already been converted to the XVIZ format. Requires specifying the directory where the converted data is stored.

```Shell
$ node index.js server -d ../../../data/kitti/custom-example
```

--------------------------------

### Start Streaming Local Client

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/getting-started/running-the-example.md

Starts the streetscape.gl client application to connect to a local streaming server. This command is used after setting up the streetscape.gl starter kit.

```javascript
streetscape.gl/examples/get-started$ yarn start-streaming-local
```

--------------------------------

### xvizros bagdump Command Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/ros/tools/xvizros-tool.md

An example of using the 'bagdump' command with the '--dumpTopics' option to list topics in a specific ROS bag file.

```bash
./modules/ros/bin/xvizros bagdump --dumpTopics data/kitti/kitti_2011_09_26_drive_0005_synced.bag
```

--------------------------------

### Run KITTI Example with XVIZ

Source: https://github.com/aurora-opensource/xviz/blob/master/README.md

This snippet shows how to download KITTI data and then convert it (if necessary) to run the XVIZ Server and Client. This is a practical example of using XVIZ with real-world autonomous driving data.

```bash
# Download KITTI data
$ ./scripts/download-kitti-data.sh

# Convert KITTI data if necessary and run the XVIZ Server and Client
$ ./scripts/run-kitti-example.sh
```

--------------------------------

### Convert KITTI Data to ROS Bag

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros/README.md

This command converts KITTI dataset into a ROS Bag file using the kitti2bag tool, which is necessary for this example. It mounts the local 'data/kitti' directory to the container's '/data' path and specifies the KITTI dataset details.

```bash
docker run -v `pwd`/data/kitti:/data -it tomas789/kitti2bag -t 2011_09_26 -r 0005 raw_synced
```

--------------------------------

### Install jq for Contribution

Source: https://github.com/aurora-opensource/xviz/blob/master/README.md

This command installs the 'jq' utility, which is a requirement for the pre-commit hook 'yarn test-fast' in the XVIZ project. 'jq' is a lightweight and flexible command-line JSON processor.

```shell
brew install jq
```

--------------------------------

### Reconfiguration Message Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

An example of a 'reconfigure' message format sent to the backend when a user selects an option in the XVIZ Select component, illustrating the structure of the configuration update.

```json
{
    "update_type": "DELTA",
    "config_update": {
        "system": {
            "info": {
                "type": "newvalue"
            }
        }
    }
}
```

--------------------------------

### XViz ROS Configuration for Example 2

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros/README.md

This JSON configuration defines how ROS topics are mapped to XViz streams and specifies important metadata like frame_id for point cloud data. It includes configurations for GPS fix, IMU data, and point cloud topics.

```json
{
  "topicConfig": [
    {
      "topic": "/kitti/oxts/gps/fix",
      "type": "sensor_msgs/NavSatFix",
      "config": {
        "xvizStream": "/vehicle_pose",
        "imuTopic": "/kitti/oxts/imu"
      }
    },
    {
      "topic": "/kitti/oxts/imu",
      "type": "sensor_msgs/Imu"
    },
    {
      "topic": "/kitti/velo/pointcloud",
      "type": "sensor_msgs/PointCloud2",
      "config": {
        "frameId": "velo_link"
      }
    }
  ]
}
```

--------------------------------

### YAML Example for TreeTable

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

An example configuration in YAML format for a TreeTable component in XVIZ, specifying its description, display object ID setting, stream, and title.

```yaml
components:
  - description: These are the details of the TreeTable
    display_object_id: false
    stream: /some/stream/of/treetable/primmatives
    title: A TreeTable!
    type: TREETABLE
```

--------------------------------

### ExampleSession Setup with XVIZServerMiddlewareStack

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/server/overview-middleware.md

Demonstrates how to instantiate and configure an ExampleSession using XVIZServerMiddlewareStack. This includes setting up a pipeline with XVIZProviderRequestHandler and XVIZWebsocketSender to handle requests and send messages.

```JavaScript
import {
  XVIZProviderRequestHandler,
  XVIZMessageToMiddleware,
  XVIZServerMiddlewareStack,
  XVIZSessionContext,
  XVIZWebsocketSender} from '@xviz/server';

export class ExampleSession {
  constructor(socket, request, provider, options) {
    this.socket = socket;
    this.provider = provider;
    this.request = request;
    this.options = options;

    // Session shared storage for the middlewares
    this.context = new XVIZSessionContext();

    // The middleware will manage calling the components in the stack
    this.middleware = new XVIZServerMiddlewareStack();

    // Setup a pipeline to respond to request and send back messages
    const stack = [
      new XVIZProviderRequestHandler(this.context, this.provider, this.middleware, this.options),
      new XVIZWebsocketSender(this.context, this.socket, this.options)
    ];
    this.middleware.set(stack);

    // The XVIZMessageToMiddleware object is a convenience class to
    // simply inspect a message and if it is an XVIZ message call the middleware
    this.handler = new XVIZMessageToMiddleware(this.middleware);

    this.socket.onmessage = message => {
      if (!this.handler.onMessage(message)) {
        // Handle non-XVIZ message here
      }
    };
  }
}
```

