npm - @luxonis/visualizer-protobuf - Versions diffs - 3.0.1-rc.9 → 3.0.2 - Mend

@luxonis/visualizer-protobuf 3.0.1-rc.9 → 3.0.2

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (119) hide show

package/dist/lib/src/context/MessagePipelineProvider.js CHANGED Viewed

@@ -9,6 +9,8 @@ import MessageOrderTracker from "@foxglove/studio-base/components/MessagePipelin
 import { pauseFrameForPromises } from "@foxglove/studio-base/components/MessagePipeline/pauseFrameForPromise";
 import { createMessagePipelineStore, defaultPlayerState } from "@foxglove/studio-base/components/MessagePipeline/store";
 import { useConnections } from "./ConnectionsProvider.js";
+import { Logger } from "../utils/logger";
+const logger = Logger.getLogger();
 const selectRenderDone = (state) => state.renderDone;
 export function MessagePipelineProvider(props) {
     const connections = useConnections();
@@ -54,7 +56,7 @@ function createMessageListener(args) {
             return;
         }
         if (resolveFn) {
-            console.error("New playerState was emitted before last playerState was rendered.");
+            logger.error("New playerState was emitted before last playerState was rendered.");
             return;
         }
         // check for any out-of-order or out-of-sync messages

package/dist/lib/src/context/MessagePipelineProvider.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization/detections/detection.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
1	- {"version":3,"file":"detection.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/detections/detection.ts"],"names":[],"mappings":"AAMA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAUnE,OAAO,EAAE,aAAa,EAAE,MAAM,8CAA8C,CAAC;~~AAG7E~~,MAAM,MAAM,UAAU,GAAG,GAAG,CAC1B,MAAM,EACN;IACE,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,CACF,CAAC;AAEF,MAAM,MAAM,4BAA4B,GAAG;IACzC,KAAK,EAAE,MAAM,CAAC;IACd,UAAU,EAAE,UAAU,CAAC;IACvB,OAAO,EAAE,aAAa,CAAC;IACvB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,CAAC;~~AAEF~~,wBAAgB,wBAAwB,CAAC,EACvC,KAAK,EACL,OAAO,EACP,QAAQ,EACR,UAAU,GACX,EAAE,4BAA4B,GAAG,IAAI,~~CAyLrC~~"}
1	+ {"version":3,"file":"detection.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/detections/detection.ts"],"names":[],"mappings":"AAMA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAUnE,OAAO,EAAE,aAAa,EAAE,MAAM,8CAA8C,CAAC;AAI7E,MAAM,MAAM,UAAU,GAAG,GAAG,CAC1B,MAAM,EACN;IACE,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;CAChB,CACF,CAAC;AAEF,MAAM,MAAM,4BAA4B,GAAG;IACzC,KAAK,EAAE,MAAM,CAAC;IACd,UAAU,EAAE,UAAU,CAAC;IACvB,OAAO,EAAE,aAAa,CAAC;IACvB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,CAAC;AAsBF,wBAAgB,wBAAwB,CAAC,EACvC,KAAK,EACL,OAAO,EACP,QAAQ,EACR,UAAU,GACX,EAAE,4BAA4B,GAAG,IAAI,CAwNrC"}

package/dist/lib/src/messaging/deserialization/detections/detection.js CHANGED Viewed

