@luxonis/visualizer-protobuf 3.1.0 → 3.1.2

package/dist/{deserialization.worker-CpadaVUC.js → deserialization.worker-YKcSaSWH.js}

@@ -2,7 +2,7 @@
 import { b as _objectSpread2, P as PointsAnnotationType, p as protobufsBySchema, T as Type, h as Profile } from './protobuf-Be0G3NFz.js';
 import { e as expose } from './comlink-jf8bdrAf.js';
 import { t as typescript } from './index-Dqm1x8G2.js';
-import { R as parseMessage, e as estimateObjectSize, S as fromMillis, d as dist, U as parsePixelFormat, V as deserializeDepthFrame } from './depth-BJ1GI-lD.js';
+import { U as parseMessage, e as estimateObjectSize, V as fromMillis, W as DecoderRuntimeError, d as dist, X as parsePixelFormat, Y as UnsupportedTopicError, Z as NotInSecureContextError, _ as EncodedStreamNotSupportedError, $ as deserializeDepthFrame } from './depth-DlC6A3Te.js';
 import { L as Logger } from './logger-Bqy1nuLj.js';
 import { i as isCapableOfEncodedStream } from './encoding-jXImCIb4.js';
 import 'react';
@@ -330,6 +330,141 @@ function rotatePoint(point, centerX, centerY, angleDegrees) {
     y: yRotated + centerY
   };
 }
+function getDetectionGeometry(detection, highlightSizeX, highlightSizeY) {
+  const rotatedBoundingBox = detection.boundingBox;
+  if (rotatedBoundingBox !== null && rotatedBoundingBox !== void 0 && rotatedBoundingBox.center && rotatedBoundingBox.size) {
+    const {
+      center,
+      size,
+      angle
+    } = rotatedBoundingBox;
+    const halfWidth = size.width / 2;
+    const halfHeight = size.height / 2;
+    const topLeft = rotatePoint({
+      x: center.x - halfWidth,
+      y: center.y - halfHeight
+    }, center.x, center.y, angle);
+    const bottomLeft = rotatePoint({
+      x: center.x - halfWidth,
+      y: center.y + halfHeight
+    }, center.x, center.y, angle);
+    const bottomRight = rotatePoint({
+      x: center.x + halfWidth,
+      y: center.y + halfHeight
+    }, center.x, center.y, angle);
+    const topRight = rotatePoint({
+      x: center.x + halfWidth,
+      y: center.y - halfHeight
+    }, center.x, center.y, angle);
+    const _outline = [topLeft, bottomLeft, bottomRight, topRight];
+    const highlightTopWidth = Math.min(highlightSizeX, size.width);
+    const highlightSideHeight = Math.min(highlightSizeY, size.height);
+    const highlightSegments = [[topLeft, rotatePoint({
+      x: center.x - halfWidth + highlightTopWidth,
+      y: center.y - halfHeight
+    }, center.x, center.y, angle)], [topLeft, rotatePoint({
+      x: center.x - halfWidth,
+      y: center.y - halfHeight + highlightSideHeight
+    }, center.x, center.y, angle)], [topRight, rotatePoint({
+      x: center.x + halfWidth - highlightTopWidth,
+      y: center.y - halfHeight
+    }, center.x, center.y, angle)], [topRight, rotatePoint({
+      x: center.x + halfWidth,
+      y: center.y - halfHeight + highlightSideHeight
+    }, center.x, center.y, angle)], [bottomRight, rotatePoint({
+      x: center.x + halfWidth - highlightTopWidth,
+      y: center.y + halfHeight
+    }, center.x, center.y, angle)], [bottomRight, rotatePoint({
+      x: center.x + halfWidth,
+      y: center.y + halfHeight - highlightSideHeight
+    }, center.x, center.y, angle)], [bottomLeft, rotatePoint({
+      x: center.x - halfWidth + highlightTopWidth,
+      y: center.y + halfHeight
+    }, center.x, center.y, angle)], [bottomLeft, rotatePoint({
+      x: center.x - halfWidth,
+      y: center.y + halfHeight - highlightSideHeight
+    }, center.x, center.y, angle)]];
+    const minX = Math.min(..._outline.map(point => point.x));
+    const minY = Math.min(..._outline.map(point => point.y));
+    return {
+      outline: _outline,
+      highlightSegments,
+      labelPosition: {
+        x: minX + highlightSizeX / 2,
+        y: minY + highlightSizeY
+      }
+    };
+  }
+  const outline = [{
+    x: detection.xmin,
+    y: detection.ymin
+  }, {
+    x: detection.xmin,
+    y: detection.ymax
+  }, {
+    x: detection.xmax,
+    y: detection.ymax
+  }, {
+    x: detection.xmax,
+    y: detection.ymin
+  }];
+  return {
+    outline,
+    highlightSegments: [[{
+      x: detection.xmin,
+      y: detection.ymin
+    }, {
+      x: detection.xmin + highlightSizeX,
+      y: detection.ymin
+    }], [{
+      x: detection.xmin,
+      y: detection.ymin
+    }, {
+      x: detection.xmin,
+      y: detection.ymin + highlightSizeY
+    }], [{
+      x: detection.xmax,
+      y: detection.ymin
+    }, {
+      x: detection.xmax - highlightSizeX,
+      y: detection.ymin
+    }], [{
+      x: detection.xmax,
+      y: detection.ymin
+    }, {
+      x: detection.xmax,
+      y: detection.ymin + highlightSizeY
+    }], [{
+      x: detection.xmax,
+      y: detection.ymax
+    }, {
