@luxonis/depthai-viewer-common 3.9.7 → 4.0.0

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

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

@@ -1,4 +1,3 @@
-import { type Remote } from "comlink";
 import type { VisualizerMessageEvent } from "../../message-event.js";
 import type { PointCloudWithDimensions } from "../video/depth.js";
 type PointCloudFrame = {
@@ -14,21 +13,18 @@ type PointCloudFrame = {
     i420Width: number;
     i420Height: number;
 };
+/**
+ * CPU fallback for the legacy synchronized depth + I420 path.
+ *
+ * Only one worker is kept because the primary RGBD path already projects on the GPU. Incoming
+ * frames are latest-only while that worker is busy, and completed frames are delivered
+ * immediately; the panel's requestAnimationFrame boundary performs the final presentation
+ * coalescing.
+ */
 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;
+    constructor(callback: (originalColorEvent: VisualizerMessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void);
+    queueDepthFrame(frame: PointCloudFrame): Promise<void>;
     destroy(): void;
 }
 export {};

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

@@ -1 +1 @@
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package/dist/visualizer/messaging/deserialization/pointcloud/poitcloudPoolManager.js

@@ -4,28 +4,9 @@
 import { transfer } from "comlink";
 import { createComlinkWorker } from "../../../utils/comlink-wrap.js";
 import { Logger } from "../../../utils/logger.js";
-import { globalInputEventMetricsManager, } from "../../../utils/metrics-manager.js";
 import { getStereoDepthMaxValue } from "../../../utils/runtime-config.js";
 import { uint8ArrayToUint16Array } from "./utils.js";
 const logger = Logger.getLogger();
-const WORKER_COUNT = 4;
-const DEFAULT_TARGET_FPS = 9;
-const DEFAULT_MAX_PROCESSED_QUEUE_SIZE = 25;
-const MAX_BATCH_SIZE = 3;
-const MIN_DISPATCH_INTERVAL_MS = 16;
-const MAX_DISPATCH_INTERVAL_MS = 250;
-const HIGH_QUEUE_PRESSURE_RATIO = 0.8;
-const MEDIUM_QUEUE_PRESSURE_RATIO = 0.5;
-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;
-}
 function normalizeFrameIntrinsics(frame) {
     let fx = frame.fx;
     let fy = frame.fy;
@@ -51,294 +32,81 @@ function normalizeFrameIntrinsics(frame) {
     }
     return { fx, fy, cx, cy };
 }
+/**
+ * CPU fallback for the legacy synchronized depth + I420 path.
+ *
+ * Only one worker is kept because the primary RGBD path already projects on the GPU. Incoming
+ * frames are latest-only while that worker is busy, and completed frames are delivered
+ * immediately; the panel's requestAnimationFrame boundary performs the final presentation
+ * coalescing.
+ */
 export class DepthToPointcloudWorkerPool {
-    lastUsedWorkerIndex = 0;
-    workerApis;
-    #frameQueue = [];
-    #processedFrameQueue = [];
-    #isWebGpuSupported = false;
-    #metrics;
-    #maximumStorageBufferSize;
-    #FRAME_BATCH_SIZE;
-    #maxProcessedQueueSize;
-    #prevColorFrameWidth;
-    #prevDepthFrameWidth;
+    #worker;
     #dispatchCallback;
-    #targetDispatchIntervalMs;
-    #dispatchTimeoutId = undefined;
-    #processedFrameQueueStartIndex = 0;
-    #activeWorkerIndices = new Set();
-    #targetFps;
-    constructor(callback, batchSize = MAX_BATCH_SIZE, targetFps = DEFAULT_TARGET_FPS, maxProcessedQueueSize = DEFAULT_MAX_PROCESSED_QUEUE_SIZE) {
-        if (typeof navigator.gpu !== "undefined") {
-            void navigator.gpu
-                .requestAdapter()
-                .then((gpuAdapter) => {
-                if (!gpuAdapter) {
-                    this.#isWebGpuSupported = false;
-                    logger.warn("WebGPU adapter not found. Falling back to CPU for all frames.");
-                }
-                else {
-                    this.#isWebGpuSupported = true;
-                    this.#maximumStorageBufferSize = gpuAdapter.limits.maxStorageBufferBindingSize / 16;
-                    logger.info("WebGPU potentially supported. Will attempt GPU processing.");
-                }
-            })
-                .catch((err) => {
-                logger.warn("Error requesting WebGPU adapter. Falling back to CPU.", err);
-                this.#isWebGpuSupported = false;
-            });
-        }
-        else {
-            logger.warn("navigator.gpu is undefined. WebGPU not supported. Falling back to CPU for all frames.");
-            this.#isWebGpuSupported = false;
-        }
-        this.#maximumStorageBufferSize = -1;
-        this.#prevDepthFrameWidth = 0;
-        this.#prevColorFrameWidth = 0;
+    #pendingFrame;
+    #processing = false;
+    #destroyed = false;