--------------------------------

### Initialize XVIZServer

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/server/xviz-server.md

Demonstrates how to create and start an XVIZServer instance with a handler, options, and a callback function to log the listening port.

```javascript
import {XVIZServer} from '@xviz/server';

// Construction of 'handler'

const ws = new XVIZServer([handler], options, () => {
  console.log(`Listening on port ${ws.server.address().port}`);
});
```

--------------------------------

### Get Loaded Time Range of XVIZStreamBuffer

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/xviz-stream-buffer.md

Illustrates how to get the start and end timestamps of all currently loaded timeslices in the buffer.

```javascript
streamBuffer.getLoadedTimeRange();
// Returns {start, end} timestamps or null if no timeslices are loaded.
```

--------------------------------

### Get XVIZ Time Range

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/io/xviz-json-reader.md

The timeRange() method returns the start and end times of the XVIZ data source, if available. It returns an object with startTime and endTime properties.

```javascript
reader.timeRange()
```

--------------------------------

### Get XVIZ Time Range

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/io/xviz-binary-reader.md

Retrieves the time range of the XVIZ data source. Returns an object containing the start and end times if known.

```JavaScript
reader.timeRange()
```

--------------------------------

### Initialize and Run XVIZServer

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/server/overview.md

Demonstrates how to initialize the XVIZServer with a set of handlers and start listening for WebSocket connections. The server delegates requests to registered handlers, which in turn manage client sessions.

```JavaScript
import { XVIZServer } from '@xviz/server';
import { MyCustomHandler } from './my-custom-handler';

const handlers = [
  new MyCustomHandler()
];

const server = new XVIZServer(handlers);

server.listen(process.env.PORT || 8080, () => {
  console.log(`XVIZ server listening on port ${server.address().port}`);
});
```

--------------------------------

### Launch XVIZ Server

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/getting-started/xviz-server.md

Launches the XVIZ server, specifying the directory containing XVIZ data and the port to listen on.

```bash
./bin/xvizserver -d <XVIZ data folder> --port 8081
```

--------------------------------

### Get Pose Trajectory

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/trajectory-helpers.md

Generates a pose trajectory from a list of poses, specifying the start and end frames. The input object must include an array of pose entries and the frame numbers.

```javascript
import {_getPoseTrajectory as getPoseTrajectory} from '@xviz/builder';

// Example usage:
// const input = {
//   poses: [
//     {x: 1, y: 1, z: 1, longitude: 0, latitude: 0, altitude: 0, roll: 0, pitch: 0, yaw: 0},
//     {x: 2, y: 2, z: 2, longitude: 0, latitude: 0, altitude: 0, roll: 0, pitch: 0, yaw: 0}
//   ],
//   startFrame: 0,
//   endFrame: 1
// };
// const poseTrajectory = getPoseTrajectory(input);
```

--------------------------------

### Run xvizserver Tool (Bash)

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/server/tools/xvizserver-tool.md

Demonstrates how to run the xvizserver tool from the command line after building the modules. It shows how to specify a directory for XVIZ data.

```bash
./modules/ros/bin/xvizserver -d xvizFolder
```

--------------------------------

### xvizros config Command Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/ros/tools/xvizros-tool.md

Shows how to use the 'config' command to dump a basic ROSConfig to standard output, which can then be redirected to a file.

```bash
./modules/ros/bin/babel-xvizros config data/kitti/kitti_2011_09_26_drive_0005_synced.bag > kitti-config.json
```

--------------------------------

### Run babel-xvizserver Tool (Bash)

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/server/tools/xvizserver-tool.md

Shows an alternative way to run the xvizserver tool using babel, which can be useful for running against modules directly. It also includes an example of how to view help information.

```bash
./modules/ros/bin/babel-xvizserver -d xvizFolder
./modules/ros/bin/babel-xvizserver -h
```

--------------------------------

### Register ROSBag Provider with Custom Converters

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/ros-custom/README.md

Registers a custom ROSBag provider with specified converters and the custom BagClass. This function is typically called during application setup to enable custom data handling.

```javascript
import {
  convertArgs,
  ROSBag,
  registerROSBagProvider,

  // Converters
  SensorImage,
  SensorNavSatFix,
  SensorPointCloud2
} from '@xviz/ros';

function setupROSProvider(args) {
  if (args.rosConfig) {
    const converters = [SensorImage, SensorNavSatFix, SensorPointCloud2, SensorImu];

    registerROSBagProvider(args.rosConfig, {converters, BagClass: KittiBag});
  }
}
```

