@luxonis/depthai-viewer-common 3.7.4 → 3.7.6

package/dist/visualizer/messaging/deserialization/video/h264.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/video/h265.d.ts

@@ -0,0 +1,16 @@
+import { type EncodedFrame } from "../../../protobuf.generated/EncodedFrame.js";
+import type { ImgFrame } from "../../../protobuf.generated/ImgFrame.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+import { type EncodedVideoOutputMode, type TopicDecoderInfo } from "./h264.js";
+export type TopicDecoders = Map<string, TopicDecoderInfo>;
+type DeserializeEncodedFrameH265Args = {
+    topic: string;
+    message: EncodedFrame | ImgFrame;
+    topicDecoders: TopicDecoders;
+    callback: (event: VisualizerMessageEvent) => void;
+    onError: (error: Error) => void;
+    outputMode?: EncodedVideoOutputMode;
+};
+export declare function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback, onError, outputMode, }: DeserializeEncodedFrameH265Args): Promise<void>;
+export {};
+//# sourceMappingURL=h265.d.ts.map

package/dist/visualizer/messaging/deserialization/video/h265.d.ts.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/video/h265.js

@@ -0,0 +1,448 @@
+// 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 * as Comlink from "comlink";
+import { FrameType } from "../../../protobuf.generated/EncodedFrame.js";
+import { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
+import { DecoderRuntimeError } from "../../../utils/error.js";
+import { Logger } from "../../../utils/logger.js";
+import { fromMicros } from "../../../utils/time.js";
+import { parseMessage } from "../../parse-utils.js";
+import { recordDecoderRecovery, recordQueuedOutputReplacement, recordStreamBackpressure, recordStreamIngress, recordStreamOutput, } from "../../stream-diagnostics.js";
+import { copyVideoFrameToI420, getDecodedFrameTransferables, } from "./h264.js";
+const logger = Logger.getLogger();
+// Keep the WebCodecs backlog shallow so live streams do not bunch decoded frames into
+// bursty catch-up delivery on the worker or main thread.
+const MAX_DECODE_QUEUE_SIZE = 3;
+const DECODE_OUTPUT_STALL_TIMEOUT_MS = 5_000;
+const KEYFRAME_DECODE_TIMEOUT_MS = 2_500;
+const EMPTY_FRAME_DATA = new Uint8Array(0);
+function isIgnorableInitialDecodeError(error) {
+    const message = error instanceof Error ? error.message : String(error);
+    return message.includes("A key frame is required after configure() or flush()");
+}
+function closeDecoder(decoder) {
+    if (!decoder) {
+        return;
+    }
+    if (decoder.state === "closed") {
+        return;
+    }
+    try {
+        decoder.close();
+    }
+    catch (error) {
+        logger.warn("Failed to close H265 decoder cleanly.", error);
+    }
+}
+function closeTopicDecoder(topic, topicDecoders) {
+    const decoderInfo = topicDecoders.get(topic);
+    closeDecoder(decoderInfo?.decoder);
+    if (decoderInfo) {
+        clearTopicDecoderState(decoderInfo);
+    }
+}
+function clearTopicDecoderState(decoderInfo) {
+    decoderInfo.queuedOutputFrame?.close();
+    decoderInfo.queuedOutputFrame = undefined;
+    decoderInfo.timing.clear();
+    decoderInfo.ingressPerfTimes.clear();
+    decoderInfo.transformations.clear();
+    decoderInfo.outputModes.clear();
+    decoderInfo.pendingCallbacks.clear();
+    decoderInfo.droppedFrames = 0;
+    decoderInfo.processingOutput = false;
+}
+function enterAwaitingKeyframe(topic, topicDecoders, reason) {
+    const decoderInfo = topicDecoders.get(topic);
+    if (!decoderInfo || decoderInfo.recovery.state === "awaiting-keyframe") {
+        return;
+    }
+    decoderInfo.decoderGeneration += 1;
+    closeDecoder(decoderInfo.decoder);
+    clearTopicDecoderState(decoderInfo);
+    decoderInfo.recovery = { state: "awaiting-keyframe", enteredAt: performance.now(), reason };
+    recordDecoderRecovery({
+        topic,
+        codec: "h265",
+        event: "entered",
+        reason,
+        generation: decoderInfo.decoderGeneration,
+    });
+}
+function getEncodedVideoChunkType(message) {
+    if ("profile" in message) {
+        switch (message.type) {
+            case FrameType.P:
+            case FrameType.B:
+                return "delta";
+            default:
+                return "key";
+        }
+    }
+    return "key";
+}
+async function copyVideoFrameToRenderablePayload(frame) {
+    const visibleRect = frame.visibleRect;
+    const frameWidth = visibleRect?.width ?? frame.codedWidth;
+    const frameHeight = visibleRect?.height ?? frame.codedHeight;