+      x: detection.xmax - highlightSizeX,
+      y: detection.ymax
+    }], [{
+      x: detection.xmax,
+      y: detection.ymax
+    }, {
+      x: detection.xmax,
+      y: detection.ymax - highlightSizeY
+    }], [{
+      x: detection.xmin,
+      y: detection.ymax
+    }, {
+      x: detection.xmin + highlightSizeX,
+      y: detection.ymax
+    }], [{
+      x: detection.xmin,
+      y: detection.ymax
+    }, {
+      x: detection.xmin,
+      y: detection.ymax - highlightSizeY
+    }]],
+    labelPosition: {
+      x: detection.xmin + highlightSizeX / 2,
+      y: detection.ymin + highlightSizeY
+    }
+  };
+}
 function deserializeImgDetections({
   topic,
   message,
@@ -346,8 +481,9 @@ function deserializeImgDetections({
   };
   if (message.detections.length > 0) {
     for (const detection of message.detections) {
-      var _message$transformati, _topicSizes$values$ne, _DETECTION_STYLE$dete, _detection$boundingBo, _detection$boundingBo2, _detection$boundingBo3, _detection$boundingBo4, _detection$boundingBo5, _detection$boundingBo6, _detection$boundingBo7, _detection$boundingBo8, _detection$boundingBo9, _detection$boundingBo0, _detection$boundingBo1, _detection$boundingBo10, _detection$boundingBo11, _detection$boundingBo12, _detection$boundingBo13, _detection$boundingBo14, _detection$boundingBo15, _detection$boundingBo16, _style$label;
-      const detectionWidth = detection.xmax - detection.xmin;
+      var _detection$boundingBo, _detection$boundingBo2, _detection$boundingBo3, _detection$boundingBo4, _message$transformati, _topicSizes$values$ne, _DETECTION_STYLE$dete, _style$label;
+      const detectionWidth = (_detection$boundingBo = (_detection$boundingBo2 = detection.boundingBox) === null || _detection$boundingBo2 === void 0 || (_detection$boundingBo2 = _detection$boundingBo2.size) === null || _detection$boundingBo2 === void 0 ? void 0 : _detection$boundingBo2.width) !== null && _detection$boundingBo !== void 0 ? _detection$boundingBo : detection.xmax - detection.xmin;
+      const detectionHeight = (_detection$boundingBo3 = (_detection$boundingBo4 = detection.boundingBox) === null || _detection$boundingBo4 === void 0 || (_detection$boundingBo4 = _detection$boundingBo4.size) === null || _detection$boundingBo4 === void 0 ? void 0 : _detection$boundingBo4.height) !== null && _detection$boundingBo3 !== void 0 ? _detection$boundingBo3 : detection.ymax - detection.ymin;
       const {
         width,
         height
@@ -361,38 +497,15 @@ function deserializeImgDetections({
       const ratio = width / height;
       const highligtLength = 0.035;
       const highlightSizeX = Math.min(highligtLength, detectionWidth);
-      const highlightSizeY = Math.min(highligtLength * ratio, detection.ymax - detection.ymin);
+      const highlightSizeY = Math.min(highligtLength * ratio, detectionHeight);
+      const geometry = getDetectionGeometry(detection, highlightSizeX, highlightSizeY);
       const style = (_DETECTION_STYLE$dete = DETECTION_STYLE[detection.label]) !== null && _DETECTION_STYLE$dete !== void 0 ? _DETECTION_STYLE$dete : DEFAULT_STYLE;
       if (detection.labelName) {
         style.label = detection.labelName;
       }
       foxgloveMessage.points.push({
         timestamp: receiveTime,
-        points: (_detection$boundingBo = detection.boundingBox) !== null && _detection$boundingBo !== void 0 && _detection$boundingBo.angle && (_detection$boundingBo2 = detection.boundingBox) !== null && _detection$boundingBo2 !== void 0 && _detection$boundingBo2.center ? [rotatePoint({
-          x: detection.xmin,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmin,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmax,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmax,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmin,
-          y: detection.ymin
-        }, {
-          x: detection.xmin,
-          y: detection.ymax
-        }, {
-          x: detection.xmax,
-          y: detection.ymax
-        }, {
-          x: detection.xmax,
-          y: detection.ymin
-        }],
+        points: geometry.outline,
         type: typescript.PointsAnnotationType.LINE_LOOP,
         outline_colors: [],
         thickness: 0,
@@ -453,133 +566,15 @@ function deserializeImgDetections({
         outline_color: style.outline,
         fill_color: DEBUG_COLOR
       };
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo3 = detection.boundingBox) !== null && _detection$boundingBo3 !== void 0 && _detection$boundingBo3.angle && (_detection$boundingBo4 = detection.boundingBox) !== null && _detection$boundingBo4 !== void 0 && _detection$boundingBo4.center ? [rotatePoint({
-          x: detection.xmin,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmin + highlightSizeX,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmin,
