@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

package/dist/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js

@@ -0,0 +1,477 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+/// <reference types="@webgpu/types" />
+import { expose, transfer } from "comlink";
+import { Logger } from "../../../utils/logger.js";
+import { i420ToRgbaToPointcloud } from "./utils.js";
+const logger = Logger.getLogger();
+function transferPointCloudResults(results) {
+    return transfer(results, results.map((result) => result.buffer));
+}
+function depthToPointCloudBuffer(uint16Array, width, height, fx, fy, cx, cy, maxSteroDepth) {
+    const numPixels = width * height;
+    const points = new Float32Array(numPixels * 3);
+    for (let v = 0; v < height; v++) {
+        for (let u = 0; u < width; u++) {
+            const pixelIndex = v * width + u;
+            const depthValue = uint16Array[pixelIndex] ?? 0;
+            let x = 0.0;
+            let y = 0.0;
+            let z = 0.0;
+            const depthScale = 1.0;
+            const scaledDepth = depthValue * depthScale;
+            if (scaledDepth > 0 && fx !== 0 && fy !== 0) {
+                x = ((u - cx) * scaledDepth) / fx;
+                y = ((cy - v) * scaledDepth) / fy;
+                z = scaledDepth;
+                // Filter out points beyond maxSteroDepth
+                if (z > maxSteroDepth) {
+                    x = 0.0;
+                    y = 0.0;
+                    z = 0.0;
+                }
+            }
+            const pointOffset = pixelIndex * 3;
+            points[pointOffset] = x;
+            points[pointOffset + 1] = y;
+            points[pointOffset + 2] = z;
+        }
+    }
+    const buffer = new ArrayBuffer(numPixels * 16);
+    const view = new DataView(buffer);
+    const pointsU8 = new Uint8Array(points.buffer);
+    for (let i = 0; i < numPixels; i++) {
+        const xyzOffsetBytes = i * 12;
+        const outputOffsetBytes = i * 16;
+        for (let b = 0; b < 12; ++b) {
+            view.setUint8(outputOffsetBytes + b, pointsU8[xyzOffsetBytes + b]);
+        }
+        view.setUint8(outputOffsetBytes + 12, 0); // R
+        view.setUint8(outputOffsetBytes + 13, 0); // G
+        view.setUint8(outputOffsetBytes + 14, 0); // B
+        view.setUint8(outputOffsetBytes + 15, 255); // A (Opaque)
+    }
+    return new Uint8Array(buffer);
+}
+const WORKGROUP_SIZE_X = 128;
+const POINT_STRIDE_BYTES = 16;
+let cachedGpuContext;
+let gpuContextPromise;
+const shader = `
+struct Intrinsics {
+  fx: f32,
+  fy: f32,
+  cx: f32,
+  cy: f32,
+  depthScale: f32,
+  depthWidth: f32,
+  depthHeight: f32,
+  i420Width: f32,
+  i420Height: f32,
+  numFrames_f: f32,
+  bytesPerI420Frame_f: f32,
+  maxSteroDepth: f32,
+};
+
+struct OutputPointData {
+  x: f32,
+  y: f32,
+  z: f32,
+  color: u32,
+};
+
+@group(0) @binding(0) var<storage, read> depthBuffer: array<u32>;
+@group(0) @binding(1) var<storage, read> intrinsics: Intrinsics;
+@group(0) @binding(2) var<storage, read_write> xyzColorBuffer: array<OutputPointData>;
+@group(0) @binding(3) var<storage, read> i420Buffer: array<u32>;
+
+fn getI420Byte(byteIndexWithinFrame: u32, frameOffsetElements: u32, bufferLengthElements: u32) -> u32 {
+  let globalByteIndex = (frameOffsetElements * 4u) + byteIndexWithinFrame;
+  let elementIndex = globalByteIndex / 4u;
+  let offsetInElement = globalByteIndex % 4u;
+  if (elementIndex >= bufferLengthElements) {
+    return 0u;
+  }
+  let packedValue = i420Buffer[elementIndex];
+  return (packedValue >> (offsetInElement * 8u)) & 0xFFu;
+}
+
+@compute @workgroup_size(${WORKGROUP_SIZE_X}, 1, 1)
+fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
+  let pixel_idx_in_frame = global_id.x;
+  let frame_idx = global_id.y;
