@luxonis/visualizer-protobuf 3.1.12 → 3.1.14

package/dist/{deserialization.worker-CxHfbNSI.js → deserialization.worker-CUrCdjHf.js}

@@ -1,8 +1,8 @@
 'use client';
-import { b as _objectSpread2, P as PointsAnnotationType, T as Type, h as Profile, p as protobufsBySchema } from './protobuf-OcbVtxg1.js';
-import { w as wrap, e as expose } from './comlink-jf8bdrAf.js';
-import { t as typescript } from './index-B5oN0fQm.js';
-import { U as parseMessage, e as estimateObjectSize, V as fromMillis, W as DecoderRuntimeError, d as dist, X as deserializeDepthFrame, Y as UnsupportedTopicError, Z as NotInSecureContextError, _ as EncodedStreamNotSupportedError } from './depth-DiD1V2Sg.js';
+import { b as _objectSpread2, P as PointsAnnotationType, T as Type, h as Profile, p as protobufsBySchema } from './protobuf-CKMA2Rn8.js';
+import { w as wrap, r as releaseProxy, e as expose } from './comlink-jf8bdrAf.js';
+import { t as typescript } from './index-5ZSfZI8d.js';
+import { Z as parseMessage, e as estimateObjectSize, _ as fromMillis, $ as DecoderRuntimeError, d as dist, a0 as deserializeDepthFrame, f as globalRenderMetricsManager, c as constructKeyForTopicRenderMetrics, g as globalInputEventMetricsManager, a as globalDecodeMetricsManager, a1 as UnsupportedTopicError, a2 as NotInSecureContextError, a3 as EncodedStreamNotSupportedError } from './depth-Me_0Xnx6.js';
 import { L as Logger } from './logger-Bqy1nuLj.js';
 import { i as isCapableOfEncodedStream } from './encoding-jXImCIb4.js';
 import { u as uint8ArrayToUint16Array } from './utils-DmlHZWuo.js';
@@ -822,6 +822,7 @@ function closeTopicDecoder$1(topic, topicDecoders) {
   closeDecoder$1(decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.decoder);
   decoderInfo === null || decoderInfo === void 0 || decoderInfo.timing.clear();
   decoderInfo === null || decoderInfo === void 0 || decoderInfo.transformations.clear();
+  decoderInfo === null || decoderInfo === void 0 || decoderInfo.pendingCallbacks.clear();
 }
 function isIgnorableInitialDecodeError(error) {
   const message = error instanceof Error ? error.message : String(error);
@@ -932,7 +933,7 @@ function repackI420(source, width, height, yLayout, uLayout, vLayout, cropLeft =
   }
   return out;
 }
-async function copyVideoFrameToI420(frame, logPrefix) {
+async function copyVideoFrameToI420(frame, _logPrefix) {
   var _visibleRect$width, _visibleRect$height, _visibleRect$x, _visibleRect$y;
   const visibleRect = frame.visibleRect;
   const frameWidth = (_visibleRect$width = visibleRect === null || visibleRect === void 0 ? void 0 : visibleRect.width) !== null && _visibleRect$width !== void 0 ? _visibleRect$width : frame.codedWidth;
@@ -940,7 +941,6 @@ async function copyVideoFrameToI420(frame, logPrefix) {
   const cropLeft = (_visibleRect$x = visibleRect === null || visibleRect === void 0 ? void 0 : visibleRect.x) !== null && _visibleRect$x !== void 0 ? _visibleRect$x : 0;
   const cropTop = (_visibleRect$y = visibleRect === null || visibleRect === void 0 ? void 0 : visibleRect.y) !== null && _visibleRect$y !== void 0 ? _visibleRect$y : 0;
   let finalBuffer = new Uint8Array(frame.allocationSize());
-  logger$2.warn(`${logPrefix} decoder output format: ${frame.format}, coded=${frame.codedWidth}x${frame.codedHeight}, display=${frame.displayWidth}x${frame.displayHeight}, visible=${frameWidth}x${frameHeight}@${cropLeft},${cropTop}`);
   switch (frame.format) {
     case "I420":
       {
@@ -967,13 +967,9 @@ async function copyVideoFrameToI420(frame, logPrefix) {
         var _layout$stride;
         const packedBuffer = new Uint8Array(frame.allocationSize());
         const [layout] = await frame.copyTo(packedBuffer);
-        logger$2.warn(`${logPrefix} decoder received ${frame.format} frame.`);
         finalBuffer = packedToI420(packedBuffer, frameWidth, frameHeight, (_layout$stride = layout === null || layout === void 0 ? void 0 : layout.stride) !== null && _layout$stride !== void 0 ? _layout$stride : frame.codedWidth * 4, frame.format, cropLeft, cropTop);
         break;
       }
-    default:
-      logger$2.warn(`${logPrefix} decoder received unexpected frame format:`, frame.format);
-      break;
   }
   return {
     data: finalBuffer,