-          y: detection.ymin
-        }, {
-          x: detection.xmin + highlightSizeX,
-          y: detection.ymin
-        }]
-      }));
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo5 = detection.boundingBox) !== null && _detection$boundingBo5 !== void 0 && _detection$boundingBo5.angle && (_detection$boundingBo6 = detection.boundingBox) !== null && _detection$boundingBo6 !== void 0 && _detection$boundingBo6.center ? [rotatePoint({
-          x: detection.xmin,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmin,
-          y: detection.ymin + highlightSizeY
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmin,
-          y: detection.ymin
-        }, {
-          x: detection.xmin,
-          y: detection.ymin + highlightSizeY
-        }]
-      }));
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo7 = detection.boundingBox) !== null && _detection$boundingBo7 !== void 0 && _detection$boundingBo7.angle && (_detection$boundingBo8 = detection.boundingBox) !== null && _detection$boundingBo8 !== void 0 && _detection$boundingBo8.center ? [rotatePoint({
-          x: detection.xmax,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmax - highlightSizeX,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmax,
-          y: detection.ymin
-        }, {
-          x: detection.xmax - highlightSizeX,
-          y: detection.ymin
-        }]
-      }));
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo9 = detection.boundingBox) !== null && _detection$boundingBo9 !== void 0 && _detection$boundingBo9.angle && (_detection$boundingBo0 = detection.boundingBox) !== null && _detection$boundingBo0 !== void 0 && _detection$boundingBo0.center ? [rotatePoint({
-          x: detection.xmax,
-          y: detection.ymin
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmax,
-          y: detection.ymin + highlightSizeY
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmax,
-          y: detection.ymin
-        }, {
-          x: detection.xmax,
-          y: detection.ymin + highlightSizeY
-        }]
-      }));
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo1 = detection.boundingBox) !== null && _detection$boundingBo1 !== void 0 && _detection$boundingBo1.angle && (_detection$boundingBo10 = detection.boundingBox) !== null && _detection$boundingBo10 !== void 0 && _detection$boundingBo10.center ? [rotatePoint({
-          x: detection.xmax,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmax - highlightSizeX,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmax,
-          y: detection.ymax
-        }, {
-          x: detection.xmax - highlightSizeX,
-          y: detection.ymax
-        }]
-      }));
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo11 = detection.boundingBox) !== null && _detection$boundingBo11 !== void 0 && _detection$boundingBo11.angle && (_detection$boundingBo12 = detection.boundingBox) !== null && _detection$boundingBo12 !== void 0 && _detection$boundingBo12.center ? [rotatePoint({
-          x: detection.xmax,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmax,
-          y: detection.ymax - highlightSizeY
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmax,
-          y: detection.ymax
-        }, {
-          x: detection.xmax,
-          y: detection.ymax - highlightSizeY
-        }]
-      }));
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo13 = detection.boundingBox) !== null && _detection$boundingBo13 !== void 0 && _detection$boundingBo13.angle && (_detection$boundingBo14 = detection.boundingBox) !== null && _detection$boundingBo14 !== void 0 && _detection$boundingBo14.center ? [rotatePoint({
-          x: detection.xmin,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmin + highlightSizeX,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmin,
-          y: detection.ymax
-        }, {
-          x: detection.xmin + highlightSizeX,
-          y: detection.ymax
-        }]
-      }));
-      foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
-        points: (_detection$boundingBo15 = detection.boundingBox) !== null && _detection$boundingBo15 !== void 0 && _detection$boundingBo15.angle && (_detection$boundingBo16 = detection.boundingBox) !== null && _detection$boundingBo16 !== void 0 && _detection$boundingBo16.center ? [rotatePoint({
-          x: detection.xmin,
-          y: detection.ymax
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle), rotatePoint({
-          x: detection.xmin,
-          y: detection.ymax - highlightSizeY
-        }, detection.boundingBox.center.x, detection.boundingBox.center.y, detection.boundingBox.angle)] : [{
-          x: detection.xmin,
-          y: detection.ymax