+  let depthWidth = u32(intrinsics.depthWidth);
+  let depthHeight = u32(intrinsics.depthHeight);
+  let i420WidthU = u32(intrinsics.i420Width);
+  let i420HeightU = u32(intrinsics.i420Height);
+  let numFrames = u32(intrinsics.numFrames_f);
+  let bytesPerI420Frame = u32(intrinsics.bytesPerI420Frame_f);
+  let numPixelsPerFrame = depthWidth * depthHeight;
+  if (pixel_idx_in_frame >= numPixelsPerFrame || frame_idx >= numFrames || depthWidth == 0u || depthHeight == 0u) {
+    return;
+  }
+  let global_output_idx = (frame_idx * numPixelsPerFrame) + pixel_idx_in_frame;
+  let depth_elements_per_frame = (numPixelsPerFrame + 1u) / 2u;
+  let depth_frame_offset = frame_idx * depth_elements_per_frame;
+  let i420AlignedStrideBytes = (bytesPerI420Frame + 3u) / 4u * 4u;
+  let i420_elements_per_frame_aligned = i420AlignedStrideBytes / 4u;
+  let i420_frame_offset = frame_idx * i420_elements_per_frame_aligned;
+  let depthIndex32_within_frame = pixel_idx_in_frame / 2u;
+  let packedDepthU32_idx = depth_frame_offset + depthIndex32_within_frame;
+  if (packedDepthU32_idx >= arrayLength(&depthBuffer)) {
+    return;
+  }
+  let packedDepthU32 = depthBuffer[packedDepthU32_idx];
+  var rawDepthU16: u32;
+  if (pixel_idx_in_frame % 2u == 0u) {
+    rawDepthU16 = packedDepthU32 & 0xFFFFu;
+  } else {
+    rawDepthU16 = (packedDepthU32 >> 16u) & 0xFFFFu;
+  }
+  let u = f32(pixel_idx_in_frame % depthWidth);
+  let v = f32(pixel_idx_in_frame / depthWidth);
+  var outputPoint: OutputPointData;
+  outputPoint.x = 0.0;
+  outputPoint.y = 0.0;
+  outputPoint.z = 0.0;
+  outputPoint.color = 0xFF000000u;
+  let fx = intrinsics.fx;
+  let fy = intrinsics.fy;
+  let depthScale = intrinsics.depthScale;
+  let maxSteroDepth = intrinsics.maxSteroDepth;
+  if (rawDepthU16 > 0u && fx != 0.0 && fy != 0.0 && depthScale > 0.0) {
+    let z = f32(rawDepthU16) * depthScale;
+    let x = (u - intrinsics.cx) * z / fx;
+    let y = (intrinsics.cy - v) * z / fy;
+
+    // Filter out points beyond maxSteroDepth
+    if (z <= maxSteroDepth) {
+      outputPoint.x = x;
+      outputPoint.y = y;
+      outputPoint.z = z;
+
+      if (i420WidthU > 0u && i420HeightU > 0u && bytesPerI420Frame > 0u) {
+        let i420X = min(i420WidthU - 1u, u32(floor(u * (intrinsics.i420Width / intrinsics.depthWidth))));
+        let i420Y = min(i420HeightU - 1u, u32(floor(v * (intrinsics.i420Height / intrinsics.depthHeight))));
+        let frameSizeY = i420WidthU * i420HeightU;
+        let uvWidth = (i420WidthU + 1u) / 2u;
+        let uvHeight = (i420HeightU + 1u) / 2u;
+        let frameSizeUV = uvWidth * uvHeight;
+        let uOffsetBytes = frameSizeY;
+        let vOffsetBytes = frameSizeY + frameSizeUV;
+        let yIndexBytes = i420Y * i420WidthU + i420X;
+        let uvX = i420X / 2u;
+        let uvY = i420Y / 2u;
+        let uvIndexBytes = uvY * uvWidth + uvX;
+        let uIndexBytes = uOffsetBytes + uvIndexBytes;
+        let vIndexBytes = vOffsetBytes + uvIndexBytes;
+        let i420BufferTotalElements = arrayLength(&i420Buffer);
+        if (yIndexBytes < bytesPerI420Frame && uIndexBytes < bytesPerI420Frame && vIndexBytes < bytesPerI420Frame && (i420_frame_offset + (vIndexBytes / 4u)) < i420BufferTotalElements) {
+          let y_byte = getI420Byte(yIndexBytes, i420_frame_offset, i420BufferTotalElements);
+          let u_byte = getI420Byte(uIndexBytes, i420_frame_offset, i420BufferTotalElements);
+          let v_byte = getI420Byte(vIndexBytes, i420_frame_offset, i420BufferTotalElements);
+          let y_f = f32(y_byte);
+          let u_f = f32(u_byte) - 128.0;
+          let v_f = f32(v_byte) - 128.0;
+          var r_f = y_f + 1.402 * v_f;
+          var g_f = y_f - 0.344136 * u_f - 0.714136 * v_f;
+          var b_f = y_f + 1.772 * u_f;