@@ -983,23 +979,25 @@ async function copyVideoFrameToI420(frame, logPrefix) {
 }
 function createVideoDecoder$1({
   topic,
-  callback,
-  topicDecoders,
-  onError
+  topicDecoders
 }) {
   let hasProducedFrame = false;
   return new VideoDecoder({
     output: async frame => {
-      var _topicDecoders$get$ti, _topicDecoders$get, _topicDecoders$get2, _topicDecoders$get3;
+      var _decoderInfo$timing$g, _decoderInfo$pendingC;
       hasProducedFrame = true;
       const {
         data: finalBuffer,
         width: frameWidth,
         height: frameHeight
-      } = await copyVideoFrameToI420(frame, "H264");
-      const receiveTime = (_topicDecoders$get$ti = (_topicDecoders$get = topicDecoders.get(topic)) === null || _topicDecoders$get === void 0 ? void 0 : _topicDecoders$get.timing.get(frame.timestamp)) !== null && _topicDecoders$get$ti !== void 0 ? _topicDecoders$get$ti : dist.fromMicros(frame.timestamp);
-      const transformation = (_topicDecoders$get2 = topicDecoders.get(topic)) === null || _topicDecoders$get2 === void 0 ? void 0 : _topicDecoders$get2.transformations.get(frame.timestamp);
-      (_topicDecoders$get3 = topicDecoders.get(topic)) === null || _topicDecoders$get3 === void 0 || _topicDecoders$get3.transformations.delete(frame.timestamp);
+      } = await copyVideoFrameToI420(frame);
+      const decoderInfo = topicDecoders.get(topic);
+      const receiveTime = (_decoderInfo$timing$g = decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.timing.get(frame.timestamp)) !== null && _decoderInfo$timing$g !== void 0 ? _decoderInfo$timing$g : dist.fromMicros(frame.timestamp);
+      const transformation = decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.transformations.get(frame.timestamp);
+      const callback = (_decoderInfo$pendingC = decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.pendingCallbacks.get(frame.timestamp)) !== null && _decoderInfo$pendingC !== void 0 ? _decoderInfo$pendingC : decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.callback;
+      decoderInfo === null || decoderInfo === void 0 || decoderInfo.timing.delete(frame.timestamp);
+      decoderInfo === null || decoderInfo === void 0 || decoderInfo.transformations.delete(frame.timestamp);
+      decoderInfo === null || decoderInfo === void 0 || decoderInfo.pendingCallbacks.delete(frame.timestamp);
       const foxgloveMessage = {
         timestamp: receiveTime,
         frame_id: `h264-${topic}-frame`,
@@ -1009,7 +1007,7 @@ function createVideoDecoder$1({
         encoding: "yuv420p",
         step: frameWidth
       };
-      callback({
+      callback === null || callback === void 0 || callback({
         topic,
         receiveTime,
         message: foxgloveMessage,
@@ -1020,6 +1018,7 @@ function createVideoDecoder$1({
       frame.close();
     },
     error: error => {
+      var _topicDecoders$get;
       if (!hasProducedFrame && isIgnorableInitialDecodeError(error)) {
         logger$2.warn(`Ignoring initial H264 decoder error for topic ${topic}: ${error.message}`);
         closeTopicDecoder$1(topic, topicDecoders);
@@ -1027,7 +1026,7 @@ function createVideoDecoder$1({
       }
       logger$2.error(error);
       closeTopicDecoder$1(topic, topicDecoders);
-      onError(new DecoderRuntimeError(topic, error.message));
+      (_topicDecoders$get = topicDecoders.get(topic)) === null || _topicDecoders$get === void 0 || _topicDecoders$get.onError(new DecoderRuntimeError(topic, error.message));
     }
   });
 }
@@ -1049,9 +1048,7 @@ async function deserializeEncodedFrameH264({
   if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
     const decoder = createVideoDecoder$1({
       topic,
-      callback,
-      topicDecoders,
-      onError
+      topicDecoders
     });
     try {
       configureDecoder(decoder);
@@ -1064,11 +1061,17 @@ async function deserializeEncodedFrameH264({
       existingDecoderInfo.decoder = decoder;
       existingDecoderInfo.timing.clear();
       existingDecoderInfo.transformations.clear();
+      existingDecoderInfo.pendingCallbacks.clear();
+      existingDecoderInfo.callback = callback;
+      existingDecoderInfo.onError = onError;
     } else {
       topicDecoders.set(topic, {
         decoder,
         timing: new Map(),
