@luxonis/visualizer-protobuf 3.1.12 → 3.1.14

package/dist/lib/src/messaging/deserialization/video/h265.js.map

@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.d.ts

@@ -1,8 +1,8 @@
 import type { MessageEvent } from "@foxglove/studio-base/players/types";
-import { type PointCloudWithDimensions } from "./depth";
-import { type TopicDecoders } from "./h264";
-import type { RGBDData } from "../../../protobuf.generated/RGBDData";
-import type { NeuralCameraIntrinsics } from "../pointcloud/utils";
+import { type PointCloudWithDimensions } from "./depth.js";
+import { type TopicDecoders } from "./h264.js";
+import type { RGBDData } from "../../../protobuf.generated/RGBDData.js";
+import type { NeuralCameraIntrinsics } from "../pointcloud/utils.js";
 export type DeserializeRGBDFrameArgs = {
     topic: string;
     topicDecoders: TopicDecoders;
@@ -13,5 +13,5 @@ export type DeserializeRGBDFrameArgs = {
     onError: (error: Error) => void;
 };
 export type PointCloudWithColorAndDepth = PointCloudWithDimensions;
-export declare function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, }: DeserializeRGBDFrameArgs): Promise<void>;
+export declare function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, onError, }: DeserializeRGBDFrameArgs): Promise<void>;
 //# sourceMappingURL=rgbd-to-pointcloud.d.ts.map

package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"rgbd-to-pointcloud.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/rgbd-to-pointcloud.ts"],"names":[],"mappings":"AAQA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAExE,OAAO,EAAyB,KAAK,wBAAwB,EAAE,MAAM,SAAS,CAAC;AAC/E,OAAO,EAAkD,KAAK,aAAa,EAAE,MAAM,QAAQ,CAAC;AAK5F,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,sCAAsC,CAAC;AAIrE,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,qBAAqB,CAAC;AAGlE,MAAM,MAAM,wBAAwB,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,aAAa,EAAE,aAAa,CAAC;IAC7B,gBAAgB,EAAE,sBAAsB,CAAC;IACzC,cAAc,EAAE,MAAM,CAAC;IACvB,OAAO,EAAE,QAAQ,CAAC;IAClB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CAAC;AAEF,MAAM,MAAM,2BAA2B,GAAG,wBAAwB,CAAC;AAqVnE,wBAAsB,gCAAgC,CAAC,EACrD,KAAK,EACL,aAAa,EACb,gBAAgB,EAChB,cAAc,EACd,OAAO,EACP,QAAQ,GACT,EAAE,wBAAwB,GAAG,OAAO,CAAC,IAAI,CAAC,CA4E1C"}
+{"version":3,"file":"rgbd-to-pointcloud.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/rgbd-to-pointcloud.ts"],"names":[],"mappings":"AAQA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAExE,OAAO,EAAyB,KAAK,wBAAwB,EAAE,MAAM,YAAY,CAAC;AAClF,OAAO,EAAkD,KAAK,aAAa,EAAE,MAAM,WAAW,CAAC;AAK/F,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AAGxE,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,wBAAwB,CAAC;AAIrE,MAAM,MAAM,wBAAwB,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,aAAa,EAAE,aAAa,CAAC;IAC7B,gBAAgB,EAAE,sBAAsB,CAAC;IACzC,cAAc,EAAE,MAAM,CAAC;IACvB,OAAO,EAAE,QAAQ,CAAC;IAClB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CAAC;AAEF,MAAM,MAAM,2BAA2B,GAAG,wBAAwB,CAAC;AAovBnE,wBAAsB,gCAAgC,CAAC,EACrD,KAAK,EACL,aAAa,EACb,gBAAgB,EAChB,cAAc,EACd,OAAO,EACP,QAAQ,EACR,OAAO,GACR,EAAE,wBAAwB,GAAG,OAAO,CAAC,IAAI,CAAC,CAc1C"}