@@ -6,6 +6,17 @@ import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryE
 import { DEFAULT_BACKGROUND_COLOR, DEBUG_COLOR, DEFAULT_TEXT_COLOR, DETECTION_STYLE, DEFAULT_STYLE, } from "./constants.js";
 import { DEFAULT_HEIGHT, DEFAULT_WIDTH, getBorderThickness, getTextSize } from "./utils.js";
 import { parseMessage } from "../../utils.js";
+function rotatePoint(point, centerX, centerY, angleDegrees) {
+    const angleRad = (angleDegrees * Math.PI) / 180;
+    const xTranslated = point.x - centerX;
+    const yTranslated = point.y - centerY;
+    const xRotated = xTranslated * Math.cos(angleRad) - yTranslated * Math.sin(angleRad);
+    const yRotated = xTranslated * Math.sin(angleRad) + yTranslated * Math.cos(angleRad);
+    return {
+        x: xRotated + centerX,
+        y: yRotated + centerY,
+    };
+}
 export function deserializeImgDetections({ topic, message, callback, topicSizes, }) {
     const { receiveTime } = parseMessage(message);
     const foxgloveMessage = {
@@ -29,12 +40,19 @@ export function deserializeImgDetections({ topic, message, callback, topicSizes,
             }
             foxgloveMessage.points.push({
                 timestamp: receiveTime,
-                points: [
-                    { x: detection.xmin, y: detection.ymin },
-                    { x: detection.xmin, y: detection.ymax },
-                    { x: detection.xmax, y: detection.ymax },
-                    { x: detection.xmax, y: detection.ymin },
-                ],
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ?
+                    [
+                        rotatePoint({ x: detection.xmin, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                        rotatePoint({ x: detection.xmin, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                        rotatePoint({ x: detection.xmax, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                        rotatePoint({ x: detection.xmax, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    ]
+                    : [
+                        { x: detection.xmin, y: detection.ymin },
+                        { x: detection.xmin, y: detection.ymax },
+                        { x: detection.xmax, y: detection.ymax },
+                        { x: detection.xmax, y: detection.ymin },
+                    ],
                 type: PointsAnnotationType.LINE_LOOP,
                 outline_colors: [],
                 thickness: 0,
@@ -89,56 +107,80 @@ export function deserializeImgDetections({ topic, message, callback, topicSizes,
             };
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmin, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmin + highlightSizeX, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmin, y: detection.ymin },
                     { x: detection.xmin + highlightSizeX, y: detection.ymin },
                 ],
             });
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmin, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmin, y: detection.ymin + highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmin, y: detection.ymin },
                     { x: detection.xmin, y: detection.ymin + highlightSizeY },
                 ],
             });
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmax, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmax - highlightSizeX, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmax, y: detection.ymin },
                     { x: detection.xmax - highlightSizeX, y: detection.ymin },
                 ],
             });
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmax, y: detection.ymin }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmax, y: detection.ymin + highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmax, y: detection.ymin },
                     { x: detection.xmax, y: detection.ymin + highlightSizeY },
                 ],
             });
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmax, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmax - highlightSizeX, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmax, y: detection.ymax },
                     { x: detection.xmax - highlightSizeX, y: detection.ymax },
                 ],
             });
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmax, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmax, y: detection.ymax - highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmax, y: detection.ymax },
                     { x: detection.xmax, y: detection.ymax - highlightSizeY },
                 ],
             });
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmin, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmin + highlightSizeX, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmin, y: detection.ymax },
                     { x: detection.xmin + highlightSizeX, y: detection.ymax },
                 ],
             });
             foxgloveMessage.points.push({
                 ...baseHighlightConfig,
-                points: [
+                points: detection.boundingBox?.angle && detection.boundingBox?.center ? [
+                    rotatePoint({ x: detection.xmin, y: detection.ymax }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                    rotatePoint({ x: detection.xmin, y: detection.ymax - highlightSizeY }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle),
+                ] : [
                     { x: detection.xmin, y: detection.ymax },
                     { x: detection.xmin, y: detection.ymax - highlightSizeY },
                 ],

package/dist/lib/src/messaging/deserialization/detections/detection.js.map CHANGED Viewed

	@@ -1 +1 @@
1	- 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package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js CHANGED Viewed

