@luxonis/depthai-viewer-common 3.9.7 → 4.0.0

package/dist/visualizer/messaging/deserialization/video/rgbd-to-pointcloud.js

@@ -12,30 +12,17 @@ import { deserializeDepthFrame } from "./depth.js";
 import { convertNv12ToI420, deserializeEncodedFrameH264 } from "./h264.js";
 import { deserializeEncodedFrameH265 } from "./h265.js";
 import { deserializeMJPEGFrame } from "./mjpeg.js";
-const RGBD_POINTCLOUD_WORKER_COUNT = 6;
+const MAX_RGBD_POINTCLOUD_WORKERS = 6;
 const RGBD_POINTCLOUD_WORKER_TIMEOUT_MS = 15_000;
-const RGBD_POINTCLOUD_SCHEDULE_DELAY_MS = 0;
-const ENABLE_RGBD_GPU_BATCHING = true;
-const RGBD_GPU_BATCH_SIZE = 2;
-const RGBD_GPU_BATCH_FLUSH_DELAY_MS = 8;
 const RGBD_POINTCLOUD_IDLE_CLEANUP_MS = 30_000;
-let cachedRGBDHasGPU;
-let rgbdHasGPUPromise;
+const RGBD_DROP_WARNING_INTERVAL_MS = 5_000;
 let rgbdPointCloudWorkers;
 let rgbdPointCloudWorkerIndex = 0;
 let rgbdPointCloudIdleCleanupTimeoutId;
+let cachedRGBDHasGPU;
+let rgbdHasGPUPromise;
 const rgbdIntrinsicsByTopic = new Map();
-const pendingRGBDBatches = new Map();
-function collectArrayBuffers(arrays) {
-    const buffers = [];
-    for (let index = 0; index < arrays.length; index++) {
-        const array = arrays[index];
-        if (array) {
-            buffers.push(array.buffer);
-        }
-    }
-    return buffers;
-}
+const lastRGBDDropWarningByTopic = new Map();
 function ensureEvenByteLength(data) {
     if (data.length % 2 === 0) {
         return data;
@@ -67,16 +54,26 @@ function ensureRGBDGPUSupportDetection() {
         }
     })();
 }
-function getRGBDGPUSupport() {
+async function getRGBDGPUSupport() {
     ensureRGBDGPUSupportDetection();
-    return cachedRGBDHasGPU ?? false;
+    return (await rgbdHasGPUPromise) ?? cachedRGBDHasGPU ?? false;
+}
+function getRGBDPointCloudWorkerCount() {
+    const hardwareConcurrency = navigator.hardwareConcurrency ?? 4;
+    return Math.max(1, Math.min(MAX_RGBD_POINTCLOUD_WORKERS, Math.floor(hardwareConcurrency / 2)));
 }
 function ensureRGBDPointCloudWorkers() {
+    const desiredWorkerCount = getRGBDPointCloudWorkerCount();
     if (!rgbdPointCloudWorkers) {
-        rgbdPointCloudWorkers = Array.from({ length: RGBD_POINTCLOUD_WORKER_COUNT }, () => {
+        rgbdPointCloudWorkers = Array.from({ length: desiredWorkerCount }, () => {
             return createRGBDPointCloudWorkerSlot();
         });
     }
+    else {
+        while (rgbdPointCloudWorkers.length < desiredWorkerCount) {
+            rgbdPointCloudWorkers.push(createRGBDPointCloudWorkerSlot());
+        }
+    }
     return rgbdPointCloudWorkers;
 }
 function createRGBDPointCloudWorkerSlot() {
@@ -101,16 +98,12 @@ function clearRGBDPointCloudIdleCleanupTimeout() {
     }
 }
 function hasActiveRGBDPointCloudWork() {
-    const hasActiveJobs = rgbdPointCloudWorkers?.some((slot) => slot.activeJobs > 0) ?? false;
-    return hasActiveJobs || pendingRGBDBatches.size > 0;
+    return rgbdPointCloudWorkers?.some((slot) => slot.activeJobs > 0) ?? false;
 }
 function disposeRGBDPointCloudWorkers() {
     clearRGBDPointCloudIdleCleanupTimeout();
-    for (const batch of pendingRGBDBatches.values()) {
-        clearRGBDBatchFlush(batch);
-    }
-    pendingRGBDBatches.clear();
     rgbdIntrinsicsByTopic.clear();
+    lastRGBDDropWarningByTopic.clear();
     if (rgbdPointCloudWorkers) {
         for (const slot of rgbdPointCloudWorkers) {
             slot.dispose();
@@ -143,15 +136,16 @@ function replaceRGBDPointCloudWorker(index) {
 }
 function tryAcquireRGBDPointCloudWorkerSlot() {
     const ensuredSlots = ensureRGBDPointCloudWorkers();
+    const workerLimit = ensuredSlots.length;
     markRGBDPointCloudWorkersActive();