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

@@ -1,24 +1,32 @@
 // 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/
-import { wrap } from "comlink";
+import { releaseProxy, wrap } from "comlink";
 import { NumericType } from "@foxglove/schemas";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation";
-import { deserializeDepthFrame } from "./depth";
-import { convertNv12ToI420, deserializeEncodedFrameH264 } from "./h264";
-import { deserializeEncodedFrameH265 } from "./h265";
-import { deserializeMJPEGFrame } from "./mjpeg";
-import { Profile } from "../../../protobuf.generated/EncodedFrame";
-import { Type } from "../../../protobuf.generated/ImgFrame";
-import { parseMessage } from "../../utils";
-import { Logger } from "../../../utils/logger";
-import { uint8ArrayToUint16Array } from "../pointcloud/utils";
-const RGBD_POINTCLOUD_WORKER_COUNT = 4;
+import { deserializeDepthFrame } from "./depth.js";
+import { convertNv12ToI420, deserializeEncodedFrameH264 } from "./h264.js";
+import { deserializeEncodedFrameH265 } from "./h265.js";
+import { deserializeMJPEGFrame } from "./mjpeg.js";
+import { Profile } from "../../../protobuf.generated/EncodedFrame.js";
+import { Type } from "../../../protobuf.generated/ImgFrame.js";
+import { parseMessage } from "../../utils.js";
+import { uint8ArrayToUint16Array } from "../pointcloud/utils.js";
+import { constructKeyForTopicRenderMetrics, globalDecodeMetricsManager, globalInputEventMetricsManager, globalRenderMetricsManager } from "../../../utils/metrics-manager.js";
+const RGBD_POINTCLOUD_WORKER_COUNT = 6;
+const RGBD_POINTCLOUD_WORKER_TIMEOUT_MS = 15_000;
+const RGBD_POINTCLOUD_SCHEDULE_DELAY_MS = 0;
+const ENABLE_RGBD_GPU_BATCHING = true;
+const RGBD_GPU_BATCH_SIZE = 2;
+const RGBD_GPU_BATCH_FLUSH_DELAY_MS = 8;
+const RGBD_POINTCLOUD_IDLE_CLEANUP_MS = 30_000;
 let cachedRGBDHasGPU;
 let rgbdHasGPUPromise;
 let rgbdPointCloudWorkers;
 let rgbdPointCloudWorkerIndex = 0;
-const logger = Logger.getLogger();
+let rgbdPointCloudIdleCleanupTimeoutId;
+const rgbdIntrinsicsByTopic = new Map();
+const pendingRGBDBatches = new Map();
 function ensureEvenByteLength(data) {
     if (data.length % 2 === 0) {
         return data;
@@ -27,12 +35,9 @@ 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") {
@@ -44,7 +49,7 @@ async function detectRGBDGPUSupport() {
             cachedRGBDHasGPU = adapter != undefined;
             return cachedRGBDHasGPU;
         }
-        catch {
+        catch (error) {
             cachedRGBDHasGPU = false;
             return false;
         }
@@ -52,42 +57,103 @@ async function detectRGBDGPUSupport() {
             rgbdHasGPUPromise = undefined;
         }
     })();
-    return await rgbdHasGPUPromise;
 }
-function getRGBDPointCloudWorkerSlot() {
+function getRGBDGPUSupport() {
+    ensureRGBDGPUSupportDetection();
+    return cachedRGBDHasGPU ?? false;
+}
+function ensureRGBDPointCloudWorkers() {
     if (!rgbdPointCloudWorkers) {
         rgbdPointCloudWorkers = Array.from({ length: RGBD_POINTCLOUD_WORKER_COUNT }, () => {
-            const worker = new Worker(new URL("../pointcloud/pointcloudFromDepth.worker", import.meta.url), {
-                type: "module",
-            });
-            return {
-                worker,
-                remote: wrap(worker),
-                activeJobs: 0,
-            };
+            return createRGBDPointCloudWorkerSlot();
         });
     }
+    return rgbdPointCloudWorkers;
+}
+function createRGBDPointCloudWorkerSlot() {
+    const worker = new Worker(new URL("../pointcloud/pointcloudFromDepth.worker", import.meta.url), {
+        type: "module",
+    });
+    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() {
+    const hasActiveJobs = rgbdPointCloudWorkers?.some((slot) => slot.activeJobs > 0) ?? 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?.dispose();
+    const replacementSlot = createRGBDPointCloudWorkerSlot();
+    slots[index] = replacementSlot;
+    markRGBDPointCloudWorkersActive();
+    return replacementSlot;
+}
+function tryAcquireRGBDPointCloudWorkerSlot() {
     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 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;
         }
-        const leftDistance = (left.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
-        const rightDistance = (right.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
-        return leftDistance - rightDistance;
-    });
-    const selected = candidateSlots[0];
-    rgbdPointCloudWorkerIndex = (selected.index + 1) % slots.length;
-    return selected.slot;
+        slot.activeJobs = 1;
+        rgbdPointCloudWorkerIndex = (index + 1) % ensuredSlots.length;
+        return { slot, index };
+    }
+    return undefined;
 }
 function repackYuv420pToI420(imageFrame, width, height) {
     const specs = imageFrame.fb ?? imageFrame.sourceFb;
     const source = ensureEvenByteLength(imageFrame.data);
     const yStride = 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;