-        transformations: new Map()
+        transformations: new Map(),
+        pendingCallbacks: new Map(),
+        callback,
+        onError
       });
     }
   } else if (existingDecoderInfo.decoder.state === "unconfigured") {
@@ -1076,6 +1079,9 @@ async function deserializeEncodedFrameH264({
       configureDecoder(existingDecoderInfo.decoder);
       existingDecoderInfo.timing.clear();
       existingDecoderInfo.transformations.clear();
+      existingDecoderInfo.pendingCallbacks.clear();
+      existingDecoderInfo.callback = callback;
+      existingDecoderInfo.onError = onError;
     } catch (error) {
       closeTopicDecoder$1(topic, topicDecoders);
       onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to reconfigure H.264 decoder."));
@@ -1086,6 +1092,8 @@ async function deserializeEncodedFrameH264({
   if (!decoderInfo) {
     return;
   }
+  decoderInfo.callback = callback;
+  decoderInfo.onError = onError;
   if (decoderInfo.decoder.decodeQueueSize > 60) {
     decoderInfo.decoder.reset();
     decoderInfo.timing.clear();
@@ -1095,6 +1103,7 @@ async function deserializeEncodedFrameH264({
   const microTimestamp = receiveTime.sec * 1000000 + Math.floor(receiveTime.nsec / 1000);
   decoderInfo.timing.set(microTimestamp, receiveTime);
   decoderInfo.transformations.set(microTimestamp, message.transformation);
+  decoderInfo.pendingCallbacks.set(microTimestamp, callback);
   const frame = {
     type: 'key',
     data: message.data,
@@ -1136,24 +1145,27 @@ function closeTopicDecoder(topic, topicDecoders) {
   closeDecoder(decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.decoder);
   decoderInfo === null || decoderInfo === void 0 || decoderInfo.timing.clear();
   decoderInfo === null || decoderInfo === void 0 || decoderInfo.transformations.clear();
+  decoderInfo === null || decoderInfo === void 0 || decoderInfo.pendingCallbacks.clear();
 }
 function createVideoDecoder({
   topic,
-  callback,
-  topicDecoders,
-  onError
+  topicDecoders
 }) {
   return new VideoDecoder({
     output: async frame => {
-      var _topicDecoders$get$ti, _topicDecoders$get, _topicDecoders$get2, _topicDecoders$get3;
+      var _decoderInfo$timing$g, _decoderInfo$pendingC;
       const {
         data: buffer,
         width,
         height
-      } = await copyVideoFrameToI420(frame, "H265");
-      const receiveTime = (_topicDecoders$get$ti = (_topicDecoders$get = topicDecoders.get(topic)) === null || _topicDecoders$get === void 0 ? void 0 : _topicDecoders$get.timing.get(frame.timestamp)) !== null && _topicDecoders$get$ti !== void 0 ? _topicDecoders$get$ti : dist.fromMicros(frame.timestamp);
-      const transformation = (_topicDecoders$get2 = topicDecoders.get(topic)) === null || _topicDecoders$get2 === void 0 ? void 0 : _topicDecoders$get2.transformations.get(frame.timestamp);
-      (_topicDecoders$get3 = topicDecoders.get(topic)) === null || _topicDecoders$get3 === void 0 || _topicDecoders$get3.transformations.delete(frame.timestamp);
+      } = await copyVideoFrameToI420(frame);
+      const decoderInfo = topicDecoders.get(topic);
+      const receiveTime = (_decoderInfo$timing$g = decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.timing.get(frame.timestamp)) !== null && _decoderInfo$timing$g !== void 0 ? _decoderInfo$timing$g : dist.fromMicros(frame.timestamp);
+      const transformation = decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.transformations.get(frame.timestamp);
+      const callback = (_decoderInfo$pendingC = decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.pendingCallbacks.get(frame.timestamp)) !== null && _decoderInfo$pendingC !== void 0 ? _decoderInfo$pendingC : decoderInfo === null || decoderInfo === void 0 ? void 0 : decoderInfo.callback;
+      decoderInfo === null || decoderInfo === void 0 || decoderInfo.timing.delete(frame.timestamp);
+      decoderInfo === null || decoderInfo === void 0 || decoderInfo.transformations.delete(frame.timestamp);
+      decoderInfo === null || decoderInfo === void 0 || decoderInfo.pendingCallbacks.delete(frame.timestamp);
       const foxgloveMessage = {
         timestamp: receiveTime,
         frame_id: `h265-${topic}-frame`,
@@ -1163,7 +1175,7 @@ function createVideoDecoder({