-    for (let offset = 0; offset < ensuredSlots.length; offset++) {
-        const index = (rgbdPointCloudWorkerIndex + offset) % ensuredSlots.length;
+    for (let offset = 0; offset < workerLimit; offset++) {
+        const index = (rgbdPointCloudWorkerIndex + offset) % workerLimit;
         const slot = ensuredSlots[index];
         if (!slot || slot.activeJobs > 0) {
             continue;
         }
         slot.activeJobs = 1;
-        rgbdPointCloudWorkerIndex = (index + 1) % ensuredSlots.length;
+        rgbdPointCloudWorkerIndex = (index + 1) % workerLimit;
         return { slot, index };
     }
     return undefined;
@@ -285,83 +279,83 @@ function resolveRGBDIntrinsicsFromMessage(message, depthWidth, depthHeight) {
         extractIntrinsicsFromTransformation(message.colorImgFrame?.transformation, depthWidth, depthHeight) ??
         extractIntrinsicsFromTransformation(message.colorEncodedFrame?.transformation, depthWidth, depthHeight));
 }
-async function extractEncodedColorFrame(encodedFrame, topicDecoders, topic) {
+async function queueEncodedColorFrame(encodedFrame, topicDecoders, topic, onDecoded, onError) {
     const decoderTopic = `${topic}::rgbd-color-extract`;
-    const decodeFrame = async () => await new Promise((resolve, reject) => {
-        const callback = (event) => {
-            resolve(event.message);
-        };
-        const rejectDecode = (error) => {
-            reject(error);
-        };
-        const args = {
-            topic: decoderTopic,
-            message: encodedFrame,
-            callback,
-        };
-        if (encodedFrame.profile === Profile.AVC) {
-            void deserializeEncodedFrameH264({
-                ...args,
-                topicDecoders,
-                onError: rejectDecode,
-                outputMode: "i420",
-            }).catch(rejectDecode);
-        }
-        else if (encodedFrame.profile === Profile.JPEG) {
-            void deserializeMJPEGFrame({
-                ...args,
-                outputMode: "i420",
-            }).catch(rejectDecode);
-        }
-        else if (encodedFrame.profile === Profile.HEVC) {
-            void deserializeEncodedFrameH265({
-                ...args,
-                topicDecoders,
-                onError: rejectDecode,
-                outputMode: "i420",
-            }).catch(rejectDecode);
-        }
-        else {
-            reject(new Error(`Unsupported RGBD color profile ${Profile[encodedFrame.profile] ?? encodedFrame.profile}`));
-        }
-    });
-    const decoded = await decodeFrame();
-    return {
-        data: ensureEvenByteLength(decoded.data),
-        width: decoded.width,
-        height: decoded.height,
+    const callback = (event) => {
+        const decoded = event.message;
+        void Promise.resolve(onDecoded({
+            data: ensureEvenByteLength(decoded.data),
+            width: decoded.width,
+            height: decoded.height,
+        })).catch(onError);
     };
-}
-function extractColorFrame(encodedFrame, imageFrame, topicDecoders, topic) {
-    if (encodedFrame) {
-        return extractEncodedColorFrame(encodedFrame, topicDecoders, topic);
+    const args = {
+        topic: decoderTopic,
+        message: encodedFrame,
+        callback,
+        onError,
+        outputMode: "i420",
+    };
+    // Do not wait for the decoded output here. H.264/H.265 decoders are allowed to defer an
+    // output until a later compressed packet arrives. Returning after decode() accepts this
+    // packet lets the ordered RGBD queue feed that later packet; pendingCallbacks in the video
+    // decoder pairs the eventual output with this frame's depth payload by timestamp.