+    constructor(callback) {
         this.#dispatchCallback = callback;
-        this.#FRAME_BATCH_SIZE = Math.max(1, batchSize);
-        this.#targetFps = Math.max(1, targetFps);
-        this.#maxProcessedQueueSize = Math.max(1, maxProcessedQueueSize);
-        this.#targetDispatchIntervalMs = this.#computeDispatchIntervalMs();
-        this.workerApis = new Array(WORKER_COUNT).fill(undefined).map(() => {
-            const worker = new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.js", import.meta.url), {
-                type: "module",
-            });
-            return createComlinkWorker(worker);
+        const worker = new Worker(new URL("./pointcloudFromDepth.worker.js", import.meta.url), {
+            type: "module",
+            name: "legacy-depth-pointcloud",
         });
-        this.#metrics = globalInputEventMetricsManager;
-        this.#metrics.registerEvent("pcl-pool.frameInput");
-    }
-    #getStereoDepthMaxValue() {
-        return getStereoDepthMaxValue();
+        this.#worker = createComlinkWorker(worker);
     }
-    #compactProcessedFrameQueue() {
-        if (this.#processedFrameQueueStartIndex === 0) {
+    async queueDepthFrame(frame) {
+        if (this.#destroyed) {
             return;
         }
-        this.#processedFrameQueue = this.#processedFrameQueue.slice(this.#processedFrameQueueStartIndex);
-        this.#processedFrameQueueStartIndex = 0;
-    }
-    #getProcessedFrameQueueLength() {
-        return this.#processedFrameQueue.length - this.#processedFrameQueueStartIndex;
-    }
-    async queueDepthFrame(data) {
-        if (!(data.colorFrameData instanceof Uint8Array)) {
-            logger.warn("Skipping frame: color frame data is not a Uint8Array", data.colorFrame);
+        if (!(frame.colorFrameData instanceof Uint8Array)) {
+            logger.warn("Skipping frame: color frame data is not a Uint8Array", frame.colorFrame);
             return;
         }
-        if (data.width !== this.#prevDepthFrameWidth || data.i420Width !== this.#prevColorFrameWidth) {
-            this.setMaxGpuQueueSize(data.width, data.height);
-            this.#prevDepthFrameWidth = data.width;
-            this.#prevColorFrameWidth = data.i420Width;
-            this.#frameQueue = [];
-        }
-        if (data.width === data.i420Width && data.height === data.i420Height) {
-            this.#frameQueue.push(data);
-            this.tryProcessBatch();
-        }
-    }
-    setMaxGpuQueueSize(width, height) {
-        if (!this.#isWebGpuSupported) {
+        if (frame.width <= 0 ||
+            frame.height <= 0 ||
+            frame.width !== frame.i420Width ||
+            frame.height !== frame.i420Height) {
             return;
         }
-        const numPixelsPerFrame = width * height;
-        const currentOutSize = numPixelsPerFrame * 16 * this.#FRAME_BATCH_SIZE;
-        if (currentOutSize > this.#maximumStorageBufferSize) {
-            logger.warn(`GPU queue size ${currentOutSize} exceeds maximum storage buffer size ${this.#maximumStorageBufferSize}. Reducing batch size.`);
-            const frameBatchSize = Math.floor(this.#maximumStorageBufferSize / (numPixelsPerFrame * 16));
-            this.#FRAME_BATCH_SIZE = Math.min(Math.max(1, frameBatchSize), MAX_BATCH_SIZE);
-            if (frameBatchSize < 1) {
-                logger.warn("Output buffer size is too small to process. Falling back to CPU.");
-                this.#isWebGpuSupported = false;
-            }
-        }
-    }
-    tryProcessBatch(force = false) {
-        while (true) {
-            const workerIndex = this.#acquireAvailableWorkerIndex();
-            if (workerIndex == undefined) {
-                return;
-            }
-            const batchSize = force
-                ? Math.min(this.#FRAME_BATCH_SIZE, this.#frameQueue.length)
-                : this.#FRAME_BATCH_SIZE;
-            if (batchSize <= 0 || this.#frameQueue.length < batchSize) {
-                this.#activeWorkerIndices.delete(workerIndex);
-                return;
-            }
-            const batchToProcess = this.#frameQueue.splice(0, batchSize);
-            if (batchToProcess.length === 0) {
-                this.#activeWorkerIndices.delete(workerIndex);
-                return;
-            }
-            this.#metrics?.registerEvent("pcl-pool.batchSent");
-            this.#dispatchBatchToWorker(workerIndex, batchToProcess);
-        }
-    }
-    #calculateDispatchMultiplier() {
-        const processedQueueLength = this.#getProcessedFrameQueueLength();
-        if (processedQueueLength >= this.#maxProcessedQueueSize * HIGH_QUEUE_PRESSURE_RATIO) {