         encoding: "yuv420p",
         step: width
       };
-      callback({
+      callback === null || callback === void 0 || callback({
         topic,
         receiveTime,
         message: foxgloveMessage,
@@ -1174,9 +1186,10 @@ function createVideoDecoder({
       frame.close();
     },
     error: error => {
+      var _topicDecoders$get;
       logger$1.error(error);
       closeTopicDecoder(topic, topicDecoders);
-      onError(new DecoderRuntimeError(topic, error.message));
+      (_topicDecoders$get = topicDecoders.get(topic)) === null || _topicDecoders$get === void 0 || _topicDecoders$get.onError(new DecoderRuntimeError(topic, error.message));
     }
   });
 }
@@ -1198,9 +1211,7 @@ async function deserializeEncodedFrameH265({
   if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
     const decoder = createVideoDecoder({
       topic,
-      callback,
-      topicDecoders,
-      onError
+      topicDecoders
     });
     try {
       decoder.configure({
@@ -1216,11 +1227,17 @@ async function deserializeEncodedFrameH265({
       existingDecoderInfo.decoder = decoder;
       existingDecoderInfo.timing.clear();
       existingDecoderInfo.transformations.clear();
+      existingDecoderInfo.pendingCallbacks.clear();
+      existingDecoderInfo.callback = callback;
+      existingDecoderInfo.onError = onError;
     } else {
       topicDecoders.set(topic, {
         decoder,
         timing: new Map(),
-        transformations: new Map()
+        transformations: new Map(),
+        pendingCallbacks: new Map(),
+        callback,
+        onError
       });
     }
   }
@@ -1228,6 +1245,8 @@ async function deserializeEncodedFrameH265({
   if (!decoderInfo) {
     return;
   }
+  decoderInfo.callback = callback;
+  decoderInfo.onError = onError;
   if (decoderInfo.decoder.decodeQueueSize > 60) {
     decoderInfo.decoder.reset();
     return;
@@ -1235,6 +1254,7 @@ async function deserializeEncodedFrameH265({
   const microTimestamp = receiveTime.sec * 1000000 + Math.floor(receiveTime.nsec / 1000);
   decoderInfo.timing.set(microTimestamp, receiveTime);
   decoderInfo.transformations.set(microTimestamp, message.transformation);
+  decoderInfo.pendingCallbacks.set(microTimestamp, callback);
   const frame = {
     type: 'key',
     data: message.data,
@@ -1276,7 +1296,7 @@ async function deserializeMJPEGFrame({
     data: buffer,
     width,
     height
-  } = await copyVideoFrameToI420(frame, "MJPEG");
+  } = await copyVideoFrameToI420(frame);
   const foxgloveMessage = {
     timestamp: receiveTime,
     frame_id: "camera",
@@ -1297,12 +1317,19 @@ async function deserializeMJPEGFrame({
   });
 }
 
-const RGBD_POINTCLOUD_WORKER_COUNT = 4;
+const RGBD_POINTCLOUD_WORKER_COUNT = 6;
+const RGBD_POINTCLOUD_WORKER_TIMEOUT_MS = 15000;
+const RGBD_POINTCLOUD_SCHEDULE_DELAY_MS = 0;
+const RGBD_GPU_BATCH_SIZE = 2;
+const RGBD_GPU_BATCH_FLUSH_DELAY_MS = 8;
+const RGBD_POINTCLOUD_IDLE_CLEANUP_MS = 30000;
 let cachedRGBDHasGPU;
 let rgbdHasGPUPromise;
 let rgbdPointCloudWorkers;
 let rgbdPointCloudWorkerIndex = 0;
-Logger.getLogger();
+let rgbdPointCloudIdleCleanupTimeoutId;
+const rgbdIntrinsicsByTopic = new Map();
+const pendingRGBDBatches = new Map();
 function ensureEvenByteLength(data) {
   if (data.length % 2 === 0) {
     return data;
@@ -1311,12 +1338,9 @@ function ensureEvenByteLength(data) {
   padded.set(data);
   return padded;
 }
-async function detectRGBDGPUSupport() {
-  if (cachedRGBDHasGPU != undefined) {
-    return cachedRGBDHasGPU;
-  }
-  if (rgbdHasGPUPromise) {
-    return await rgbdHasGPUPromise;
+function ensureRGBDGPUSupportDetection() {
+  if (cachedRGBDHasGPU != undefined || rgbdHasGPUPromise) {
+    return;
   }
   rgbdHasGPUPromise = (async () => {
     if (typeof navigator.gpu === "undefined") {
@@ -1327,53 +1351,116 @@ async function detectRGBDGPUSupport() {
       const adapter = await navigator.gpu.requestAdapter();
       cachedRGBDHasGPU = adapter != undefined;
       return cachedRGBDHasGPU;
-    } catch (_unused) {
+    } catch (error) {
       cachedRGBDHasGPU = false;
       return false;
     } finally {
       rgbdHasGPUPromise = undefined;
     }
   })();
-  return await rgbdHasGPUPromise;
 }