+          let r = u32(clamp(r_f, 0.0, 255.0)) & 0xFFu;
+          let g = u32(clamp(g_f, 0.0, 255.0)) & 0xFFu;
+          let b = u32(clamp(b_f, 0.0, 255.0)) & 0xFFu;
+          let a = 255u;
+          outputPoint.color = (r) | (g << 8u) | (b << 16u) | (a << 24u);
+        }
+      }
+    }
+  }
+  if (global_output_idx < arrayLength(&xyzColorBuffer)) {
+    xyzColorBuffer[global_output_idx] = outputPoint;
+  }
+}
+`;
+async function getGPUContext() {
+    if (cachedGpuContext) {
+        return cachedGpuContext;
+    }
+    if (gpuContextPromise) {
+        return await gpuContextPromise;
+    }
+    gpuContextPromise = (async () => {
+        if (typeof navigator.gpu === "undefined") {
+            return undefined;
+        }
+        const adapter = await navigator.gpu.requestAdapter();
+        if (!adapter) {
+            return undefined;
+        }
+        const device = await adapter.requestDevice();
+        const bindGroupLayout = device.createBindGroupLayout({
+            label: "Compute Bind Group Layout",
+            entries: [
+                { binding: 0, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
+                { binding: 1, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
+                { binding: 2, visibility: GPUShaderStage.COMPUTE, buffer: { type: "storage" } },
+                { binding: 3, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
+            ],
+        });
+        const shaderModule = device.createShaderModule({
+            label: "Compute Shader Module",
+            code: shader,
+        });
+        const pipeline = device.createComputePipeline({
+            label: "Compute Pipeline",
+            layout: device.createPipelineLayout({ bindGroupLayouts: [bindGroupLayout] }),
+            compute: { module: shaderModule, entryPoint: "main" },
+        });
+        const context = {
+            device,
+            bindGroupLayout,
+            pipeline,
+        };
+        void device.lost.then(() => {
+            if (cachedGpuContext?.device === device) {
+                cachedGpuContext = undefined;
+            }
+            gpuContextPromise = undefined;
+        });
+        cachedGpuContext = context;
+        return context;
+    })();
+    try {
+        return await gpuContextPromise;
+    }
+    finally {
+        gpuContextPromise = undefined;
+    }
+}
+async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy, cx, cy, i420Frames, i420Width, i420Height, maxSteroDepth, { hasGPU }) {
+    const numFrames = depthFrames.length;
+    if (numFrames === 0 || numFrames !== i420Frames.length) {
+        logger.warn("GPU: Input frame arrays are empty or mismatched.");
+        return [];
+    }
+    if (depthWidth <= 0 || depthHeight <= 0) {
+        throw new Error("GPU: Invalid depth dimensions!");
+    }
+    if (depthFrames[0] && !(depthFrames[0] instanceof Uint16Array)) {
+        throw new Error("GPU: depthFrames[0].data is NOT a Uint16Array!");
+    }
+    if (i420Frames[0] && !(i420Frames[0] instanceof Uint8Array)) {
+        throw new Error("GPU: i420Frames[0].data is NOT a Uint8Array!");
+    }
+    const depthScale = 1.0;
+    if (!hasGPU) {
+        const results = [];
+        for (let i = 0; i < numFrames; i++) {
+            const depthFrame = depthFrames[i];
+            const colorFrame = i420Frames[i];
+            if (!depthFrame || !colorFrame) {
+                logger.warn(`CPU Fallback: Skipping frame ${i} due to missing data.`);
+                results.push(new Uint8Array(0));
+                continue;
+            }
+            try {
+                const xyzData = depthToPointCloudBuffer(depthFrame, depthWidth, depthHeight, fx, fy, cx, cy, maxSteroDepth);