+    if (encodedFrame.profile === Profile.AVC) {
+        await deserializeEncodedFrameH264({ ...args, topicDecoders });
+    }
+    else if (encodedFrame.profile === Profile.JPEG) {
+        await deserializeMJPEGFrame(args);
+    }
+    else if (encodedFrame.profile === Profile.HEVC) {
+        await deserializeEncodedFrameH265({ ...args, topicDecoders });
+    }
+    else {
+        throw new Error(`Unsupported RGBD color profile ${Profile[encodedFrame.profile] ?? encodedFrame.profile}`);
+    }
+}
+async function decodeAndDiscardEncodedColorFrame(encodedFrame, topicDecoders, topic, onError) {
+    const args = {
+        topic: `${topic}::rgbd-color-extract`,
+        message: encodedFrame,
+        topicDecoders,
+        callback: () => { },
+        onError,
+        outputMode: "discard",
+    };
+    if (encodedFrame.profile === Profile.AVC) {
+        await deserializeEncodedFrameH264(args);
     }
+    else if (encodedFrame.profile === Profile.HEVC) {
+        await deserializeEncodedFrameH265(args);
+    }
+}
+function extractRawColorFrame(imageFrame) {
     if (imageFrame) {
         const { width, height, type } = parseMessage(imageFrame);
         const specs = imageFrame.fb ?? imageFrame.sourceFb;
         if (type === Type.NV12) {
             const stride = specs?.stride || width;
             const uvOffset = specs?.p1Offset || stride * height;
-            return Promise.resolve({
+            return {
                 data: convertNv12ToI420(ensureEvenByteLength(imageFrame.data), width, height, stride, stride, 0, uvOffset),
                 width,
                 height,
-            });
+            };
         }
         if (type === Type.YUV420p) {
-            return Promise.resolve({
+            return {
                 data: repackYuv420pToI420(imageFrame, width, height),
                 width,
                 height,
-            });
+            };
         }
-        return Promise.reject(new Error(`Unsupported RGBD color ImgFrame type ${Type[type]}`));
+        throw new Error(`Unsupported RGBD color ImgFrame type ${Type[type]}`);
     }
-    return Promise.resolve({
+    return {
         data: new Uint8Array(),
         width: 0,
         height: 0,
-    });
+    };
 }
 function extractDepthFrame(encodedFrame, imageFrame) {
     if (encodedFrame) {
@@ -395,14 +389,18 @@ function emitRGBDDepthPreview(topic, message, maxStereoDepth, callback, onError)
     }
     const depthFrameForPreview = {
         ...message.depthImgFrame,
-        data: message.depthImgFrame.data.slice(),
     };
-    void deserializeDepthFrame({
-        topic,
-        message: depthFrameForPreview,
-        callback,
-        maxStereoDepth: maxStereoDepth / 1000,
-    }).catch(onError);
+    try {
+        deserializeDepthFrame({
+            topic,
+            message: depthFrameForPreview,
+            callback,
+            maxStereoDepth: maxStereoDepth / 1000,
+        });
+    }
+    catch (error) {
+        onError(error instanceof Error ? error : new Error(String(error)));
+    }
 }
 function emitRGBDPointCloud(frame, pointCloudData) {
     const foxgloveMessage = {
@@ -434,87 +432,9 @@ function emitRGBDPointCloud(frame, pointCloudData) {
         schemaName: "foxglove.PointCloud.Colored",
     });
 }
-function getRGBDBatchSignature(frame) {
-    const intrinsics = frame.rgbdIntrinsics.right;
-    return [
-        frame.depthWidth,
-        frame.depthHeight,
-        frame.colorFrame.width,
-        frame.colorFrame.height,
-        intrinsics.focalLenght.x,
-        intrinsics.focalLenght.y,
-        intrinsics.principalPoint.x,
-        intrinsics.principalPoint.y,
-        frame.maxStereoDepth,
-        frame.hasGPU,
-    ].join(":");
-}
-function clearRGBDBatchFlush(batch) {
-    if (batch.flushTimeoutId != undefined) {
-        clearTimeout(batch.flushTimeoutId);
-        batch.flushTimeoutId = undefined;
-    }
-}
 export function resetRGBDPointCloudTopic(topic) {
-    const pendingBatch = pendingRGBDBatches.get(topic);