-function getRGBDPointCloudWorkerSlot() {
+function getRGBDGPUSupport() {
+  ensureRGBDGPUSupportDetection();
+  return cachedRGBDHasGPU !== null && cachedRGBDHasGPU !== void 0 ? cachedRGBDHasGPU : false;
+}
+function ensureRGBDPointCloudWorkers() {
   if (!rgbdPointCloudWorkers) {
     rgbdPointCloudWorkers = Array.from({
       length: RGBD_POINTCLOUD_WORKER_COUNT
     }, () => {
-      const worker = new Worker(new URL("pointcloudFromDepth.worker-60RA4Ief.js", import.meta.url), {
-        type: "module"
-      });
-      return {
-        worker,
-        remote: wrap(worker),
-        activeJobs: 0
-      };
+      return createRGBDPointCloudWorkerSlot();
     });
   }
-  const slots = rgbdPointCloudWorkers;
-  const candidateSlots = slots.map((slot, index) => ({
-    slot,
-    index
-  })).sort((left, right) => {
-    if (left.slot.activeJobs !== right.slot.activeJobs) {
-      return left.slot.activeJobs - right.slot.activeJobs;
-    }
-    const leftDistance = (left.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
-    const rightDistance = (right.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
-    return leftDistance - rightDistance;
+  return rgbdPointCloudWorkers;
+}
+function createRGBDPointCloudWorkerSlot() {
+  const worker = new Worker(new URL("pointcloudFromDepth.worker-wzSOsJVb.js", import.meta.url), {
+    type: "module"
   });
-  const selected = candidateSlots[0];
-  rgbdPointCloudWorkerIndex = (selected.index + 1) % slots.length;
-  return selected.slot;
+  const remote = wrap(worker);
+  return {
+    worker,
+    remote,
+    activeJobs: 0,
+    dispose: () => {
+      remote[releaseProxy]();
+      worker.terminate();
+    }
+  };
+}
+function clearRGBDPointCloudIdleCleanupTimeout() {
+  if (rgbdPointCloudIdleCleanupTimeoutId != undefined) {
+    clearTimeout(rgbdPointCloudIdleCleanupTimeoutId);
+    rgbdPointCloudIdleCleanupTimeoutId = undefined;
+  }
+}
+function hasActiveRGBDPointCloudWork() {
+  var _rgbdPointCloudWorker, _rgbdPointCloudWorker2;
+  const hasActiveJobs = (_rgbdPointCloudWorker = (_rgbdPointCloudWorker2 = rgbdPointCloudWorkers) === null || _rgbdPointCloudWorker2 === void 0 ? void 0 : _rgbdPointCloudWorker2.some(slot => slot.activeJobs > 0)) !== null && _rgbdPointCloudWorker !== void 0 ? _rgbdPointCloudWorker : false;
+  return hasActiveJobs || pendingRGBDBatches.size > 0;
+}
+function disposeRGBDPointCloudWorkers() {
+  clearRGBDPointCloudIdleCleanupTimeout();
+  for (const batch of pendingRGBDBatches.values()) {
+    clearRGBDBatchFlush(batch);
+  }
+  pendingRGBDBatches.clear();
+  rgbdIntrinsicsByTopic.clear();
+  if (rgbdPointCloudWorkers) {
+    for (const slot of rgbdPointCloudWorkers) {
+      slot.dispose();
+    }
+    rgbdPointCloudWorkers = undefined;
+  }
+  rgbdPointCloudWorkerIndex = 0;
+}
+function scheduleRGBDPointCloudWorkersCleanup() {
+  clearRGBDPointCloudIdleCleanupTimeout();
+  rgbdPointCloudIdleCleanupTimeoutId = setTimeout(() => {
+    if (hasActiveRGBDPointCloudWork()) {
+      scheduleRGBDPointCloudWorkersCleanup();
+      return;
+    }
+    disposeRGBDPointCloudWorkers();
+  }, RGBD_POINTCLOUD_IDLE_CLEANUP_MS);
+}
+function markRGBDPointCloudWorkersActive() {
+  scheduleRGBDPointCloudWorkersCleanup();
+}
+function replaceRGBDPointCloudWorker(index) {
+  const slots = ensureRGBDPointCloudWorkers();
+  const currentSlot = slots[index];
+  currentSlot === null || currentSlot === void 0 || currentSlot.dispose();
+  const replacementSlot = createRGBDPointCloudWorkerSlot();
+  slots[index] = replacementSlot;
+  markRGBDPointCloudWorkersActive();
+  return replacementSlot;
+}
+function tryAcquireRGBDPointCloudWorkerSlot() {
+  const ensuredSlots = ensureRGBDPointCloudWorkers();
+  markRGBDPointCloudWorkersActive();
+  for (let offset = 0; offset < ensuredSlots.length; offset++) {
+    const index = (rgbdPointCloudWorkerIndex + offset) % ensuredSlots.length;
+    const slot = ensuredSlots[index];
+    if (!slot || slot.activeJobs > 0) {
+      continue;
+    }
+    slot.activeJobs = 1;
+    rgbdPointCloudWorkerIndex = (index + 1) % ensuredSlots.length;
+    return {
+      slot,
+      index
+    };
+  }
+  return undefined;
 }
 function repackYuv420pToI420(imageFrame, width, height) {