@@ -4,6 +4,8 @@
 /// <reference types="@webgpu/types" />
 import { expose } from "comlink";
 import { i420ToRgbaToPointcloud } from "./utils";
+import { Logger } from "../../../utils/logger";
+const logger = Logger.getLogger();
 function depthToPointCloudBuffer(uint16Array, width, height, fx, fy, maxSteroDepth) {
     const numPixels = width * height;
     const points = new Float32Array(numPixels * 3);
@@ -192,7 +194,7 @@ fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
 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) {
-        console.warn("GPU: Input frame arrays are empty or mismatched.");
+        logger.warn("GPU: Input frame arrays are empty or mismatched.");
         return [];
     }
     if (depthWidth <= 0 || depthHeight <= 0) {
@@ -212,7 +214,7 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
             const depthFrame = depthFrames[i];
             const colorFrame = i420Frames[i];
             if (!depthFrame || !colorFrame) {
-                console.warn(`CPU Fallback: Skipping frame ${i} due to missing data.`);
+                logger.warn(`CPU Fallback: Skipping frame ${i} due to missing data.`);
                 results.push(new Uint8Array(0));
                 continue;
             }
@@ -221,7 +223,7 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
                 results.push(i420ToRgbaToPointcloud(colorFrame, i420Width, i420Height, depthWidth, depthHeight, xyzData));
             }
             catch (cpuError) {
-                console.error(`CPU Fallback: Error processing frame ${i}:`, cpuError);
+                logger.error(`CPU Fallback: Error processing frame ${i}:`, cpuError);
                 results.push(new Uint8Array(0));
             }
         }
@@ -279,7 +281,7 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
         for (let i = 0; i < numFrames; ++i) {
             const frameDataU16 = depthFrames[i];
             if (!frameDataU16 || !(frameDataU16 instanceof Uint16Array)) {
-                console.warn(`GPU: Skipping depth frame ${i} due to missing/invalid data.`);
+                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);
@@ -316,7 +318,7 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
             const frameData = i420Frames[i];
             const byteOffset = i * i420AlignedStrideBytes;
             if (!frameData || !(frameData instanceof Uint8Array) || frameData.byteLength !== i420BytesPerFrame) {
-                console.warn(`GPU: Skipping I420 frame ${i} due to missing/invalid data or size mismatch.`);
+                logger.warn(`GPU: Skipping I420 frame ${i} due to missing/invalid data or size mismatch.`);
                 fullI420ArrayViewU8.fill(0, byteOffset, byteOffset + i420AlignedStrideBytes);
                 continue;
             }
@@ -385,7 +387,7 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
             const frameEnd = Math.min(frameOffset + outputFrameSize, fullResultData.byteLength);
             const frameData = fullResultData.slice(frameOffset, frameEnd);
             if (frameData.byteLength !== outputFrameSize) {
-                console.warn(`GPU: Result frame ${i} has incorrect size (${frameData.byteLength} vs ${outputFrameSize}). Padding or error occurred.`);
+                logger.warn(`GPU: Result frame ${i} has incorrect size (${frameData.byteLength} vs ${outputFrameSize}). Padding or error occurred.`);
                 results.push(new Uint8Array(outputFrameSize));
             }
             else {
@@ -395,14 +397,14 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
         return results;
     }
     catch (error) {
-        console.error("GPU: Error during WebGPU processing:", error);
-        console.warn("GPU: Falling back to CPU due to 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) {
-                console.warn(`CPU Fallback (error path): Skipping frame ${i} due to missing data.`);
+                logger.warn(`CPU Fallback (error path): Skipping frame ${i} due to missing data.`);
                 results.push(new Uint8Array(0));
                 continue;
             }
@@ -411,7 +413,7 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
                 results.push(i420ToRgbaToPointcloud(colorFrame, i420Width, i420Height, depthWidth, depthHeight, xyzData));
             }
             catch (cpuError) {
-                console.error(`CPU Fallback (error path): Error processing frame ${i}:`, cpuError);
+                logger.error(`CPU Fallback (error path): Error processing frame ${i}:`, cpuError);
                 results.push(new Uint8Array(0));
             }
         }