+    const cropLeft = visibleRect?.x ?? 0;
+    const cropTop = visibleRect?.y ?? 0;
+    return {
+        data: EMPTY_FRAME_DATA,
+        width: frameWidth,
+        height: frameHeight,
+        encoding: frame.format === "NV12" && cropLeft === 0 && cropTop === 0 ? "nv12" : "yuv420p",
+        step: frameWidth,
+        sizeInBytes: frame.allocationSize(),
+        renderableBitmap: await createImageBitmap(frame),
+    };
+}
+async function copyVideoFrameToNv12Payload(frame) {
+    const visibleRect = frame.visibleRect;
+    const frameWidth = visibleRect?.width ?? frame.codedWidth;
+    const frameHeight = visibleRect?.height ?? frame.codedHeight;
+    const cropLeft = visibleRect?.x ?? 0;
+    const cropTop = visibleRect?.y ?? 0;
+    if (frame.format !== "NV12" || cropLeft !== 0 || cropTop !== 0) {
+        return undefined;
+    }
+    const destination = new Uint8Array(frame.allocationSize());
+    const layouts = await frame.copyTo(destination);
+    const yPlaneLayout = layouts[0];
+    const uvPlaneLayout = layouts[1];
+    return {
+        data: destination,
+        width: frameWidth,
+        height: frameHeight,
+        encoding: "nv12",
+        step: yPlaneLayout?.stride ?? frameWidth,
+        sizeInBytes: destination.byteLength,
+        stride: yPlaneLayout?.stride ?? frameWidth,
+        planeStride: uvPlaneLayout?.offset ?? null,
+    };
+}
+async function copyVideoFrameToPayload(frame, outputMode, scratchBuffers) {
+    if (outputMode === "i420") {
+        return {
+            ...(await copyVideoFrameToI420(frame, "H265", scratchBuffers)),
+            encoding: "yuv420p",
+            step: frame.visibleRect?.width ?? frame.codedWidth,
+            sizeInBytes: frame.allocationSize(),
+        };
+    }
+    try {
+        return await copyVideoFrameToRenderablePayload(frame);
+    }
+    catch (error) {
+        logger.warn("Falling back to planar payload for H265 frame.", error);
+    }
+    try {
+        const nv12Payload = await copyVideoFrameToNv12Payload(frame);
+        if (nv12Payload) {
+            return nv12Payload;
+        }
+        return {
+            ...(await copyVideoFrameToI420(frame, "H265", scratchBuffers)),
+            encoding: "yuv420p",
+            step: frame.visibleRect?.width ?? frame.codedWidth,
+            sizeInBytes: frame.allocationSize(),
+        };
+    }
+    catch (error) {
+        logger.warn("Falling back to I420 payload for H265 frame.", error);
+        return {
+            ...(await copyVideoFrameToI420(frame, "H265", scratchBuffers)),
+            encoding: "yuv420p",
+            step: frame.visibleRect?.width ?? frame.codedWidth,
+            sizeInBytes: frame.allocationSize(),
+        };
+    }
+}
+function discardDecodedFrameMetadata(decoderInfo, timestamp) {
+    decoderInfo.timing.delete(timestamp);
+    decoderInfo.ingressPerfTimes.delete(timestamp);
+    decoderInfo.transformations.delete(timestamp);
+    decoderInfo.outputModes.delete(timestamp);
+    decoderInfo.pendingCallbacks.delete(timestamp);
+}
+async function processDecodedVideoFrame(topic, initialFrame, topicDecoders, generation) {
+    const decoderInfo = topicDecoders.get(topic);
+    if (!decoderInfo || decoderInfo.decoderGeneration !== generation) {
+        initialFrame.close();
+        return;
+    }
+    decoderInfo.processingOutput = true;
+    let currentFrame = initialFrame;
+    try {
+        while (currentFrame) {
+            const activeDecoderInfo = topicDecoders.get(topic);
+            if (!activeDecoderInfo || activeDecoderInfo.decoderGeneration !== generation) {
+                currentFrame.close();
+                return;
+            }
+            const outputMode = activeDecoderInfo.outputModes.get(currentFrame.timestamp) ?? "native";
+            const payload = await copyVideoFrameToPayload(currentFrame, outputMode, activeDecoderInfo.copyScratchBuffers);
+            if (topicDecoders.get(topic)?.decoderGeneration !== generation) {
+                payload.renderableBitmap?.close();
+                return;
+            }
+            const receiveTime = activeDecoderInfo.timing.get(currentFrame.timestamp) ?? fromMicros(currentFrame.timestamp);
+            const ingressPerfTime = activeDecoderInfo?.ingressPerfTimes.get(currentFrame.timestamp);
+            const transformation = activeDecoderInfo?.transformations.get(currentFrame.timestamp);
+            const callback = activeDecoderInfo?.pendingCallbacks.get(currentFrame.timestamp) ??