   var _imageFrame$fb;
   const specs = (_imageFrame$fb = imageFrame.fb) !== null && _imageFrame$fb !== void 0 ? _imageFrame$fb : imageFrame.sourceFb;
   const source = ensureEvenByteLength(imageFrame.data);
   const yStride = (specs === null || specs === void 0 ? void 0 : specs.stride) || width;
-  const uvWidth = Math.floor(width / 2);
-  const uvHeight = Math.floor(height / 2);
+  const uvWidth = Math.ceil(width / 2);
+  const uvHeight = Math.ceil(height / 2);
   const uvStride = yStride > width ? Math.floor(yStride / 2) : uvWidth;
   const yPlaneSize = width * height;
   const uvPlaneSize = uvWidth * uvHeight;
@@ -1445,9 +1532,21 @@ function extractIntrinsicsFromTransformation(transformation) {
     }
   };
 }
-function resolveRGBDIntrinsics(message, fallbackIntrinsics) {
-  var _ref, _ref2, _ref3, _extractIntrinsicsFro, _message$depthImgFram, _message$depthEncoded, _message$colorImgFram, _message$colorEncoded;
-  return (_ref = (_ref2 = (_ref3 = (_extractIntrinsicsFro = extractIntrinsicsFromTransformation((_message$depthImgFram = message.depthImgFrame) === null || _message$depthImgFram === void 0 ? void 0 : _message$depthImgFram.transformation)) !== null && _extractIntrinsicsFro !== void 0 ? _extractIntrinsicsFro : extractIntrinsicsFromTransformation((_message$depthEncoded = message.depthEncodedFrame) === null || _message$depthEncoded === void 0 ? void 0 : _message$depthEncoded.transformation)) !== null && _ref3 !== void 0 ? _ref3 : extractIntrinsicsFromTransformation((_message$colorImgFram = message.colorImgFrame) === null || _message$colorImgFram === void 0 ? void 0 : _message$colorImgFram.transformation)) !== null && _ref2 !== void 0 ? _ref2 : extractIntrinsicsFromTransformation((_message$colorEncoded = message.colorEncodedFrame) === null || _message$colorEncoded === void 0 ? void 0 : _message$colorEncoded.transformation)) !== null && _ref !== void 0 ? _ref : fallbackIntrinsics;
+function resolveRGBDIntrinsicsFromMessage(message) {
+  var _ref, _ref2, _extractIntrinsicsFro, _message$depthImgFram, _message$depthEncoded, _message$colorImgFram, _message$colorEncoded;
+  return (_ref = (_ref2 = (_extractIntrinsicsFro = extractIntrinsicsFromTransformation((_message$depthImgFram = message.depthImgFrame) === null || _message$depthImgFram === void 0 ? void 0 : _message$depthImgFram.transformation)) !== null && _extractIntrinsicsFro !== void 0 ? _extractIntrinsicsFro : extractIntrinsicsFromTransformation((_message$depthEncoded = message.depthEncodedFrame) === null || _message$depthEncoded === void 0 ? void 0 : _message$depthEncoded.transformation)) !== null && _ref2 !== void 0 ? _ref2 : extractIntrinsicsFromTransformation((_message$colorImgFram = message.colorImgFrame) === null || _message$colorImgFram === void 0 ? void 0 : _message$colorImgFram.transformation)) !== null && _ref !== void 0 ? _ref : extractIntrinsicsFromTransformation((_message$colorEncoded = message.colorEncodedFrame) === null || _message$colorEncoded === void 0 ? void 0 : _message$colorEncoded.transformation);
+}
+function getRGBDIntrinsics(topic, message, fallbackIntrinsics) {
+  const cachedIntrinsics = rgbdIntrinsicsByTopic.get(topic);
+  if (cachedIntrinsics) {
+    return cachedIntrinsics;
+  }
+  const resolvedIntrinsics = resolveRGBDIntrinsicsFromMessage(message);
+  if (resolvedIntrinsics) {
+    rgbdIntrinsicsByTopic.set(topic, resolvedIntrinsics);
+    return resolvedIntrinsics;
+  }
+  return fallbackIntrinsics;
 }
 async function extractEncodedColorFrame(encodedFrame, topicDecoders, topic) {
   const decodeFrame = async () => await new Promise((resolve, reject) => {
@@ -1557,16 +1656,252 @@ function parseDimensions(message) {
   }
   return obj;
 }
+function emitRGBDDepthPreview(topic, message, maxStereoDepth, callback, onError) {
+  if (!message.depthImgFrame) {
+    return;
+  }
+  const depthFrameForPreview = _objectSpread2(_objectSpread2({}, message.depthImgFrame), {}, {
+    data: message.depthImgFrame.data.slice()
+  });
+  void deserializeDepthFrame({
+    topic,
+    message: depthFrameForPreview,
+    callback,
+    maxStereoDepth: maxStereoDepth / 1000
+  }).catch(onError);
+}
+function emitRGBDPointCloud(frame, pointCloudData) {
+  var _frame$timestamp;
+  const foxgloveMessage = {