+                results.push(i420ToRgbaToPointcloud(colorFrame, i420Width, i420Height, depthWidth, depthHeight, xyzData));
+            }
+            catch (cpuError) {
+                logger.error(`CPU Fallback: Error processing frame ${i}:`, cpuError);
+                results.push(new Uint8Array(0));
+            }
+        }
+        return transferPointCloudResults(results);
+    }
+    let device = null;
+    let depthGpuBuffer = null;
+    let intrinsicsBuffer = null;
+    let i420GpuBuffer = null;
+    let xyzColorBuffer = null;
+    let readbackBuffer = null;
+    try {
+        const gpuContext = await getGPUContext();
+        if (!gpuContext) {
+            throw new Error("Failed to get GPU adapter.");
+        }
+        device = gpuContext.device;
+        const queue = device.queue;
+        const numPixelsPerFrame = depthWidth * depthHeight;
+        const outputFrameSize = numPixelsPerFrame * POINT_STRIDE_BYTES;
+        const totalOutputBufferSize = outputFrameSize * numFrames;
+        const depthBytesPerFrame = numPixelsPerFrame * 2;
+        const depthElementsPerFrame = Math.ceil(depthBytesPerFrame / 4);
+        const totalDepthBufferSize = depthElementsPerFrame * numFrames * 4;
+        const i420BytesPerFrame = i420Frames[0]?.byteLength ?? 0;
+        if (i420BytesPerFrame === 0 && numFrames > 0) {
+            throw new Error("GPU: I420 frame data is empty or invalid for size calculation.");
+        }
+        const i420AlignedStrideBytes = Math.ceil(i420BytesPerFrame / 4) * 4;
+        const totalI420BufferSize = i420AlignedStrideBytes * numFrames;
+        const intrinsicsData = new Float32Array([
+            fx,
+            fy,
+            cx,
+            cy,
+            depthScale,
+            depthWidth,
+            depthHeight,
+            i420Width,
+            i420Height,
+            numFrames,
+            i420BytesPerFrame,
+            maxSteroDepth,
+        ]);
+        const intrinsicsBufferSize = Math.max(intrinsicsData.byteLength, 64);
+        intrinsicsBuffer = device.createBuffer({
+            label: "Intrinsics Buffer",
+            size: intrinsicsBufferSize,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+        });
+        queue.writeBuffer(intrinsicsBuffer, 0, intrinsicsData.buffer, intrinsicsData.byteOffset, intrinsicsData.byteLength);
+        depthGpuBuffer = device.createBuffer({
+            label: "Depth Buffer (Combined)",
+            size: totalDepthBufferSize,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+            mappedAtCreation: true,
+        });
+        const mappedDepthRange = depthGpuBuffer.getMappedRange();
+        const fullDepthArrayViewU32 = new Uint32Array(mappedDepthRange);
+        for (let i = 0; i < numFrames; ++i) {
+            const frameDataU16 = depthFrames[i];
+            if (!frameDataU16 || !(frameDataU16 instanceof Uint16Array)) {
+                logger.warn(`GPU: Skipping depth frame ${i} due to missing/invalid data.`);
+                const frameOffsetElements = i * depthElementsPerFrame;
+                const elementsToWrite = depthElementsPerFrame;
+                fullDepthArrayViewU32.fill(0, frameOffsetElements, frameOffsetElements + elementsToWrite);
+                continue;
+            }
+            const frameOffsetElements = i * depthElementsPerFrame;
+            for (let p = 0; p < numPixelsPerFrame; p++) {
+                const u16_val = frameDataU16[p] ?? 0;
+                const elementIdx = frameOffsetElements + Math.floor(p / 2);
+                if (elementIdx >= fullDepthArrayViewU32.length) {
+                    continue;
+                }
+                const isLowerHalf = p % 2 === 0;
+                if (isLowerHalf) {
+                    fullDepthArrayViewU32[elementIdx] =