--------------------------------

### Convert nuTonomy Data to XVIZ

Source: https://github.com/aurora-opensource/xviz/blob/master/examples/converters/nutonomy/README.md

This command initiates the conversion process from nuTonomy data to the XVIZ format. It requires specifying the paths to the nuTonomy data source (metadata, annotations, and samples) and an output directory. Optional flags allow for converting only keyframes, resizing images, and disabling specific data streams.

```bash
yarn start \
   -d <path-to-data-source>/nutonomy/nuscenes_teaser_meta_v1/v0.1   # metadata and annotation directory \
   --samples-directory=<path-to-data-source>/nutonomy/samples       # lidar, radar, camera data directory \
   -o <path-to-output> \
   --scenes=6   # could pass more than 1 --scenes=1,2,3
```

```bash
yarn start \
   --keyframes # only convert keyframes

   --image-max-width
   --image-max-height # reduce image size

   --disable-streams=CAM_FRONT_LEFT,CAM_FRONT_RIGHT # disable streams
```

```bash
yarn start --help
```

--------------------------------

### xvizros Help Command

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/ros/tools/xvizros-tool.md

Displays the help information for the babel-xvizros tool, listing all available commands and options.

```bash
./modules/ros/bin/babel-xvizros -h
```

--------------------------------

### Install @xviz/schema with yarn

Source: https://github.com/aurora-opensource/xviz/blob/master/modules/schema/README.md

Installs the @xviz/schema module as a development dependency using yarn.

```shell
yarn add @xviz/schema
```

--------------------------------

### Install @xviz/schema with npm

Source: https://github.com/aurora-opensource/xviz/blob/master/modules/schema/README.md

Installs the @xviz/schema module as a development dependency using npm.

```shell
npm install --save-dev @xviz/schema
```

--------------------------------

### Get Streams from XVIZStreamBuffer

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/xviz-stream-buffer.md

Demonstrates how to get a map of stream contents, with loaded timeslices sorted by stream names.

```javascript
streamBuffer.getStreams();
// Returns a map of stream contents.
```

--------------------------------

### Open XVIZ Provider with FileSource

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/io/overview-provider.md

Demonstrates how to open an XVIZ provider using `FileSource` and `XVIZProviderFactory`. This involves specifying the source and root directory to initialize the provider.

```javascript
import {XVIZProviderFactory} from '@xviz/io';
import {FileSource} from '@xviz/io/node';

const root = '.';
const source = new FileSource(root);
const provider = await XVIZProviderFactory.open({
  source,
  root
});

if (provider) {
  // ...
}
```

--------------------------------

### XVIZ Circle Primitive Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/protocol-schema/geometry-primitives.md

Example of an XVIZ circle primitive, specifying its 'center' coordinates and 'radius' in meters.

```js
{
    "center": [9, 15, 3],
    "radius": 2.5
}
```

--------------------------------

### Get Numeric Value of XVIZStreamBuffer

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/xviz-stream-buffer.md

Shows how to get the numeric value of the buffer, which updates whenever the buffer receives new data.

```javascript
streamBuffer.valueOf();
// Returns the numeric value of the buffer.
```

--------------------------------

### xviz Plot Component YAML Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

Example of configuring the Plot component in YAML format, detailing the independent and dependent variables for plotting.

```yaml
components:
  - type: PLOT
    title: Some Other Streams vs Some Stream
    description: The change in some streams as a function of the other one
    independentVariable: /some/stream
    dependentVariables:
    - /some/other_stream
    - /some/second_other_stream
```

--------------------------------

### xviz Plot Component JSON Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

Example of configuring the Plot component in JSON format, specifying the independent and dependent variables for visualization.

```js
{
  "components": [
    {
      "type": "PLOT",
      "title": "Some Other Streams vs Some Stream",
      "description": "The change in some streams as a function of the other one",
      "independentVariable": "/some/stream",
      "dependentVariables": ["/some/other_stream", "/some/second_other_stream"]
    }
  ]
}
```

--------------------------------

### YAML Example for Select Component

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

A YAML configuration for the XVIZ Select component, detailing its type, title, description, the stream for options, and the target for the onchange event.

```yaml
components:
  - type: SELECT
    title: Additional Info Type
    description: Which type of additional information you want sent
    streams: /system/additional_info/types
    onchange:
      target: /system/info/type
```

--------------------------------

### Table Component YAML Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

An example of a Table component configuration in YAML format. This component is used to render data in a tabular structure.

```yaml
components:
  - description: These are the details of this table
    display_object_id: true
    stream: /prediction/some_table
    title: A table showing something
    type: TABLE
```