+                activeDecoderInfo?.callback;
+            activeDecoderInfo?.timing.delete(currentFrame.timestamp);
+            activeDecoderInfo?.ingressPerfTimes.delete(currentFrame.timestamp);
+            activeDecoderInfo?.transformations.delete(currentFrame.timestamp);
+            activeDecoderInfo?.outputModes.delete(currentFrame.timestamp);
+            activeDecoderInfo?.pendingCallbacks.delete(currentFrame.timestamp);
+            const foxgloveMessage = {
+                timestamp: receiveTime,
+                frame_id: `h265-${topic}-frame`,
+                width: payload.width,
+                height: payload.height,
+                data: payload.data,
+                encoding: payload.encoding,
+                step: payload.step,
+                stride: payload.stride,
+                planeStride: payload.planeStride,
+                renderableBitmap: payload.renderableBitmap,
+            };
+            const event = {
+                topic,
+                receiveTime,
+                message: foxgloveMessage,
+                sizeInBytes: payload.sizeInBytes,
+                schemaName: "foxglove.RawImage",
+                depthaiTransformation: transformation,
+            };
+            const transferables = getDecodedFrameTransferables(payload);
+            if (activeDecoderInfo) {
+                activeDecoderInfo.lastDecodedFrameAt = performance.now();
+            }
+            recordStreamOutput({
+                topic,
+                codec: "h265",
+                queueDepth: activeDecoderInfo?.decoder.decodeQueueSize ?? 0,
+                deliveryLatencyMs: ingressPerfTime != undefined ? performance.now() - ingressPerfTime : 0,
+            });
+            callback?.(transferables.length > 0 ? Comlink.transfer(event, transferables) : event);
+            currentFrame.close();
+            const nextFrame = activeDecoderInfo?.queuedOutputFrame;
+            if (activeDecoderInfo) {
+                activeDecoderInfo.queuedOutputFrame = undefined;
+            }
+            currentFrame = nextFrame;
+        }
+    }
+    catch (error) {
+        currentFrame?.close();
+        closeTopicDecoder(topic, topicDecoders);
+        decoderInfo.onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to process decoded H.265 frame."));
+    }
+    finally {
+        const activeDecoderInfo = topicDecoders.get(topic);
+        if (activeDecoderInfo) {
+            activeDecoderInfo.processingOutput = false;
+        }
+    }
+}
+function createVideoDecoder({ topic, topicDecoders }) {
+    const generation = topicDecoders.get(topic)?.decoderGeneration ?? 0;
+    let hasProducedFrame = false;
+    return new VideoDecoder({
+        output: (frame) => {
+            hasProducedFrame = true;
+            const decoderInfo = topicDecoders.get(topic);
+            if (!decoderInfo || decoderInfo.decoderGeneration !== generation) {
+                frame.close();
+                return;
+            }
+            if (decoderInfo.recovery.state === "verifying-keyframe") {
+                const recoveryElapsedMs = performance.now() - decoderInfo.recovery.enteredAt;
+                decoderInfo.recovery = { state: "synchronized", enteredAt: performance.now() };
+                decoderInfo.lastDecodedFrameAt = performance.now();
+                recordDecoderRecovery({
+                    topic,
+                    codec: "h265",
+                    event: "succeeded",
+                    generation,
+                    elapsedMs: recoveryElapsedMs,
+                });
+            }
+            if (decoderInfo.processingOutput) {