+                        (fullDepthArrayViewU32[elementIdx] & 0xffff0000) | u16_val;
+                }
+                else {
+                    fullDepthArrayViewU32[elementIdx] =
+                        (fullDepthArrayViewU32[elementIdx] & 0x0000ffff) | (u16_val << 16);
+                }
+            }
+        }
+        depthGpuBuffer.unmap();
+        i420GpuBuffer = device.createBuffer({
+            label: "I420 Buffer (Combined, Aligned)",
+            size: totalI420BufferSize,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_DST,
+            mappedAtCreation: true,
+        });
+        const mappedI420Range = i420GpuBuffer.getMappedRange();
+        const fullI420ArrayViewU8 = new Uint8Array(mappedI420Range);
+        for (let i = 0; i < numFrames; ++i) {
+            const frameData = i420Frames[i];
+            const byteOffset = i * i420AlignedStrideBytes;
+            if (!frameData ||
+                !(frameData instanceof Uint8Array) ||
+                frameData.byteLength !== i420BytesPerFrame) {
+                logger.warn(`GPU: Skipping I420 frame ${i} due to missing/invalid data or size mismatch.`);
+                fullI420ArrayViewU8.fill(0, byteOffset, byteOffset + i420AlignedStrideBytes);
+                continue;
+            }
+            const frameTargetView = new Uint8Array(mappedI420Range, byteOffset, frameData.byteLength);
+            frameTargetView.set(frameData);
+            if (i420AlignedStrideBytes > frameData.byteLength) {
+                const paddingStart = byteOffset + frameData.byteLength;
+                const paddingLength = i420AlignedStrideBytes - frameData.byteLength;
+                fullI420ArrayViewU8.fill(0, paddingStart, paddingStart + paddingLength);
+            }
+        }
+        i420GpuBuffer.unmap();
+        xyzColorBuffer = device.createBuffer({
+            label: "Output XYZColor Buffer (Combined)",
+            size: totalOutputBufferSize,
+            usage: GPUBufferUsage.STORAGE | GPUBufferUsage.COPY_SRC,
+        });
+        readbackBuffer = device.createBuffer({
+            label: "Readback Buffer",
+            size: totalOutputBufferSize,
+            usage: GPUBufferUsage.COPY_DST | GPUBufferUsage.MAP_READ,
+        });
+        const bindGroup = device.createBindGroup({
+            label: "Compute Bind Group",
+            layout: gpuContext.bindGroupLayout,
+            entries: [
+                { binding: 0, resource: { buffer: depthGpuBuffer } },
+                { binding: 1, resource: { buffer: intrinsicsBuffer } },
+                { binding: 2, resource: { buffer: xyzColorBuffer } },
+                { binding: 3, resource: { buffer: i420GpuBuffer } },
+            ],
+        });
+        const commandEncoder = device.createCommandEncoder({ label: "Compute Command Encoder" });
+        const passEncoder = commandEncoder.beginComputePass({ label: "Compute Pass" });
+        passEncoder.setPipeline(gpuContext.pipeline);
+        passEncoder.setBindGroup(0, bindGroup);
+        const numWorkgroupsX = Math.ceil(numPixelsPerFrame / WORKGROUP_SIZE_X);
+        const numWorkgroupsY = numFrames;
+        passEncoder.dispatchWorkgroups(numWorkgroupsX, numWorkgroupsY, 1);
+        passEncoder.end();
+        commandEncoder.copyBufferToBuffer(xyzColorBuffer, 0, readbackBuffer, 0, totalOutputBufferSize);
+        queue.submit([commandEncoder.finish()]);
+        await readbackBuffer.mapAsync(GPUMapMode.READ);
+        const mappedRange = readbackBuffer.getMappedRange();
+        const fullResultData = new Uint8Array(mappedRange.slice(0));
+        readbackBuffer.unmap();
+        readbackBuffer = null;
+        const results = [];
+        for (let i = 0; i < numFrames; i++) {
+            const frameOffset = i * outputFrameSize;