+    timestamp: (_frame$timestamp = frame.timestamp) !== null && _frame$timestamp !== void 0 ? _frame$timestamp : frame.receiveTime,
+    frame_id: `pointcloud-${frame.topic}-frame`,
+    point_stride: 16,
+    pose: {
+      position: {
+        x: 0,
+        y: 0,
+        z: 0
+      },
+      orientation: {
+        x: 0,
+        y: 0,
+        z: 1,
+        w: 0
+      }
+    },
+    width: frame.depthWidth,
+    height: frame.depthHeight,
+    fields: [{
+      name: "x",
+      offset: 0,
+      type: typescript.NumericType.FLOAT32
+    }, {
+      name: "y",
+      offset: 4,
+      type: typescript.NumericType.FLOAT32
+    }, {
+      name: "z",
+      offset: 8,
+      type: typescript.NumericType.FLOAT32
+    }, {
+      name: "red",
+      offset: 12,
+      type: typescript.NumericType.UINT8
+    }, {
+      name: "green",
+      offset: 13,
+      type: typescript.NumericType.UINT8
+    }, {
+      name: "blue",
+      offset: 14,
+      type: typescript.NumericType.UINT8
+    }, {
+      name: "alpha",
+      offset: 15,
+      type: typescript.NumericType.UINT8
+    }],
+    data: pointCloudData
+  };
+  frame.callback({
+    topic: frame.topic,
+    receiveTime: frame.receiveTime,
+    message: foxgloveMessage,
+    sizeInBytes: estimateObjectSize(foxgloveMessage),
+    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;
+  }
+}
+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(frames.map(frame => frame.depthFrame), firstFrame.depthWidth, firstFrame.depthHeight, intrinsics.focalLenght.x, intrinsics.focalLenght.y, intrinsics.principalPoint.x, intrinsics.principalPoint.y, 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();
+  }
+}
+async function processRGBDPointCloudOnWorker(workerSlot, workerIndex, frame) {
+  const intrinsics = frame.rgbdIntrinsics.right;
+  let timeoutId;
+  try {
+    const pointClouds = await Promise.race([workerSlot.remote.depthToPointcloudGPU([frame.depthFrame], frame.depthWidth, frame.depthHeight, intrinsics.focalLenght.x, intrinsics.focalLenght.y, intrinsics.principalPoint.x, intrinsics.principalPoint.y, [frame.colorFrame.data], frame.colorFrame.width, frame.colorFrame.height, frame.maxStereoDepth, {
+      hasGPU: frame.hasGPU
+    }), 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})`));
+      }, RGBD_POINTCLOUD_WORKER_TIMEOUT_MS);
+    })]);
+    if (timeoutId) {
+      clearTimeout(timeoutId);
+      timeoutId = undefined;
+    }
+    if (pointClouds.length !== 1 || !pointClouds[0]) {
+      throw new Error(`RGBD pointcloud worker returned ${pointClouds.length} frames for single-frame request`);
+    }
+    emitRGBDPointCloud(frame, pointClouds[0]);
+  } catch (error) {
+    if (timeoutId) {
+      clearTimeout(timeoutId);
+      timeoutId = undefined;
+    }
+    if (error instanceof Error && error.message.includes("timed out")) {
+      replaceRGBDPointCloudWorker(workerIndex);
+      console.error(error);
+    }
+    frame.onError(error instanceof Error ? error : new Error(String(error)));
+  } finally {
+    workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
+    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 ${topic}: all RGBD pointcloud workers are busy.`);
+    return;
+  }
+  void processRGBDPointCloudBatchOnWorker(reservedWorkerSelection.slot, reservedWorkerSelection.index, batch.frames);
+}
+function enqueueRGBDPointCloudFrame(frame) {
+  var _pendingRGBDBatches$g;
+  if (!frame.hasGPU) {
+    const reservedWorkerSelection = tryAcquireRGBDPointCloudWorkerSlot();
+    if (!reservedWorkerSelection) {
+      console.warn(`[RGBD] Dropping pointcloud frame for topic ${frame.topic}: all RGBD pointcloud workers are busy.`);
+      return;
+    }
+    globalRenderMetricsManager.ensureTopic(constructKeyForTopicRenderMetrics("renderPointCloudFrame", "Point Cloud"));
+    globalInputEventMetricsManager.registerEvent(constructKeyForTopicRenderMetrics("incomingPointCloudFrame", "Point Cloud"));
+    globalDecodeMetricsManager.registerEvent("Point Cloud");
+    void processRGBDPointCloudOnWorker(reservedWorkerSelection.slot, reservedWorkerSelection.index, frame);
+    return;
+  }
+  const existingBatch = pendingRGBDBatches.get(frame.topic);