-        }, {
-          x: detection.xmin,
-          y: detection.ymax - highlightSizeY
-        }]
-      }));
+      for (const segment of geometry.highlightSegments) {
+        foxgloveMessage.points.push(_objectSpread2(_objectSpread2({}, baseHighlightConfig), {}, {
+          points: segment
+        }));
+      }
       const label = `${(_style$label = style.label) !== null && _style$label !== void 0 ? _style$label : `Unknown #${detection.label}`} ${Math.round(detection.confidence * 100)}%`;
       foxgloveMessage.texts.push({
         timestamp: receiveTime,
-        position: {
-          x: detection.xmin + highligtLength / 2,
-          y: detection.ymin + highlightSizeY
-        },
+        position: geometry.labelPosition,
         text: label,
         font_size: getTextSize(width, height),
         text_color: DEFAULT_TEXT_COLOR,
@@ -802,64 +797,30 @@ function ensureWebCodecsSupported(target) {
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
 const logger$2 = Logger.getLogger();
-function bgrxToI420(bgrx, width, height) {
-  if ((width & 1) !== 0 || (height & 1) !== 0) {
-    throw new Error("I420 requires even width and height.");
+function closeDecoder$1(decoder) {
+  if (!decoder) {
+    return;
   }
-  const ySize = width * height;
-  const uvSize = width * height >> 2;
-  const out = new Uint8Array(ySize + uvSize + uvSize);
-  const Y = out.subarray(0, ySize);
-  const U = out.subarray(ySize, ySize + uvSize);
-  const V = out.subarray(ySize + uvSize);
-  const stride = width * 4;
-  const clamp8 = x => x < 0 ? 0 : x > 255 ? 255 : x | 0;
-  for (let y = 0; y < height; y += 2) {
-    const row0 = y * stride;
-    const row1 = (y + 1) * stride;
-    for (let x = 0; x < width; x += 2) {
-      const p00 = row0 + x * 4;
-      const p01 = row0 + (x + 1) * 4;
-      const p10 = row1 + x * 4;
-      const p11 = row1 + (x + 1) * 4;
-      const B00 = bgrx[p00 + 0],
-        G00 = bgrx[p00 + 1],
-        R00 = bgrx[p00 + 2];
-      const B01 = bgrx[p01 + 0],
-        G01 = bgrx[p01 + 1],
-        R01 = bgrx[p01 + 2];
-      const B10 = bgrx[p10 + 0],
-        G10 = bgrx[p10 + 1],
-        R10 = bgrx[p10 + 2];
-      const B11 = bgrx[p11 + 0],
-        G11 = bgrx[p11 + 1],
-        R11 = bgrx[p11 + 2];
-      const Y00 = 77 * R00 + 150 * G00 + 29 * B00 + 128 >> 8;
-      const Y01 = 77 * R01 + 150 * G01 + 29 * B01 + 128 >> 8;
-      const Y10 = 77 * R10 + 150 * G10 + 29 * B10 + 128 >> 8;
-      const Y11 = 77 * R11 + 150 * G11 + 29 * B11 + 128 >> 8;
-      const yRow0 = y * width + x;
-      const yRow1 = (y + 1) * width + x;
-      Y[yRow0 + 0] = Y00;
-      Y[yRow0 + 1] = Y01;
-      Y[yRow1 + 0] = Y10;
-      Y[yRow1 + 1] = Y11;
-      const Ravg = R00 + R01 + R10 + R11 >> 2;
-      const Gavg = G00 + G01 + G10 + G11 >> 2;
-      const Bavg = B00 + B01 + B10 + B11 >> 2;
-      const Uval = clamp8((-43 * Ravg - 85 * Gavg + 128 * Bavg >> 8) + 128);
-      const Vval = clamp8((128 * Ravg - 107 * Gavg - 21 * Bavg >> 8) + 128);
-      const uvCol = x >> 1;
-      const uvRow = y >> 1;
-      const uvW = width >> 1;
-      const uvPos = uvRow * uvW + uvCol;
-      U[uvPos] = Uval;
-      V[uvPos] = Vval;
-    }
+  if (decoder.state === "closed") {
+    return;
+  }
+  try {
+    decoder.close();
+  } catch (error) {
+    logger$2.warn("Failed to close H264 decoder cleanly.", error);
   }
-  return out;
 }
-function bgraToI420(bgra, width, height) {
+function closeTopicDecoder$1(topic, topicDecoders) {
+  const decoderInfo = topicDecoders.get(topic);
+  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();
+}
+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 packedToI420(packed, width, height, stride, format, cropLeft = 0, cropTop = 0) {
   if ((width & 1) !== 0 || (height & 1) !== 0) {
     throw new Error("I420 requires even width and height.");
   }
@@ -869,28 +830,29 @@ function bgraToI420(bgra, width, height) {
   const Y = out.subarray(0, ySize);
   const U = out.subarray(ySize, ySize + uvSize);
   const V = out.subarray(ySize + uvSize);
-  const stride = width * 4;
+  const isRgbLayout = format === "RGBX" || format === "RGBA";
   const clamp8 = x => x < 0 ? 0 : x > 255 ? 255 : x | 0;
   for (let y = 0; y < height; y += 2) {
-    const row0 = y * stride;
-    const row1 = (y + 1) * stride;
+    const row0 = (y + cropTop) * stride;
+    const row1 = (y + cropTop + 1) * stride;
     for (let x = 0; x < width; x += 2) {
-      const p00 = row0 + x * 4;
-      const p01 = row0 + (x + 1) * 4;
-      const p10 = row1 + x * 4;
-      const p11 = row1 + (x + 1) * 4;
-      const B00 = bgra[p00 + 0],
-        G00 = bgra[p00 + 1],
-        R00 = bgra[p00 + 2];
-      const B01 = bgra[p01 + 0],
-        G01 = bgra[p01 + 1],