+            const frameEnd = Math.min(frameOffset + outputFrameSize, fullResultData.byteLength);
+            const frameData = fullResultData.slice(frameOffset, frameEnd);
+            if (frameData.byteLength !== outputFrameSize) {
+                logger.warn(`GPU: Result frame ${i} has incorrect size (${frameData.byteLength} vs ${outputFrameSize}). Padding or error occurred.`);
+                results.push(new Uint8Array(outputFrameSize));
+            }
+            else {
+                results.push(frameData);
+            }
+        }
+        return transferPointCloudResults(results);
+    }
+    catch (error) {
+        logger.error("GPU: Error during WebGPU processing:", error);
+        logger.warn("GPU: Falling back to CPU due to error.");
+        const results = [];
+        for (let i = 0; i < numFrames; i++) {
+            const depthFrame = depthFrames[i];
+            const colorFrame = i420Frames[i];
+            if (!depthFrame || !colorFrame) {
+                logger.warn(`CPU Fallback (error path): Skipping frame ${i} due to missing data.`);
+                results.push(new Uint8Array(0));
+                continue;
+            }
+            try {
+                const xyzData = depthToPointCloudBuffer(depthFrame, depthWidth, depthHeight, fx, fy, cx, cy, maxSteroDepth);
+                results.push(i420ToRgbaToPointcloud(colorFrame, i420Width, i420Height, depthWidth, depthHeight, xyzData));
+            }
+            catch (cpuError) {
+                logger.error(`CPU Fallback (error path): Error processing frame ${i}:`, cpuError);
+                results.push(new Uint8Array(0));
+            }
+        }
+        return transferPointCloudResults(results);
+    }
+    finally {
+        depthGpuBuffer?.destroy();
+        intrinsicsBuffer?.destroy();
+        i420GpuBuffer?.destroy();
+        xyzColorBuffer?.destroy();
+        readbackBuffer?.destroy();
+    }
+}
+expose({ depthToPointcloudGPU });
+//# sourceMappingURL=pointcloudFromDepth.worker.js.map

package/dist/visualizer/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts

@@ -0,0 +1,35 @@
+import { type Remote } from "comlink";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+import type { PointCloudWithDimensions } from "../video/depth.js";
+type PointCloudFrame = {
+    depthFrame: PointCloudWithDimensions;
+    width: number;
+    height: number;
+    fx: number;
+    fy: number;
+    cx: number;
+    cy: number;
+    colorFrame: VisualizerMessageEvent;
+    colorFrameData: Uint8Array;
+    i420Width: number;
+    i420Height: number;
+};
+export declare class DepthToPointcloudWorkerPool {
+    #private;
+    protected lastUsedWorkerIndex: number;
+    protected workerApis: {
+        remote: Remote<{
+            depthToPointcloudGPU: (depthFramesData: Uint16Array[], depthWidth: number, depthHeight: number, fx: number, fy: number, cx: number, cy: number, i420FramesData: Uint8Array[], i420Width: number, i420Height: number, maxSteroDepth: number, { hasGPU }: {
+                hasGPU: boolean;
+            }) => Promise<Uint8Array[]>;
+        }>;
+        dispose: () => void;
+    }[];
+    constructor(callback: (originalColorEvent: VisualizerMessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void, batchSize?: 3, targetFps?: 9, maxProcessedQueueSize?: 25);
+    queueDepthFrame(data: PointCloudFrame): Promise<void>;
+    protected setMaxGpuQueueSize(width: number, height: number): void;
+    protected tryProcessBatch(force?: boolean): void;
+    destroy(): void;
+}
+export {};
+//# sourceMappingURL=poitcloudPoolManager.d.ts.map

package/dist/visualizer/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map

@@ -0,0 +1 @@
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