-            return 0.5;
-        }
-        if (processedQueueLength >= this.#maxProcessedQueueSize * MEDIUM_QUEUE_PRESSURE_RATIO) {
-            return 0.75;
-        }
-        if (processedQueueLength === 0) {
-            return 1.1;
-        }
-        return 1;
-    }
-    #addToProcessedQueue(processedFrame) {
-        if (this.#getProcessedFrameQueueLength() >= this.#maxProcessedQueueSize) {
-            this.#processedFrameQueueStartIndex += 1;
-            if (this.#processedFrameQueueStartIndex > this.#maxProcessedQueueSize / 2) {
-                this.#compactProcessedFrameQueue();
-            }
-            logger.warn(`Processed frame queue full (>= ${this.#maxProcessedQueueSize}). Dropping oldest frame.`);
-        }
-        this.#processedFrameQueue.push(processedFrame);
-        if (this.#dispatchTimeoutId === undefined) {
-            this.#scheduleNextDispatch();
-        }
+        this.#pendingFrame = frame;
+        this.#processLatestFrame();
     }
-    #scheduleNextDispatch() {
-        if (this.#getProcessedFrameQueueLength() <= 0) {
-            this.#dispatchTimeoutId = undefined;
+    #processLatestFrame() {
+        if (this.#destroyed || this.#processing || !this.#pendingFrame) {
             return;
         }
-        if (this.#dispatchTimeoutId !== undefined) {
-            clearTimeout(this.#dispatchTimeoutId);
-        }
-        this.#targetDispatchIntervalMs = this.#computeDispatchIntervalMs();
-        this.#dispatchTimeoutId = setTimeout(this.#dispatchNextFrame, this.#targetDispatchIntervalMs);
-    }
-    #dispatchNextFrame = () => {
-        this.#dispatchTimeoutId = undefined;
-        const frameToDispatch = this.#processedFrameQueue[this.#processedFrameQueueStartIndex];
-        if (frameToDispatch) {
-            this.#processedFrameQueueStartIndex += 1;
-            if (this.#processedFrameQueueStartIndex > this.#maxProcessedQueueSize / 2) {
-                this.#compactProcessedFrameQueue();
-            }
-        }
-        if (frameToDispatch) {
-            try {
-                this.#dispatchCallback(frameToDispatch.originalColorEvent, frameToDispatch.originalDepthFrame, frameToDispatch.processedPointCloud);
-            }
-            catch (error) {
-                logger.error("Error in dispatchCallback:", error);
-            }
-        }
-        if (this.#getProcessedFrameQueueLength() > 0) {
-            this.#scheduleNextDispatch();
-        }
-    };
-    #acquireAvailableWorkerIndex() {
-        for (let offset = 0; offset < this.workerApis.length; offset += 1) {
-            const workerIndex = (this.lastUsedWorkerIndex + offset) % this.workerApis.length;
-            if (this.#activeWorkerIndices.has(workerIndex)) {
-                continue;
+        const frame = this.#pendingFrame;
+        this.#pendingFrame = undefined;
+        this.#processing = true;
+        const { fx, fy, cx, cy } = normalizeFrameIntrinsics(frame);
+        const depthData = uint8ArrayToUint16Array(frame.depthFrame.data);
+        const colorData = frame.colorFrameData;
+        void this.#worker.remote
+            .depthToPointcloud(transfer([depthData], [depthData.buffer]), frame.width, frame.height, fx, fy, cx, cy, transfer([colorData], [colorData.buffer]), frame.i420Width, frame.i420Height, getStereoDepthMaxValue())
+            .then((results) => {
+            if (this.#destroyed) {
+                return;
             }
-            this.#activeWorkerIndices.add(workerIndex);
-            this.lastUsedWorkerIndex = (workerIndex + 1) % this.workerApis.length;
-            return workerIndex;
-        }
-        return undefined;
-    }
-    #computeDispatchIntervalMs() {
-        const measuredFps = this.#metrics?.calculate("pcl-pool.batchSent");
-        const referenceFps = measuredFps && measuredFps > 0 ? measuredFps : this.#targetFps;
-        const baseIntervalMs = 1000 / Math.max(1, referenceFps);
-        const intervalMs = baseIntervalMs * this.#calculateDispatchMultiplier();
-        return Math.max(MIN_DISPATCH_INTERVAL_MS, Math.min(MAX_DISPATCH_INTERVAL_MS, Math.round(intervalMs)));
-    }
-    #dispatchBatchToWorker(workerIndex, batchToProcess) {
-        const firstFrame = batchToProcess[0];
-        const width = firstFrame.width;
-        const height = firstFrame.height;
-        const { fx, fy, cx, cy } = normalizeFrameIntrinsics(firstFrame);
-        const i420Width = firstFrame.i420Width;
-        const i420Height = firstFrame.i420Height;
-        try {
-            const depthDataArray = batchToProcess.map((f) => uint8ArrayToUint16Array(f.depthFrame.data));