--------------------------------

### Table Component JSON Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

An example of a Table component configuration in JSON format. This component is used to render data in a tabular structure.

```javascript
{
  "components": [
    {
      "type": "TABLE",
      "title": "A table showing something"
      "description": "These are the details of this table",
      "displayObjectId": true,
      "stream": "/prediction/some_table"
    }
  ]
}
```

--------------------------------

### Variable State Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/protocol-schema/core-types.md

An example of a Variable State, mapping a stream to a list of variables. It shows a structure with a 'variables' array containing 'values'.

```JavaScript
{
    "variables": [
        {
            "values":
            {
                "doubles": [1001.3, 1002.3, 1003.3]
            }
        }
    ]
}
```

--------------------------------

### Run babel-xvizros Tool

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/ros/tools/xvizros-tool.md

Shows how to execute the babel-xvizros tool, which is an alternative way to run the xvizros functionality. This example also dumps topics from a ROS bag file.

```bash
./modules/ros/bin/babel-xvizros bagdump --dumpTopics sample.bag
```

--------------------------------

### JSON Example for Select Component

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

A JSON configuration for the XVIZ Select component, defining its title, description, type, the stream for options, and the target for the onchange event.

```javascript
{
  "components": [
    {
      "title": "Additional Info Type",
      "description": "Which type of additional information you want sent",
      "type": "SELECT",
      "stream": "/system/additional_info/types",
      "onchange": {
        "target": "/system/info/type"
      }
    }
  ]
}
```

--------------------------------

### Time Series State Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/protocol-schema/core-types.md

An example of a time_series_state for a system producing multiple values at a specific time. It includes timestamp, streams, and values.

```JavaScript
{
    "timestamp": 12345.5,
    "streams": [
        "/vehicle/torque/commanded",
        "/vehicle/torque/actual"
    ],
    "values": {
        "doubles": [
            5,
            4.8
        ]
    }
}
```

--------------------------------

### Metric Component YAML Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

An example of a Metric component configuration in YAML format. This component is used to render time series data on a chart.

```yaml
components:
  - type: METRIC
    title: Some metric
    description: The actual vs commanded value for some variable
    streams:
      - /some_value/actual
      - /some_value/commanded
```

--------------------------------

### Metric Component JSON Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/declarative-ui/components.md

An example of a Metric component configuration in JSON format. This component is used to render time series data on a chart.

```javascript
{
  "components": [
    {
      "title": "Some metric",
      "type": "METRIC",
      "description": "The actual vs commanded value for some variable",
      "streams": ["/some_value/actual", "/some_value/commanded"]
    }
  ]
}
```

--------------------------------

### Initialize XVIZFormatWriter and Write Data

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/io/xviz-format-writer.md

Demonstrates how to initialize XVIZFormatWriter with a FileSink and a specific format (BINARY_GLB). It then shows how to write metadata and multiple messages using XVIZMetadataBuilder and XVIZBuilder, finally closing the writer.

```javascript
import {XVIZMetadataBuilder, XVIZBuilder} from '@xviz/builder';
import {XVIZFormatWriter, XVIZ_FORMAT} from '@xviz/io';
import {FileSink} from '@xviz/io/node';

const sink = new FileSink('output-dir');
const xvizWriter = new XVIZFormatWriter(sink, {format: XVIZ_FORMAT.BINARY_GLB});

const metadataBuilder = new XVIZMetadataBuilder();
// build metadata
xvizWriter.writeMetadata(metadataBuilder.getMetadata());

const builder = new XVIZBuilder();
for (let i = 0; i < 10; i++) {
  // build messages
  xvizWriter.writeMessage(i, builder.getMessage());
}

xvizWriter.close();
```

--------------------------------

### Serve KITTI Data with @xviz/server

Source: https://github.com/aurora-opensource/xviz/blob/master/modules/server/README.md

This snippet demonstrates how to serve KITTI dataset after conversion using the @xviz/server. It involves navigating to the server module directory and executing the server with a specified data directory.

```bash
cd modules/server
./bin/babel-xvizserver -d ../../data/generated/kitti/2011_09_26/2011_09_26_drive_0005_sync
```

--------------------------------

### XVIZ Point Primitive Example

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/protocol-schema/geometry-primitives.md

A basic example of an XVIZ point primitive, demonstrating the 'points' field which can represent a single point or a point cloud.

```js
{
    "points": [[9, 15, 3], [20, 13, 3], [20, 5, 3]]
}
```

--------------------------------

### Initialize XVIZBinaryReader

Source: https://github.com/aurora-opensource/xviz/blob/master/docs/api-reference/io/xviz-binary-reader.md

Demonstrates how to initialize the XVIZBinaryReader with a MemorySource and prepare it for reading XVIZ data. This involves importing necessary classes and creating an instance of the reader.

```JavaScript
import {XVIZBinaryReader, MemorySource} from '@xviz/io';

const source = new MemorySource();
// XVIZ data added to source
const reader = new XVIZBinaryReader(source);
```