-    if (pendingBatch) {
-        clearRGBDBatchFlush(pendingBatch);
-        pendingRGBDBatches.delete(topic);
-    }
     rgbdIntrinsicsByTopic.delete(topic);
-}
-async function processRGBDPointCloudBatchOnWorker(workerSlot, workerIndex, frames) {
-    const firstFrame = frames[0];
-    if (!firstFrame) {
-        workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
-        return;
-    }
-    const intrinsics = firstFrame.rgbdIntrinsics.right;
-    let timeoutId;
-    try {
-        const pointClouds = await Promise.race([
-            workerSlot.remote.depthToPointcloudGPU(transfer(frames.map((frame) => frame.depthFrame), collectArrayBuffers(frames.map((frame) => frame.depthFrame))), firstFrame.depthWidth, firstFrame.depthHeight, intrinsics.focalLenght.x, intrinsics.focalLenght.y, intrinsics.principalPoint.x, intrinsics.principalPoint.y, transfer(frames.map((frame) => frame.colorFrame.data), collectArrayBuffers(frames.map((frame) => frame.colorFrame.data))), firstFrame.colorFrame.width, firstFrame.colorFrame.height, firstFrame.maxStereoDepth, { hasGPU: firstFrame.hasGPU }),
-            new Promise((_, reject) => {
-                timeoutId = setTimeout(() => {
-                    reject(new Error(`RGBD pointcloud worker ${workerIndex} timed out after ${RGBD_POINTCLOUD_WORKER_TIMEOUT_MS}ms for topic ${firstFrame.topic} ` +
-                        `(batch=${frames.length}, depth=${firstFrame.depthWidth}x${firstFrame.depthHeight}, color=${firstFrame.colorFrame.width}x${firstFrame.colorFrame.height}, hasGPU=${firstFrame.hasGPU})`));
-                }, RGBD_POINTCLOUD_WORKER_TIMEOUT_MS);
-            }),
-        ]);
-        if (timeoutId) {
-            clearTimeout(timeoutId);
-            timeoutId = undefined;
-        }
-        if (pointClouds.length !== frames.length) {
-            throw new Error(`RGBD pointcloud worker returned ${pointClouds.length} frames for batch size ${frames.length}`);
-        }
-        for (let index = 0; index < frames.length; index++) {
-            const frame = frames[index];
-            const pointCloud = pointClouds[index];
-            if (!frame || !pointCloud) {
-                continue;
-            }
-            emitRGBDPointCloud(frame, pointCloud);
-        }
-    }
-    catch (error) {
-        if (timeoutId) {
-            clearTimeout(timeoutId);
-            timeoutId = undefined;
-        }
-        if (error instanceof Error && error.message.includes("timed out")) {
-            replaceRGBDPointCloudWorker(workerIndex);
-            console.error(error);
-        }
-        const normalizedError = error instanceof Error ? error : new Error(String(error));
-        for (const frame of frames) {
-            frame.onError(normalizedError);
-        }
-    }
-    finally {
-        workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
-        markRGBDPointCloudWorkersActive();
-    }
+    lastRGBDDropWarningByTopic.delete(topic);
 }
 async function processRGBDPointCloudOnWorker(workerSlot, workerIndex, frame) {
     const intrinsics = frame.rgbdIntrinsics.right;
@@ -525,7 +445,7 @@ async function processRGBDPointCloudOnWorker(workerSlot, workerIndex, frame) {
             new Promise((_, reject) => {
                 timeoutId = setTimeout(() => {
                     reject(new Error(`RGBD pointcloud worker ${workerIndex} timed out after ${RGBD_POINTCLOUD_WORKER_TIMEOUT_MS}ms for topic ${frame.topic} ` +
-                        `(depth=${frame.depthWidth}x${frame.depthHeight}, color=${frame.colorFrame.width}x${frame.colorFrame.height}, hasGPU=${frame.hasGPU})`));
+                        `(depth=${frame.depthWidth}x${frame.depthHeight}, color=${frame.colorFrame.width}x${frame.colorFrame.height})`));
                 }, RGBD_POINTCLOUD_WORKER_TIMEOUT_MS);
             }),
         ]);
@@ -554,95 +474,77 @@ async function processRGBDPointCloudOnWorker(workerSlot, workerIndex, frame) {
         markRGBDPointCloudWorkersActive();
     }
 }