package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts CHANGED Viewed

@@ -16,11 +16,14 @@ type PointCloudFrame = {
 export declare class DepthToPointcloudWorkerPool {
     #private;
     protected lastUsedWorkerIndex: number;
-    protected workerApis: 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[]>;
-    }>[];
+    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: MessageEvent, originalDepthFrame: PointCloudWithDimensions, processedPointCloud: Uint8Array | null) => void, batchSize?: 3, targetFps?: 9, maxProcessedQueueSize?: 25);
     queueDepthFrame(data: PointCloudFrame): Promise<void>;
     protected setMaxGpuQueueSize(width: number, height: number): void;

package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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1	+ {"version":3,"file":"poitcloudPoolManager.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/poitcloudPoolManager.ts"],"names":[],"mappings":"AAIA,OAAO,EAAE,KAAK,MAAM,EAAE,MAAM,SAAS,CAAC;AAGtC,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAQxE,OAAO,KAAK,EAAE,wBAAwB,EAAE,MAAM,gBAAgB,CAAC;AAI/D,KAAK,eAAe,GAAG;IACrB,UAAU,EAAE,wBAAwB,CAAC;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,MAAM,EAAE,MAAM,CAAC;IACf,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,EAAE,EAAE,MAAM,CAAC;IACX,UAAU,EAAE,YAAY,CAAC;IACzB,SAAS,EAAE,MAAM,CAAC;IAClB,UAAU,EAAE,MAAM,CAAC;CACpB,CAAC;AAeF,qBAAa,2BAA2B;;IACtC,SAAS,CAAC,mBAAmB,SAAK;IAClC,SAAS,CAAC,UAAU,EAAE;QACpB,MAAM,EAAE,MAAM,CAAC;YACb,oBAAoB,EAAE,CACpB,eAAe,EAAE,WAAW,EAAE,EAC9B,UAAU,EAAE,MAAM,EAClB,WAAW,EAAE,MAAM,EACnB,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,EAAE,EAAE,MAAM,EACV,cAAc,EAAE,UAAU,EAAE,EAC5B,SAAS,EAAE,MAAM,EACjB,UAAU,EAAE,MAAM,EAClB,aAAa,EAAE,MAAM,EACrB,EAAE,MAAM,EAAE,EAAE;gBAAE,MAAM,EAAE,OAAO,CAAA;aAAE,KAC5B,OAAO,CAAC,UAAU,EAAE,CAAC,CAAC;SAC5B,CAAC,CAAC;QACH,OAAO,EAAE,MAAM,IAAI,CAAC;KACrB,EAAE,CAAC;gBAsBF,QAAQ,EAAE,CACR,kBAAkB,EAAE,YAAY,EAChC,kBAAkB,EAAE,wBAAwB,EAC5C,mBAAmB,EAAE,UAAU,GAAG,IAAI,KACnC,IAAI,EACT,SAAS,IAAiB,EAC1B,SAAS,IAAqB,EAC9B,qBAAqB,KAAmC;IAyD7C,eAAe,CAAC,IAAI,EAAE,eAAe,GAAG,OAAO,CAAC,IAAI,CAAC;IAoBlE,SAAS,CAAC,kBAAkB,CAAC,KAAK,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,GAAG,IAAI;IAsBjE,SAAS,CAAC,eAAe,CAAC,KAAK,UAAQ,GAAG,IAAI;IAwLvC,OAAO,IAAI,IAAI;CAavB"}