+  if (existingBatch && existingBatch.frames.length > 0 && getRGBDBatchSignature(existingBatch.frames[0]) !== getRGBDBatchSignature(frame)) {
+    flushRGBDPointCloudBatch(frame.topic);
+  }
+  const batch = (_pendingRGBDBatches$g = pendingRGBDBatches.get(frame.topic)) !== null && _pendingRGBDBatches$g !== void 0 ? _pendingRGBDBatches$g : {
+    frames: []
+  };
+  batch.frames.push(frame);
+  pendingRGBDBatches.set(frame.topic, batch);
+  if (batch.frames.length >= RGBD_GPU_BATCH_SIZE) {
+    flushRGBDPointCloudBatch(frame.topic);
+    return;
+  }
+  clearRGBDBatchFlush(batch);
+  batch.flushTimeoutId = setTimeout(() => {
+    flushRGBDPointCloudBatch(frame.topic);
+  }, RGBD_GPU_BATCH_FLUSH_DELAY_MS);
+}
 async function deserializeRGBDFrameToPointCloud({
   topic,
   topicDecoders,
   cameraIntrinsics,
   maxStereoDepth,
   message,
-  callback
+  callback,
+  onError
+}) {
+  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
 }) {
-  const workerSlot = getRGBDPointCloudWorkerSlot();
-  workerSlot.activeJobs += 1;
   const {
     receiveTime
   } = parseMessage(message);
@@ -1574,83 +1909,29 @@ async function deserializeRGBDFrameToPointCloud({
     depthWidth,
     depthHeight
   } = parseDimensions(message);
-  const rgbdIntrinsics = resolveRGBDIntrinsics(message, cameraIntrinsics);
-  const hasGPU = await detectRGBDGPUSupport();
-  const colorFrame = await extractColorFrame(message.colorEncodedFrame, message.colorImgFrame, topicDecoders, topic);
-  const uint8DepthFrames = extractDepthFrame(message.depthEncodedFrame, message.depthImgFrame);
-  const depthFrames = uint8ArrayToUint16Array(uint8DepthFrames);
+  const rgbdIntrinsics = getRGBDIntrinsics(topic, message, cameraIntrinsics);
+  const hasGPU = getRGBDGPUSupport();
   try {
-    var _message$tsDevice;
-    const pointCloud = await workerSlot.remote.depthToPointcloudGPU([depthFrames], depthWidth, depthHeight, rgbdIntrinsics.right.focalLenght.x, rgbdIntrinsics.right.focalLenght.y, rgbdIntrinsics.right.principalPoint.x, rgbdIntrinsics.right.principalPoint.y, [colorFrame.data], colorFrame.width, colorFrame.height, maxStereoDepth, {
-      hasGPU
-    });
-    const foxgloveMessage = {
-      timestamp: (_message$tsDevice = message.tsDevice) !== null && _message$tsDevice !== void 0 ? _message$tsDevice : receiveTime,
-      frame_id: `pointcloud-${topic}-frame`,
-      point_stride: 16,
-      pose: {
-        position: {
-          x: 0,
-          y: 0,
-          z: 0
-        },
-        orientation: {
-          x: 0,
-          y: 0,
-          z: 1,
-          w: 0
-        }
-      },
-      width: depthWidth,
-      height: depthHeight,
-      fields: [{
-        name: "x",
-        offset: 0,
-        type: typescript.NumericType.FLOAT32
-      }, {
-        name: "y",
-        offset: 4,
-        type: typescript.NumericType.FLOAT32
-      }, {
-        name: "z",
-        offset: 8,
-        type: typescript.NumericType.FLOAT32
-      }, {
-        name: "red",
-        offset: 12,
-        type: typescript.NumericType.UINT8
-      }, {
-        name: "green",
-        offset: 13,
-        type: typescript.NumericType.UINT8
-      }, {
-        name: "blue",
-        offset: 14,
-        type: typescript.NumericType.UINT8
-      }, {
-        name: "alpha",
-        offset: 15,
-        type: typescript.NumericType.UINT8
-      }],
-      data: pointCloud[0]
-    };
-    callback({
+    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,
-      message: foxgloveMessage,
-      sizeInBytes: estimateObjectSize(foxgloveMessage),
-      schemaName: "foxglove.PointCloud.Colored"
-    });
-    if (message.depthImgFrame) {
-      void deserializeDepthFrame({
-        topic,
-        message: message.depthImgFrame,
-        callback,
-        maxStereoDepth: maxStereoDepth / 1000
-      });
-    }
-  } finally {
-    workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
+      timestamp: message.tsDevice,
+      depthWidth,
+      depthHeight,
+      rgbdIntrinsics,
+      colorFrame,
+      depthFrame,
+      maxStereoDepth,
+      hasGPU,
+      callback,
+      onError
+    };
+    enqueueRGBDPointCloudFrame(pendingFrame);
+  } catch (error) {
+    onError(error instanceof Error ? error : new Error(String(error)));
   }
 }