-        R01 = bgra[p01 + 2];
-      const B10 = bgra[p10 + 0],
-        G10 = bgra[p10 + 1],
-        R10 = bgra[p10 + 2];
-      const B11 = bgra[p11 + 0],
-        G11 = bgra[p11 + 1],
-        R11 = bgra[p11 + 2];
+      const srcX = x + cropLeft;
+      const p00 = row0 + srcX * 4;
+      const p01 = row0 + (srcX + 1) * 4;
+      const p10 = row1 + srcX * 4;
+      const p11 = row1 + (srcX + 1) * 4;
+      const R00 = packed[p00 + (isRgbLayout ? 0 : 2)];
+      const G00 = packed[p00 + 1];
+      const B00 = packed[p00 + (isRgbLayout ? 2 : 0)];
+      const R01 = packed[p01 + (isRgbLayout ? 0 : 2)];
+      const G01 = packed[p01 + 1];
+      const B01 = packed[p01 + (isRgbLayout ? 2 : 0)];
+      const R10 = packed[p10 + (isRgbLayout ? 0 : 2)];
+      const G10 = packed[p10 + 1];
+      const B10 = packed[p10 + (isRgbLayout ? 2 : 0)];
+      const R11 = packed[p11 + (isRgbLayout ? 0 : 2)];
+      const G11 = packed[p11 + 1];
+      const B11 = packed[p11 + (isRgbLayout ? 2 : 0)];
       const Y00 = 77 * R00 + 150 * G00 + 29 * B00 + 128 >> 8;
       const Y01 = 77 * R01 + 150 * G01 + 29 * B01 + 128 >> 8;
       const Y10 = 77 * R10 + 150 * G10 + 29 * B10 + 128 >> 8;
@@ -916,15 +878,12 @@ function bgraToI420(bgra, width, height) {
   }
   return out;
 }
-function convertNv12ToI420(nv12Buffer, width, height, stride) {
-  const actualStride = stride !== null && stride !== void 0 ? stride : width;
+function convertNv12ToI420(nv12Buffer, width, height, yStride, uvStride, yOffset = 0, uvOffset = yStride * height, cropLeft = 0, cropTop = 0) {
   const ySize = width * height;
   const uvSize = ySize / 4;
   const i420Buffer = new Uint8Array(ySize + 2 * uvSize);
-
-  // Copy Y plane row by row (accounting for stride)
   for (let row = 0; row < height; row++) {
-    const srcOffset = row * actualStride;
+    const srcOffset = yOffset + (row + cropTop) * yStride + cropLeft;
     const dstOffset = row * width;
     i420Buffer.set(nv12Buffer.subarray(srcOffset, srcOffset + width), dstOffset);
   }
@@ -932,12 +891,12 @@ function convertNv12ToI420(nv12Buffer, width, height, stride) {
   const vPlaneOffset = ySize + uvSize;
   const uvHeight = height / 2;
   const uvWidth = width / 2;
-
-  // De-interleave UV plane row by row (accounting for stride)
+  const uvCropLeft = cropLeft >> 1;
+  const uvCropTop = cropTop >> 1;
   for (let row = 0; row < uvHeight; row++) {
     for (let col = 0; col < uvWidth; col++) {
       var _nv12Buffer$srcIndex, _nv12Buffer;
-      const srcIndex = height * actualStride + row * actualStride + col * 2;
+      const srcIndex = uvOffset + (row + uvCropTop) * uvStride + (col + uvCropLeft) * 2;
       const dstIndex = row * uvWidth + col;
       i420Buffer[uPlaneOffset + dstIndex] = (_nv12Buffer$srcIndex = nv12Buffer[srcIndex]) !== null && _nv12Buffer$srcIndex !== void 0 ? _nv12Buffer$srcIndex : 0; // U
       i420Buffer[vPlaneOffset + dstIndex] = (_nv12Buffer = nv12Buffer[srcIndex + 1]) !== null && _nv12Buffer !== void 0 ? _nv12Buffer : 0; // V
@@ -945,47 +904,77 @@ function convertNv12ToI420(nv12Buffer, width, height, stride) {
   }
   return i420Buffer;
 }
+function repackI420(source, width, height, yLayout, uLayout, vLayout, cropLeft = 0, cropTop = 0) {
+  const ySize = width * height;
+  const uvWidth = width >> 1;
+  const uvHeight = height >> 1;
+  const uvSize = uvWidth * uvHeight;
+  const out = new Uint8Array(ySize + uvSize * 2);
+  const uvCropLeft = cropLeft >> 1;
+  const uvCropTop = cropTop >> 1;
+  for (let row = 0; row < height; row++) {
+    const srcOffset = yLayout.offset + (row + cropTop) * yLayout.stride + cropLeft;
+    out.set(source.subarray(srcOffset, srcOffset + width), row * width);
+  }
+  for (let row = 0; row < uvHeight; row++) {
+    const uSrcOffset = uLayout.offset + (row + uvCropTop) * uLayout.stride + uvCropLeft;
+    const vSrcOffset = vLayout.offset + (row + uvCropTop) * vLayout.stride + uvCropLeft;
+    const dstOffset = row * uvWidth;
+    out.set(source.subarray(uSrcOffset, uSrcOffset + uvWidth), ySize + dstOffset);
+    out.set(source.subarray(vSrcOffset, vSrcOffset + uvWidth), ySize + uvSize + dstOffset);
+  }
+  return out;
+}
 function createVideoDecoder$1({
   topic,
   callback,
-  topicDecoders
+  topicDecoders,
+  onError
 }) {
+  let hasProducedFrame = false;
   return new VideoDecoder({
     output: async frame => {
-      var _topicDecoders$get$ti, _topicDecoders$get, _topicDecoders$get2, _topicDecoders$get3;
+      var _visibleRect$width, _visibleRect$height, _visibleRect$x, _visibleRect$y, _topicDecoders$get$ti, _topicDecoders$get, _topicDecoders$get2, _topicDecoders$get3;
+      hasProducedFrame = true;
+      const visibleRect = frame.visibleRect;