-function flushRGBDPointCloudBatch(topic) {
-    const batch = pendingRGBDBatches.get(topic);
-    if (!batch || batch.frames.length === 0) {
-        pendingRGBDBatches.delete(topic);
-        return;
-    }
-    clearRGBDBatchFlush(batch);
-    pendingRGBDBatches.delete(topic);
-    const reservedWorkerSelection = tryAcquireRGBDPointCloudWorkerSlot();
-    if (!reservedWorkerSelection) {
-        console.warn(`[RGBD] Dropping pointcloud frame for topic ${topic}: all RGBD pointcloud workers are busy.`);
-        return;
-    }
-    void processRGBDPointCloudBatchOnWorker(reservedWorkerSelection.slot, reservedWorkerSelection.index, batch.frames);
-}
-function enqueueRGBDPointCloudFrame(frame) {
-    if (!ENABLE_RGBD_GPU_BATCHING || !frame.hasGPU) {
-        const reservedWorkerSelection = tryAcquireRGBDPointCloudWorkerSlot();
-        if (!reservedWorkerSelection) {
-            console.warn(`[RGBD] Dropping pointcloud frame for topic ${frame.topic}: all RGBD pointcloud workers are busy.`);
-            return;
-        }
-        globalRenderMetricsManager.ensureTopic(constructKeyForTopicRenderMetrics("renderPointCloudFrame", "Point Cloud"));
-        globalInputEventMetricsManager.registerEvent(constructKeyForTopicRenderMetrics("incomingPointCloudFrame", "Point Cloud"));
-        globalDecodeMetricsManager.registerEvent("Point Cloud");
-        void processRGBDPointCloudOnWorker(reservedWorkerSelection.slot, reservedWorkerSelection.index, frame);
-        return;
-    }
-    const existingBatch = pendingRGBDBatches.get(frame.topic);
-    if (existingBatch &&
-        existingBatch.frames.length > 0 &&
-        getRGBDBatchSignature(existingBatch.frames[0]) !== getRGBDBatchSignature(frame)) {
-        flushRGBDPointCloudBatch(frame.topic);
-    }
-    const batch = pendingRGBDBatches.get(frame.topic) ?? { frames: [] };
-    batch.frames.push(frame);
-    pendingRGBDBatches.set(frame.topic, batch);
-    if (batch.frames.length >= RGBD_GPU_BATCH_SIZE) {
-        flushRGBDPointCloudBatch(frame.topic);
-        return;
+function warnRGBDPointCloudDrop(topic) {
+    const now = performance.now();
+    const lastWarning = lastRGBDDropWarningByTopic.get(topic) ?? Number.NEGATIVE_INFINITY;
+    if (now - lastWarning >= RGBD_DROP_WARNING_INTERVAL_MS) {
+        lastRGBDDropWarningByTopic.set(topic, now);
+        console.warn(`[RGBD] Dropping stale pointcloud frames for topic ${topic}: all RGBD pointcloud workers are busy.`);
     }
-    clearRGBDBatchFlush(batch);
-    batch.flushTimeoutId = setTimeout(() => {
-        flushRGBDPointCloudBatch(frame.topic);
-    }, RGBD_GPU_BATCH_FLUSH_DELAY_MS);
 }
-export async function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, onError, }) {
+export async function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, onError, pointCloudRequested = true, depthPreviewRequested = true, }) {
     markRGBDPointCloudWorkersActive();
-    emitRGBDDepthPreview(topic, message, maxStereoDepth, callback, onError);
-    setTimeout(() => {
-        void processScheduledRGBDPointCloud({
-            topic,
-            topicDecoders,
-            cameraIntrinsics,
-            maxStereoDepth,
-            message,
-            callback,
-            onError,
-        });
-    }, RGBD_POINTCLOUD_SCHEDULE_DELAY_MS);
-}
-async function processScheduledRGBDPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, onError, }) {
+    ensureRGBDGPUSupportDetection();
     const { receiveTime } = parseMessage(message);
     const { depthWidth, depthHeight } = parseDimensions(message);
+    if (depthPreviewRequested) {
+        emitRGBDDepthPreview(topic, message, maxStereoDepth, callback, onError);
+    }
+    if (!pointCloudRequested) {
+        // The RGBD color decoder must see the stream's keyframe and every dependent frame even
+        // before the point-cloud panel subscribes. Starting it only on demand usually joins the
+        // GOP on a delta frame, leaving the panel blank until the next keyframe.