package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js CHANGED Viewed

@@ -1,10 +1,8 @@
-// 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/
-/* eslint-disable @foxglove/strict-equality */
-import { wrap } from "comlink";
+import { ComlinkWrap } from "@foxglove/den/worker";
 import { uint8ArrayToUint16Array } from "./utils";
+import { Logger } from "../../../utils/logger";
 import { globalInputEventMetricsManager, } from "../../../utils/metrics-manager";
+const logger = Logger.getLogger();
 const WORKER_COUNT = 4;
 const DEFAULT_TARGET_FPS = 9;
 const DEFAULT_MAX_PROCESSED_QUEUE_SIZE = 25;
@@ -32,20 +30,20 @@ export class DepthToPointcloudWorkerPool {
             void navigator.gpu.requestAdapter().then(gpuAdapter => {
                 if (!gpuAdapter) {
                     this.#isWebGpuSupported = false;
-                    console.warn("WebGPU adapter not found. Falling back to CPU for all frames.");
+                    logger.warn("WebGPU adapter not found. Falling back to CPU for all frames.");
                 }
                 else {
                     this.#isWebGpuSupported = true;
                     this.#maximumStorageBufferSize = gpuAdapter.limits.maxStorageBufferBindingSize / 16;
-                    console.info("WebGPU potentially supported. Will attempt GPU processing.");
+                    logger.info("WebGPU potentially supported. Will attempt GPU processing.");
                 }
             }).catch(err => {
-                console.warn("Error requesting WebGPU adapter. Falling back to CPU.", err);
+                logger.warn("Error requesting WebGPU adapter. Falling back to CPU.", err);
                 this.#isWebGpuSupported = false;
             });
         }
         else {
-            console.warn("navigator.gpu is undefined. WebGPU not supported. Falling back to CPU for all frames.");
+            logger.warn("navigator.gpu is undefined. WebGPU not supported. Falling back to CPU for all frames.");
             this.#isWebGpuSupported = false;
         }
         this.#maximumStorageBufferSize = -1;
@@ -57,9 +55,12 @@ export class DepthToPointcloudWorkerPool {
         this.#maxProcessedQueueSize = Math.max(1, maxProcessedQueueSize);
         this.workerApis = new Array(WORKER_COUNT)
             .fill(undefined)
-            .map(() => wrap(new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.ts", import.meta.url), {
-            type: "module",
-        })));
+            .map(() => {
+            const worker = new Worker(new URL("../pointcloud/pointcloudFromDepth.worker.ts", import.meta.url), {
+                type: "module",
+            });
+            return ComlinkWrap(worker);
+        });
         this.#metrics = globalInputEventMetricsManager;
         this.#metrics.registerEvent("pcl-pool.frameInput");
     }
@@ -67,7 +68,7 @@ export class DepthToPointcloudWorkerPool {
         // @ts-expect-error - Known
         // eslint-disable-next-line @typescript-eslint/no-unsafe-member-access
         if (!(data.colorFrame.message?.data instanceof Uint8Array)) {
-            console.warn("Skipping frame: colorFrame.message.data is not a Uint8Array", data.colorFrame);
+            logger.warn("Skipping frame: colorFrame.message.data is not a Uint8Array", data.colorFrame);
             return;
         }
         if (data.width !== this.#prevDepthFrameWidth || data.i420Width !== this.#prevColorFrameWidth) {
@@ -88,12 +89,12 @@ export class DepthToPointcloudWorkerPool {
         const numPixelsPerFrame = width * height;
         const currentOutSize = (numPixelsPerFrame * 16) * this.#FRAME_BATCH_SIZE;
         if (currentOutSize > this.#maximumStorageBufferSize) {
-            console.warn(`GPU queue size ${currentOutSize} exceeds maximum storage buffer size ${this.#maximumStorageBufferSize}. Reducing batch size.`);
+            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) {
                 // We can't fit one color and depth frame in GPU memory. So it's better to fallback to CPU
-                console.warn("Output buffer size is too small to process. Falling back to CPU.");
+                logger.warn("Output buffer size is too small to process. Falling back to CPU.");
                 this.#isWebGpuSupported = false;
             }
         }
@@ -131,7 +132,7 @@ export class DepthToPointcloudWorkerPool {
             const i420DataArray = batchToProcess.map(f => f.colorFrame.message.data);