+      const frameWidth = (_visibleRect$width = visibleRect === null || visibleRect === void 0 ? void 0 : visibleRect.width) !== null && _visibleRect$width !== void 0 ? _visibleRect$width : frame.codedWidth;
+      const frameHeight = (_visibleRect$height = visibleRect === null || visibleRect === void 0 ? void 0 : visibleRect.height) !== null && _visibleRect$height !== void 0 ? _visibleRect$height : frame.codedHeight;
+      const cropLeft = (_visibleRect$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(`H264 decoder output format: ${frame.format}, coded=${frame.codedWidth}x${frame.codedHeight}, display=${frame.displayWidth}x${frame.displayHeight}, visible=${frameWidth}x${frameHeight}@${cropLeft},${cropTop}`);
       switch (frame.format) {
         case "I420":
           {
-            finalBuffer = new Uint8Array(frame.allocationSize());
-            await frame.copyTo(finalBuffer);
+            const i420Buffer = new Uint8Array(frame.allocationSize());
+            const layouts = await frame.copyTo(i420Buffer);
+            const [yLayout, uLayout, vLayout] = layouts;
+            finalBuffer = yLayout != undefined && uLayout != undefined && vLayout != undefined ? repackI420(i420Buffer, frameWidth, frameHeight, yLayout, uLayout, vLayout, cropLeft, cropTop) : i420Buffer;
             break;
           }
         case "NV12":
           {
+            var _yLayout$stride, _uvLayout$stride, _yLayout$offset, _uvLayout$offset, _yLayout$stride2;
             const nv12Buffer = new Uint8Array(frame.allocationSize());
-            await frame.copyTo(nv12Buffer);
-            finalBuffer = convertNv12ToI420(nv12Buffer, frame.displayWidth, frame.displayHeight, frame.codedWidth);
+            const layouts = await frame.copyTo(nv12Buffer);
+            const [yLayout, uvLayout] = layouts;
+            finalBuffer = convertNv12ToI420(nv12Buffer, frameWidth, frameHeight, (_yLayout$stride = yLayout === null || yLayout === void 0 ? void 0 : yLayout.stride) !== null && _yLayout$stride !== void 0 ? _yLayout$stride : frame.codedWidth, (_uvLayout$stride = uvLayout === null || uvLayout === void 0 ? void 0 : uvLayout.stride) !== null && _uvLayout$stride !== void 0 ? _uvLayout$stride : frame.codedWidth, (_yLayout$offset = yLayout === null || yLayout === void 0 ? void 0 : yLayout.offset) !== null && _yLayout$offset !== void 0 ? _yLayout$offset : 0, (_uvLayout$offset = uvLayout === null || uvLayout === void 0 ? void 0 : uvLayout.offset) !== null && _uvLayout$offset !== void 0 ? _uvLayout$offset : ((_yLayout$stride2 = yLayout === null || yLayout === void 0 ? void 0 : yLayout.stride) !== null && _yLayout$stride2 !== void 0 ? _yLayout$stride2 : frame.codedWidth) * frame.codedHeight, cropLeft, cropTop);
             break;
           }
         case "RGBX":
+        case "RGBA":
         case "BGRX":
-          {
-            const bgrxBuffer = new Uint8Array(frame.allocationSize());
-            await frame.copyTo(bgrxBuffer);
-            logger$2.warn("PointCloud decoder received RGBX frame.");
-            finalBuffer = bgrxToI420(bgrxBuffer, frame.codedWidth, frame.codedHeight);
-            break;
-          }
         case "BGRA":
           {
-            const bgraBuffer = new Uint8Array(frame.allocationSize());
-            await frame.copyTo(bgraBuffer);
-            finalBuffer = bgraToI420(bgraBuffer, frame.codedWidth, frame.codedHeight);
+            var _layout$stride;
+            const packedBuffer = new Uint8Array(frame.allocationSize());
+            const [layout] = await frame.copyTo(packedBuffer);
+            logger$2.warn(`H264 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;
           }
       }
-      if (frame.format !== "I420" && frame.format !== "NV12" && frame.format !== "RGBX" && frame.format !== "BGRX" && frame.format !== "BGRA") {
+      if (frame.format !== "I420" && frame.format !== "NV12" && frame.format !== "RGBX" && frame.format !== "RGBA" && frame.format !== "BGRX" && frame.format !== "BGRA") {
         logger$2.warn("H264 decoder received unexpected frame format:", frame.format);
       }
       const receiveTime = (_topicDecoders$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);
@@ -994,11 +983,11 @@ function createVideoDecoder$1({
       const foxgloveMessage = {
         timestamp: receiveTime,
         frame_id: `h264-${topic}-frame`,
-        width: frame.displayWidth,
-        height: frame.displayHeight,
+        width: frameWidth,
+        height: frameHeight,
         data: finalBuffer,
         encoding: "yuv420p",
-        step: frame.displayWidth
+        step: frameWidth
       };
       callback({
         topic,
@@ -1010,14 +999,24 @@ function createVideoDecoder$1({
       });
       frame.close();
     },
-    error: logger$2.error