+        if (message.colorEncodedFrame) {
+            await decodeAndDiscardEncodedColorFrame(message.colorEncodedFrame, topicDecoders, topic, onError);
+        }
+        return;
+    }
     const rgbdIntrinsics = getRGBDIntrinsics(topic, message, depthWidth, depthHeight, cameraIntrinsics);
     if (!rgbdIntrinsics) {
         onError(new Error(`Cannot generate RGBD point cloud for topic "${topic}": missing camera intrinsics.`));
         return;
     }
-    const hasGPU = getRGBDGPUSupport();
+    const enqueuePointCloud = async (colorFrame) => {
+        const hasGPU = await getRGBDGPUSupport();
+        const reservedWorkerSelection = tryAcquireRGBDPointCloudWorkerSlot();
+        if (!reservedWorkerSelection) {
+            warnRGBDPointCloudDrop(topic);
+            return;
+        }
+        try {
+            const uint8DepthFrames = extractDepthFrame(message.depthEncodedFrame, message.depthImgFrame);
+            const depthFrame = uint8ArrayToUint16Array(uint8DepthFrames);
+            const pendingFrame = {
+                topic,
+                receiveTime,
+                timestamp: message.tsDevice,
+                depthWidth,
+                depthHeight,
+                rgbdIntrinsics,
+                colorFrame,
+                depthFrame,
+                maxStereoDepth,
+                hasGPU,
+                callback,
+                onError,
+            };
+            globalRenderMetricsManager.ensureTopic(constructKeyForTopicRenderMetrics("renderPointCloudFrame", "Point Cloud"));
+            globalInputEventMetricsManager.registerEvent(constructKeyForTopicRenderMetrics("incomingPointCloudFrame", "Point Cloud"));
+            globalDecodeMetricsManager.registerEvent("Point Cloud");
+            void processRGBDPointCloudOnWorker(reservedWorkerSelection.slot, reservedWorkerSelection.index, pendingFrame);
+        }
+        catch (error) {
+            reservedWorkerSelection.slot.activeJobs = Math.max(0, reservedWorkerSelection.slot.activeJobs - 1);
+            markRGBDPointCloudWorkersActive();
+            onError(error instanceof Error ? error : new Error(String(error)));
+        }
+    };
     try {
-        const colorFrame = await extractColorFrame(message.colorEncodedFrame, message.colorImgFrame, topicDecoders, topic);
-        const uint8DepthFrames = extractDepthFrame(message.depthEncodedFrame, message.depthImgFrame);
-        const depthFrame = uint8ArrayToUint16Array(uint8DepthFrames);
-        const pendingFrame = {
-            topic,
-            receiveTime,
-            timestamp: message.tsDevice,
-            depthWidth,
-            depthHeight,
-            rgbdIntrinsics,
-            colorFrame,
-            depthFrame,
-            maxStereoDepth,
-            hasGPU,
-            callback,
-            onError,
-        };
-        enqueueRGBDPointCloudFrame(pendingFrame);
+        if (message.colorEncodedFrame) {
+            await queueEncodedColorFrame(message.colorEncodedFrame, topicDecoders, topic, enqueuePointCloud, onError);
+            return;
+        }
+        enqueuePointCloud(extractRawColorFrame(message.colorImgFrame));
     }
     catch (error) {
         onError(error instanceof Error ? error : new Error(String(error)));

package/dist/visualizer/messaging/deserialization/video/rgbd-to-pointcloud.js.map

@@ -1 +1 @@
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package/dist/visualizer/messaging/deserialization.worker.d.ts

@@ -1,15 +1,17 @@
 import type { FoxgloveMessage } from "../connection/communicator.js";
-import { type DeserializationErrorCallback, type ErrorCode } from "./decode-core.js";
+import { type DecodeOutputDemand, type DeserializationErrorCallback, type ErrorCode } from "./decode-core.js";
 import type { NeuralCameraIntrinsics } from "./deserialization/pointcloud/utils.js";
 export type { DeserializationErrorCallback, ErrorCode };
 export type DeserializationWorkerApi = {
     setDecodedMessagePort: (port: MessagePort) => void;
     setDiagnosticsPort: (port: MessagePort) => void;
+    setErrorPort: (port: MessagePort) => void;
     updateConnectionConfig: (debugLogsEnabled: boolean, streamDiagnosticsEnabled: boolean) => void;
     resetTopic: (topic: string) => void;
-    handleMessageToDecode: ({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, }: FoxgloveMessage & {
+    handleMessageToDecode: ({ schema, buffer, topic, neuralCameraIntrinsics, stereoDepthMaxValue, outputDemand, }: FoxgloveMessage & {
         neuralCameraIntrinsics: NeuralCameraIntrinsics;
         stereoDepthMaxValue: number;
-    }, errorCallback?: DeserializationErrorCallback) => Promise<void>;
+        outputDemand?: DecodeOutputDemand;
+    }) => Promise<void>;
 };
 //# sourceMappingURL=deserialization.worker.d.ts.map

package/dist/visualizer/messaging/deserialization.worker.d.ts.map

@@ -1 +1 @@
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