             const workerIndex = this.lastUsedWorkerIndex;
             // biome-ignore lint/style/noNonNullAssertion: <explanation>
-            const workerApi = this.workerApis[workerIndex];
+            const workerApi = this.workerApis[workerIndex].remote;
             this.lastUsedWorkerIndex = (this.lastUsedWorkerIndex + 1) % WORKER_COUNT;
             workerApi.depthToPointcloudGPU(depthDataArray, width, height, fx, fy, cx, cy, i420DataArray, i420Width, i420Height, Number(localStorage.getItem("stereoDepthMaxValue") ?? "8000"), { hasGPU: this.#isWebGpuSupported })
                 .then(results => {
@@ -141,7 +142,7 @@ export class DepthToPointcloudWorkerPool {
                         const originalFrame = batchToProcess[i];
                         const pointCloudResult = results[i];
                         if (!pointCloudResult) {
-                            console.warn(`Worker ${workerIndex}: Result ${i} is null or undefined. Passing null to callback.`);
+                            logger.warn(`Worker ${workerIndex}: Result ${i} is null or undefined. Passing null to callback.`);
                             this.#addToProcessedQueue({
                                 originalColorEvent: originalFrame.colorFrame,
                                 originalDepthFrame: originalFrame.depthFrame,
@@ -158,7 +159,7 @@ export class DepthToPointcloudWorkerPool {
                     }
                 }
                 else {
-                    console.error(`Worker ${workerIndex}: Mismatch in result count (${results.length}) and batch size (${batchToProcess.length}). Discarding results for this batch.`);
+                    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,
@@ -169,7 +170,7 @@ export class DepthToPointcloudWorkerPool {
                 }
             })
                 .catch(error => {
-                console.error(`Worker ${workerIndex}: Error processing batch:`, error);
+                logger.error(`Worker ${workerIndex}: Error processing batch:`, error);
                 for (const originalFrame of batchToProcess) {
                     this.#addToProcessedQueue({
                         originalColorEvent: originalFrame.colorFrame,
@@ -184,7 +185,7 @@ export class DepthToPointcloudWorkerPool {
             });
         }
         catch (error) {
-            console.error("Error preparing data for worker:", error);
+            logger.error("Error preparing data for worker:", error);
             for (const originalFrame of batchToProcess) {
                 this.#addToProcessedQueue({
                     originalColorEvent: originalFrame.colorFrame,
@@ -212,7 +213,7 @@ export class DepthToPointcloudWorkerPool {
                 this.#targetDispatchIntervalMs = (DISPATCH_INTERVAL_MS / Math.max(1, Math.round(fps / DISPATCH_INTERVAL_FRACTION))) * this.#calculateBatchMultiplier();
             }
             this.#processedFrameQueue.shift();
-            console.warn(`Processed frame queue full (>= ${this.#maxProcessedQueueSize}). Dropping oldest frame.`);
+            logger.warn(`Processed frame queue full (>= ${this.#maxProcessedQueueSize}). Dropping oldest frame.`);
         }
         this.#processedFrameQueue.push(processedFrame);
         if (this.#dispatchTimeoutId === undefined) {
@@ -240,7 +241,7 @@ export class DepthToPointcloudWorkerPool {
                 this.#dispatchCallback(frameToDispatch.originalColorEvent, frameToDispatch.originalDepthFrame, frameToDispatch.processedPointCloud);
             }
             catch (error) {
-                console.error("Error in dispatchCallback:", error);
+                logger.error("Error in dispatchCallback:", error);
             }
         }
         this.#dispatchTimeoutId = setTimeout(this.#dispatchNextFrame, this.#targetDispatchIntervalMs);
@@ -252,6 +253,10 @@ export class DepthToPointcloudWorkerPool {
         }
         this.#frameQueue = [];
         this.#processedFrameQueue = [];
+        // Properly dispose of all workers and release Comlink proxies
+        for (const workerWrapper of this.workerApis) {
+            workerWrapper.dispose();
+        }
         this.workerApis = [];
     }
 }

package/dist/lib/src/messaging/deserialization/pointcloud/poitcloudPoolManager.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization/video/depth.d.ts.map CHANGED Viewed

	@@ -1 +1 @@
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