+                if (decoderInfo.queuedOutputFrame) {
+                    discardDecodedFrameMetadata(decoderInfo, decoderInfo.queuedOutputFrame.timestamp);
+                    decoderInfo.queuedOutputFrame.close();
+                    recordQueuedOutputReplacement(topic, "h265");
+                }
+                decoderInfo.queuedOutputFrame = frame;
+                return;
+            }
+            void processDecodedVideoFrame(topic, frame, topicDecoders, generation);
+        },
+        error: (error) => {
+            const decoderInfo = topicDecoders.get(topic);
+            if (!decoderInfo || decoderInfo.decoderGeneration !== generation) {
+                return;
+            }
+            if (!hasProducedFrame && isIgnorableInitialDecodeError(error)) {
+                logger.warn(`H265 decoder requires a keyframe for topic ${topic}: ${error.message}`);
+            }
+            else {
+                logger.error(error);
+            }
+            const wasVerifying = decoderInfo.recovery.state === "verifying-keyframe";
+            enterAwaitingKeyframe(topic, topicDecoders, wasVerifying ? "keyframe-decode-failure" : "decoder-error");
+            if (wasVerifying) {
+                recordDecoderRecovery({
+                    topic,
+                    codec: "h265",
+                    event: "keyframe-decode-failure",
+                    generation,
+                });
+            }
+        },
+    });
+}
+export async function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback, onError, outputMode = "native", }) {
+    const { receiveTime } = parseMessage(message);
+    const supported = ensureWebCodecsSupported("VideoDecoder");
+    if (!supported) {
+        return;
+    }
+    let decoderInfo = topicDecoders.get(topic);
+    if (!decoderInfo) {
+        decoderInfo = {
+            decoder: undefined,
+            timing: new Map(),
+            ingressPerfTimes: new Map(),
+            transformations: new Map(),
+            outputModes: new Map(),
+            pendingCallbacks: new Map(),
+            callback,
+            onError,
+            droppedFrames: 0,
+            processingOutput: false,
+            copyScratchBuffers: {},
+            decoderGeneration: 0,
+            recovery: { state: "awaiting-keyframe", enteredAt: performance.now(), reason: "initial" },
+        };
+        topicDecoders.set(topic, decoderInfo);
+        decoderInfo.decoder = createVideoDecoder({ topic, topicDecoders });
+    }
+    decoderInfo.callback = callback;
+    decoderInfo.onError = onError;
+    const frameType = getEncodedVideoChunkType(message);
+    const now = performance.now();
+    decoderInfo.lastEncodedIngressAt = now;
+    if (frameType === "key") {
+        decoderInfo.lastReceivedKeyframeAt = now;
+    }
+    recordStreamIngress({
+        topic,
+        codec: "h265",
+        payloadBytes: message.data.byteLength,
+        queueDepth: decoderInfo.decoder.decodeQueueSize,
+        transferMode: "ArrayBuffer",
+        frameType,
+    });
+    if (decoderInfo.recovery.state === "synchronized" &&
+        decoderInfo.lastDecodedFrameAt != undefined &&
+        now - decoderInfo.lastDecodedFrameAt >= DECODE_OUTPUT_STALL_TIMEOUT_MS) {
+        enterAwaitingKeyframe(topic, topicDecoders, "decoded-output-stall");
+    }
+    if (decoderInfo.recovery.state === "verifying-keyframe" &&
+        now - decoderInfo.recovery.keyframeAt >= KEYFRAME_DECODE_TIMEOUT_MS) {
+        // A received keyframe is not proof of recovery. If it produces no decoder output,
+        // abandon this attempt so a later periodic keyframe can be tried.