-            const i420DataArray = batchToProcess.map((f) => f.colorFrameData);
-            this.workerApis[workerIndex].remote.depthToPointcloudGPU(transfer(depthDataArray, collectArrayBuffers(depthDataArray)), width, height, fx, fy, cx, cy, transfer(i420DataArray, collectArrayBuffers(i420DataArray)), i420Width, i420Height, this.#getStereoDepthMaxValue(), { hasGPU: this.#isWebGpuSupported })
-                .then((results) => {
-                if (results.length === batchToProcess.length) {
-                    for (let i = 0; i < results.length; i++) {
-                        const originalFrame = batchToProcess[i];
-                        const pointCloudResult = results[i];
-                        if (!pointCloudResult) {
-                            logger.warn(`Worker ${workerIndex}: Result ${i} is null or undefined. Passing null to callback.`);
-                            this.#addToProcessedQueue({
-                                originalColorEvent: originalFrame.colorFrame,
-                                originalDepthFrame: originalFrame.depthFrame,
-                                processedPointCloud: null,
-                            });
-                        }
-                        else {
-                            this.#addToProcessedQueue({
-                                originalColorEvent: originalFrame.colorFrame,
-                                originalDepthFrame: originalFrame.depthFrame,
-                                processedPointCloud: pointCloudResult,
-                            });
-                        }
-                    }
-                }
-                else {
-                    logger.error(`Worker ${workerIndex}: Mismatch in result count (${results.length}) and batch size (${batchToProcess.length}). Discarding results for this batch.`);
-                    for (const originalFrame of batchToProcess) {
-                        this.#addToProcessedQueue({
-                            originalColorEvent: originalFrame.colorFrame,
-                            originalDepthFrame: originalFrame.depthFrame,
-                            processedPointCloud: null,
-                        });
-                    }
-                }
-            })
-                .catch((error) => {
-                logger.error(`Worker ${workerIndex}: Error processing batch:`, error);
-                for (const originalFrame of batchToProcess) {
-                    this.#addToProcessedQueue({
-                        originalColorEvent: originalFrame.colorFrame,
-                        originalDepthFrame: originalFrame.depthFrame,
-                        processedPointCloud: null,
-                    });
-                }
-            })
-                .finally(() => {
-                this.#activeWorkerIndices.delete(workerIndex);
-                this.tryProcessBatch();
-            });
-        }
-        catch (error) {
-            logger.error("Error preparing data for worker:", error);
-            for (const originalFrame of batchToProcess) {
-                this.#addToProcessedQueue({
-                    originalColorEvent: originalFrame.colorFrame,
-                    originalDepthFrame: originalFrame.depthFrame,
-                    processedPointCloud: null,
-                });
+            this.#dispatchCallback(frame.colorFrame, frame.depthFrame, results[0] ?? null);
+        })
+            .catch((error) => {
+            if (!this.#destroyed) {
+                logger.error("Legacy point-cloud worker failed:", error);
+                this.#dispatchCallback(frame.colorFrame, frame.depthFrame, null);
             }
-            this.#activeWorkerIndices.delete(workerIndex);
-            this.tryProcessBatch();
-        }
+        })
+            .finally(() => {
+            this.#processing = false;
+            this.#processLatestFrame();
+        });
     }
     destroy() {
-        if (this.#dispatchTimeoutId !== undefined) {
-            clearTimeout(this.#dispatchTimeoutId);
-            this.#dispatchTimeoutId = undefined;
-        }
-        this.#frameQueue = [];
-        this.#processedFrameQueue = [];
-        this.#processedFrameQueueStartIndex = 0;
-        this.#activeWorkerIndices.clear();
-        for (const workerWrapper of this.workerApis) {
-            workerWrapper.dispose();
+        if (this.#destroyed) {
+            return;
         }
-        this.workerApis = [];
+        this.#destroyed = true;
+        this.#pendingFrame = undefined;
+        this.#worker.dispose();
     }
 }
 //# sourceMappingURL=poitcloudPoolManager.js.map