+    error: error => {
+      if (!hasProducedFrame && isIgnorableInitialDecodeError(error)) {
+        logger$2.warn(`Ignoring initial H264 decoder error for topic ${topic}: ${error.message}`);
+        closeTopicDecoder$1(topic, topicDecoders);
+        return;
+      }
+      logger$2.error(error);
+      closeTopicDecoder$1(topic, topicDecoders);
+      onError(new DecoderRuntimeError(topic, error.message));
+    }
   });
 }
 async function deserializeEncodedFrameH264({
   topic,
   message,
   topicDecoders,
-  callback
+  callback,
+  onError
 }) {
   const {
     receiveTime
@@ -1026,21 +1025,35 @@ async function deserializeEncodedFrameH264({
   if (!supported) {
     return;
   }
-  if (!topicDecoders.has(topic)) {
+  const existingDecoderInfo = topicDecoders.get(topic);
+  if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
     const decoder = createVideoDecoder$1({
       topic,
       callback,
-      topicDecoders
-    });
-    decoder.configure({
-      codec: "avc1.42001E",
-      optimizeForLatency: true
-    });
-    topicDecoders.set(topic, {
-      decoder,
-      timing: new Map(),
-      transformations: new Map()
+      topicDecoders,
+      onError
     });
+    try {
+      decoder.configure({
+        codec: "avc1.42001E",
+        optimizeForLatency: true
+      });
+    } catch (error) {
+      closeDecoder$1(decoder);
+      onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to configure H.264 decoder."));
+      return;
+    }
+    if (existingDecoderInfo) {
+      existingDecoderInfo.decoder = decoder;
+      existingDecoderInfo.timing.clear();
+      existingDecoderInfo.transformations.clear();
+    } else {
+      topicDecoders.set(topic, {
+        decoder,
+        timing: new Map(),
+        transformations: new Map()
+      });
+    }
   }
   const decoderInfo = topicDecoders.get(topic);
   if (!decoderInfo) {
@@ -1061,8 +1074,13 @@ async function deserializeEncodedFrameH264({
   try {
     const chunk = new EncodedVideoChunk(frame);
     decoderInfo.decoder.decode(chunk);
-  } catch (_unused) {
-    topicDecoders.delete(topic);
+  } catch (error) {
+    if (isIgnorableInitialDecodeError(error)) {
+      closeTopicDecoder$1(topic, topicDecoders);
+      return;
+    }
+    closeTopicDecoder$1(topic, topicDecoders);
+    onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.264 frame."));
   }
 }
 
@@ -1071,10 +1089,30 @@ async function deserializeEncodedFrameH264({
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
 const logger$1 = Logger.getLogger();
+function closeDecoder(decoder) {
+  if (!decoder) {
+    return;
+  }
+  if (decoder.state === "closed") {
+    return;
+  }
+  try {
+    decoder.close();
+  } catch (error) {
+    logger$1.warn("Failed to close H265 decoder cleanly.", error);
+  }
+}
+function closeTopicDecoder(topic, topicDecoders) {
+  const decoderInfo = topicDecoders.get(topic);
+  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();
+}
 function createVideoDecoder({
   topic,
   callback,
-  topicDecoders
+  topicDecoders,
+  onError
 }) {
   return new VideoDecoder({
     output: async frame => {
@@ -1104,14 +1142,19 @@ function createVideoDecoder({
       });
       frame.close();
     },
-    error: logger$1.error
+    error: error => {
+      logger$1.error(error);
+      closeTopicDecoder(topic, topicDecoders);
+      onError(new DecoderRuntimeError(topic, error.message));
+    }
   });
 }
 async function deserializeEncodedFrameH265({
   topic,
   message,
   topicDecoders,
-  callback
+  callback,
+  onError
 }) {
   const {
     receiveTime
@@ -1120,21 +1163,35 @@ async function deserializeEncodedFrameH265({
   if (!supported) {
     return;
   }
-  if (!topicDecoders.has(topic)) {
+  const existingDecoderInfo = topicDecoders.get(topic);
+  if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
     const decoder = createVideoDecoder({
       topic,
       callback,
-      topicDecoders
-    });
-    decoder.configure({
-      codec: "hev1.1.6.L93.B0",
-      optimizeForLatency: true
-    });
-    topicDecoders.set(topic, {
-      decoder,
-      timing: new Map(),
-      transformations: new Map()
+      topicDecoders,
+      onError
     });
+    try {
+      decoder.configure({
+        codec: "hev1.1.6.L93.B0",
+        optimizeForLatency: true
+      });
+    } catch (error) {
+      closeDecoder(decoder);
+      onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to configure H.265 decoder."));
+      return;
+    }
+    if (existingDecoderInfo) {
+      existingDecoderInfo.decoder = decoder;
+      existingDecoderInfo.timing.clear();
+      existingDecoderInfo.transformations.clear();
+    } else {
+      topicDecoders.set(topic, {
+        decoder,
+        timing: new Map(),