+        enterAwaitingKeyframe(topic, topicDecoders, "keyframe-output-timeout");
+    }
+    if (decoderInfo.recovery.state === "awaiting-keyframe" ||
+        (decoderInfo.recovery.state === "verifying-keyframe" && frameType === "key")) {
+        if (frameType === "delta") {
+            recordDecoderRecovery({
+                topic,
+                codec: "h265",
+                event: "delta-dropped",
+                generation: decoderInfo.decoderGeneration,
+            });
+            return;
+        }
+        closeDecoder(decoderInfo.decoder);
+        decoderInfo.decoderGeneration += 1;
+        const decoder = createVideoDecoder({ topic, topicDecoders });
+        try {
+            decoder.configure({ codec: "hev1.1.6.L93.B0", optimizeForLatency: true });
+        }
+        catch (_error) {
+            closeDecoder(decoder);
+            decoderInfo.recovery = {
+                state: "awaiting-keyframe",
+                enteredAt: now,
+                reason: "keyframe-decode-failure",
+            };
+            recordDecoderRecovery({
+                topic,
+                codec: "h265",
+                event: "keyframe-decode-failure",
+                generation: decoderInfo.decoderGeneration,
+            });
+            return;
+        }
+        decoderInfo.decoder = decoder;
+        clearTopicDecoderState(decoderInfo);
+        decoderInfo.recovery = { state: "verifying-keyframe", enteredAt: now, keyframeAt: now };
+    }
+    else if (decoderInfo.recovery.state === "verifying-keyframe") {
+        recordDecoderRecovery({
+            topic,
+            codec: "h265",
+            event: "delta-dropped",
+            generation: decoderInfo.decoderGeneration,
+        });
+        return;
+    }
+    const queueDepth = decoderInfo.decoder.decodeQueueSize;
+    if (queueDepth >= MAX_DECODE_QUEUE_SIZE) {
+        decoderInfo.droppedFrames += 1;
+        recordStreamBackpressure({
+            topic,
+            codec: "h265",
+            queueDepth,
+            frameType: getEncodedVideoChunkType(message),
+        });
+    }
+    else {
+        decoderInfo.droppedFrames = 0;
+    }
+    const microTimestamp = receiveTime.sec * 1_000_000 + Math.floor(receiveTime.nsec / 1_000);
+    decoderInfo.timing.set(microTimestamp, receiveTime);
+    decoderInfo.ingressPerfTimes.set(microTimestamp, performance.now());
+    decoderInfo.transformations.set(microTimestamp, message.transformation);
+    decoderInfo.outputModes.set(microTimestamp, outputMode);
+    decoderInfo.pendingCallbacks.set(microTimestamp, callback);
+    const frame = {
+        type: getEncodedVideoChunkType(message),
+        data: message.data,
+        timestamp: microTimestamp,
+    };
+    try {
+        const chunk = new EncodedVideoChunk(frame);
+        decoderInfo.decoder.decode(chunk);
+    }
+    catch (error) {
+        const wasVerifying = decoderInfo.recovery.state === "verifying-keyframe";
+        enterAwaitingKeyframe(topic, topicDecoders, isIgnorableInitialDecodeError(error) ? "keyframe-required" : "decode-error");
+        if (wasVerifying) {
+            recordDecoderRecovery({
+                topic,
+                codec: "h265",
+                event: "keyframe-decode-failure",
+                generation: decoderInfo.decoderGeneration,
+            });
+        }
+    }
+}
+//# sourceMappingURL=h265.js.map

package/dist/visualizer/messaging/deserialization/video/h265.js.map

@@ -0,0 +1 @@
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package/dist/visualizer/messaging/deserialization/video/mjpeg.d.ts

@@ -0,0 +1,11 @@
+import type { EncodedFrame } from "../../../protobuf.generated/EncodedFrame.js";
+import type { VisualizerMessageEvent } from "../../message-event.js";
+export type MJPEGOutputMode = "i420" | "native";
+export type DeserializeMJPEGFrameArgs = {
+    topic: string;
+    message: EncodedFrame;
+    callback: (event: VisualizerMessageEvent) => void;
+    outputMode?: MJPEGOutputMode;
+};
+export declare function deserializeMJPEGFrame({ topic, message, callback, outputMode, }: DeserializeMJPEGFrameArgs): Promise<void>;
+//# sourceMappingURL=mjpeg.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"mjpeg.d.ts","sourceRoot":"","sources":["../../../../../src/visualizer/messaging/deserialization/video/mjpeg.ts"],"names":[],"mappings":"AAIA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAGhF,OAAO,KAAK,EAAoB,sBAAsB,EAAE,MAAM,wBAAwB,CAAC;AAIvF,MAAM,MAAM,eAAe,GAAG,MAAM,GAAG,QAAQ,CAAC;AAIhD,MAAM,MAAM,yBAAyB,GAAG;IACtC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,YAAY,CAAC;IACtB,QAAQ,EAAE,CAAC,KAAK,EAAE,sBAAsB,KAAK,IAAI,CAAC;IAClD,UAAU,CAAC,EAAE,eAAe,CAAC;CAC9B,CAAC;AA+DF,wBAAsB,qBAAqB,CAAC,EAC1C,KAAK,EACL,OAAO,EACP,QAAQ,EACR,UAAqB,GACtB,EAAE,yBAAyB,GAAG,OAAO,CAAC,IAAI,CAAC,CAkD3C"}