package/dist/visualizer/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map

@@ -1 +1 @@
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package/dist/visualizer/messaging/deserialization/pointcloud/utils.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAIA,wBAAgB,uBAAuB,CAAC,UAAU,EAAE,UAAU,GAAG,WAAW,CAiB3E;AAGD,wBAAgB,sBAAsB,CACpC,QAAQ,EAAE,UAAU,EACpB,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,IAAI,EAAE,UAAU,GACf,UAAU,CAyCZ;AAED,KAAK,qBAAqB,GAAG;IAC3B,WAAW,EAAE;QACX,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;IACF,cAAc,EAAE;QACd,CAAC,EAAE,MAAM,CAAC;QACV,CAAC,EAAE,MAAM,CAAC;KACX,CAAC;CACH,CAAC;AACF,MAAM,MAAM,sBAAsB,GAAG;IACnC,IAAI,EAAE,qBAAqB,CAAC;IAC5B,KAAK,EAAE,qBAAqB,CAAC;CAC9B,CAAC"}

package/dist/visualizer/messaging/deserialization/pointcloud/utils.js

@@ -22,9 +22,7 @@ export function i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWid
     const uOffset = frameSize;
     const vOffset = frameSize + frameSize / 4;
     const pointCount = data.byteLength / 16;
-    const buffer = new ArrayBuffer(data.byteLength);
-    const view = new DataView(buffer);
-    const dataView = new DataView(data.buffer);
+    const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
     for (let i = 0; i < pointCount; i++) {
         const depthX = i % depthWidth;
         const depthY = Math.floor(i / depthWidth);
@@ -45,14 +43,11 @@ export function i420ToRgbaToPointcloud(i420Data, i420Width, i420Height, depthWid
         G = Math.min(255, Math.max(0, G));
         B = Math.min(255, Math.max(0, B));
         const offset = i * 16;
-        view.setFloat32(offset, dataView.getFloat32(offset, true), true); // x
-        view.setFloat32(offset + 4, dataView.getFloat32(offset + 4, true), true); // y
-        view.setFloat32(offset + 8, dataView.getFloat32(offset + 8, true), true); // z
         view.setUint8(offset + 12, R); // Red
         view.setUint8(offset + 13, G); // Green
         view.setUint8(offset + 14, B); // Blue
         view.setUint8(offset + 15, 255); // Alpha (fully opaque)
     }
-    return new Uint8Array(buffer);
+    return data;
 }
 //# sourceMappingURL=utils.js.map

package/dist/visualizer/messaging/deserialization/pointcloud/utils.js.map

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

@@ -4,12 +4,13 @@ export type DeserializeDepthFrameArgs = {
     topic: string;
     message: ImgFrame;
     maxStereoDepth: number;
+    copyData?: boolean;
     callback: (event: VisualizerMessageEvent) => void;
 };
 export type PointCloudWithDimensions = VisualizerPointCloud & {
     width?: number;
     height?: number;
 };
-export declare function deserializeDepthFrame({ topic, message, callback, maxStereoDepth, }: DeserializeDepthFrameArgs): Promise<void>;
+export declare function deserializeDepthFrame({ topic, message, callback, maxStereoDepth, copyData, }: DeserializeDepthFrameArgs): void;
 export declare function getDistanceFromDepthDataForOffset(depthData: Uint8Array, width: number, height: number, xOffset: number, yOffset: number): number | undefined;
 //# sourceMappingURL=depth.d.ts.map

package/dist/visualizer/messaging/deserialization/video/depth.d.ts.map

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