@@ -167,12 +233,23 @@ function extractIntrinsicsFromTransformation(transformation) {
         },
     };
 }
-function resolveRGBDIntrinsics(message, fallbackIntrinsics) {
+function resolveRGBDIntrinsicsFromMessage(message) {
     return (extractIntrinsicsFromTransformation(message.depthImgFrame?.transformation) ??
         extractIntrinsicsFromTransformation(message.depthEncodedFrame?.transformation) ??
         extractIntrinsicsFromTransformation(message.colorImgFrame?.transformation) ??
-        extractIntrinsicsFromTransformation(message.colorEncodedFrame?.transformation) ??
-        fallbackIntrinsics);
+        extractIntrinsicsFromTransformation(message.colorEncodedFrame?.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) => {
@@ -264,57 +341,251 @@ function parseDimensions(message) {
     }
     return obj;
 }
-export async function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, }) {
-    const workerSlot = getRGBDPointCloudWorkerSlot();
-    workerSlot.activeJobs += 1;
+function emitRGBDDepthPreview(topic, message, maxStereoDepth, callback, onError) {
+    if (!message.depthImgFrame) {
+        return;
+    }
+    const depthFrameForPreview = {
+        ...message.depthImgFrame,
+        data: message.depthImgFrame.data.slice(),
+    };
+    void deserializeDepthFrame({
+        topic,
+        message: depthFrameForPreview,
+        callback,
+        maxStereoDepth: maxStereoDepth / 1000,
+    }).catch(onError);
+}
+function emitRGBDPointCloud(frame, pointCloudData) {
+    const foxgloveMessage = {
+        timestamp: 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: NumericType.FLOAT32 },
+            { name: "y", offset: 4, type: NumericType.FLOAT32 },
+            { name: "z", offset: 8, type: NumericType.FLOAT32 },
+            { name: "red", offset: 12, type: NumericType.UINT8 },
+            { name: "green", offset: 13, type: NumericType.UINT8 },
+            { name: "blue", offset: 14, type: NumericType.UINT8 },
+            { name: "alpha", offset: 15, type: 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) {
+    if (!ENABLE_RGBD_GPU_BATCHING || !frame.hasGPU) {
+        const reservedWorkerSelection = tryAcquireRGBDPointCloudWorkerSlot();
+        if (!reservedWorkerSelection) {
+            console.warn(`[RGBD] Dropping pointcloud frame for topic ${frame.topic}: all RGBD pointcloud workers are busy.`);
+            return;
+        }
+        globalRenderMetricsManager.ensureTopic(constructKeyForTopicRenderMetrics("renderPointCloudFrame", "Point Cloud"));
+        globalInputEventMetricsManager.registerEvent(constructKeyForTopicRenderMetrics("incomingPointCloudFrame", "Point Cloud"));
+        globalDecodeMetricsManager.registerEvent("Point Cloud");
+        void processRGBDPointCloudOnWorker(reservedWorkerSelection.slot, reservedWorkerSelection.index, frame);
+        return;
+    }
+    const existingBatch = pendingRGBDBatches.get(frame.topic);
+    if (existingBatch &&
+        existingBatch.frames.length > 0 &&
+        getRGBDBatchSignature(existingBatch.frames[0]) !== getRGBDBatchSignature(frame)) {
+        flushRGBDPointCloudBatch(frame.topic);
+    }
+    const batch = pendingRGBDBatches.get(frame.topic) ?? { frames: [] };
+    batch.frames.push(frame);
+    pendingRGBDBatches.set(frame.topic, batch);
+    if (batch.frames.length >= RGBD_GPU_BATCH_SIZE) {
+        flushRGBDPointCloudBatch(frame.topic);
+        return;
+    }
+    clearRGBDBatchFlush(batch);
+    batch.flushTimeoutId = setTimeout(() => {
+        flushRGBDPointCloudBatch(frame.topic);
+    }, RGBD_GPU_BATCH_FLUSH_DELAY_MS);
+}
+export async function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, onError, }) {
+    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 { receiveTime } = parseMessage(message);
     const { 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 {
-        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 ?? 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: NumericType.FLOAT32 },
-                { name: "y", offset: 4, type: NumericType.FLOAT32 },
-                { name: "z", offset: 8, type: NumericType.FLOAT32 },
-                { name: "red", offset: 12, type: NumericType.UINT8 },
-                { name: "green", offset: 13, type: NumericType.UINT8 },
-                { name: "blue", offset: 14, type: NumericType.UINT8 },
-                { name: "alpha", offset: 15, type: 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,
-            });
-        }
+            timestamp: message.tsDevice,
+            depthWidth,
+            depthHeight,
+            rgbdIntrinsics,
+            colorFrame,
+            depthFrame,
+            maxStereoDepth,
+            hasGPU,
+            callback,
+            onError,
+        };
+        enqueueRGBDPointCloudFrame(pendingFrame);
     }
-    finally {
-        workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
+    catch (error) {
+        onError(error instanceof Error ? error : new Error(String(error)));
     }
 }
 //# sourceMappingURL=rgbd-to-pointcloud.js.map