+        transformations: new Map()
+      });
+    }
   }
   const decoderInfo = topicDecoders.get(topic);
   if (!decoderInfo) {
@@ -1155,8 +1212,9 @@ async function deserializeEncodedFrameH265({
   try {
     const chunk = new EncodedVideoChunk(frame);
     decoderInfo.decoder.decode(chunk);
-  } catch (_unused) {
-    topicDecoders.delete(topic);
+  } catch (error) {
+    closeTopicDecoder(topic, topicDecoders);
+    onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.265 frame."));
   }
 }
 
@@ -1206,23 +1264,18 @@ async function deserializeMJPEGFrame({
   });
 }
 
-class EncodedStreamNotSupportedError extends Error {
-  constructor(topicName) {
-    super("Encoded stream not supported on this platform");
-    this.topicName = void 0;
-    this.name = "EncodedStreamNotSupportedError";
-    this.errorType = "EncodedStreamNotSupportedError";
-    this.topicName = topicName;
-    Object.setPrototypeOf(this, EncodedStreamNotSupportedError.prototype);
-  }
-}
-
 const logger = Logger.getLogger();
 function errorInstanceToErrorCode(error) {
+  if (error instanceof UnsupportedTopicError) {
+    return "UnsupportedTopic";
+  }
+  if (error instanceof NotInSecureContextError) {
+    return "NotInSecureContext";
+  }
   if (error instanceof EncodedStreamNotSupportedError) {
     return "EncodedStreamNotSupported";
   }
-  return "Error";
+  return "DecoderError";
 }
 const topicDecoders = new Map();
 const topicSizes = new Map();
@@ -1230,6 +1283,14 @@ let callback;
 function initCallback(cb) {
   callback = cb;
 }
+function ensureEncodedStreamSupport(topic) {
+  if (!globalThis.isSecureContext) {
+    throw new NotInSecureContextError(topic);
+  }
+  if (!isCapableOfEncodedStream()) {
+    throw new EncodedStreamNotSupportedError(topic);
+  }
+}
 function handleMessageToDecode({
   schema,
   buffer,
@@ -1243,12 +1304,14 @@ function handleMessageToDecode({
     // Type information about an error gets lost during transfer from worker to main thread
     // This means that we have to remap the errors based on type here to an 'error enum'
     // Which can then be parsed on the main thread
-    errorCallback === null || errorCallback === void 0 || errorCallback(errorInstanceToErrorCode(error), topic, {});
+    errorCallback === null || errorCallback === void 0 || errorCallback(errorInstanceToErrorCode(error), topic, {
+      message: error.message
+    });
   };
   const protobufSchema = protobufsBySchema[schema];
   if (!protobufSchema) {
     logger.warn(`Unsupported message schema "${schema}"`);
-    handleDecodingError(new Error(`Unsupported message schema "${schema}"`));
+    handleDecodingError(new UnsupportedTopicError(topic, `Unsupported message schema "${schema}"`));
     return;
   }
   const bufferArray = new Uint8Array(buffer.buffer, buffer.byteOffset, buffer.byteLength);
@@ -1268,7 +1331,8 @@ function handleMessageToDecode({
       message,
       callback,
       type: protobufSchema.type,
-      maxSteroDepth: stereoDepthMaxValue
+      maxSteroDepth: stereoDepthMaxValue,
+      onError: handleDecodingError
     }).catch(handleDecodingError);
   } catch (error) {
     handleDecodingError(error);
@@ -1283,14 +1347,13 @@ async function deserializeDepthAiMessage(args) {
     message,
     callback,
     topic,
-    maxSteroDepth
+    maxSteroDepth,
+    onError
   } = args;
   switch (type) {
     case "encodedFrame":
       {
-        if (!isCapableOfEncodedStream()) {
-          throw new EncodedStreamNotSupportedError(topic);
-        }
+        ensureEncodedStreamSupport(topic);
         topicSizes.set(topic, {
           width: message.width,
           height: message.height
@@ -1300,7 +1363,8 @@ async function deserializeDepthAiMessage(args) {
             topic,
             message,
             topicDecoders,
-            callback
+            callback,
+            onError
           });
         } else if (message.profile === Profile.JPEG) {
           await deserializeMJPEGFrame({
@@ -1313,7 +1377,8 @@ async function deserializeDepthAiMessage(args) {
             topic,
             message,
             topicDecoders,
-            callback
+            callback,
+            onError
           });
         } else ;
         break;
@@ -1332,11 +1397,13 @@ async function deserializeDepthAiMessage(args) {
         switch (messageType) {
           case Type.BITSTREAM:
             {
+              ensureEncodedStreamSupport(topic);
               await deserializeEncodedFrameH264({
                 topic,
                 message,
                 topicDecoders,
-                callback
+                callback,
+                onError
               });
               break;
             }
@@ -1428,7 +1495,7 @@ async function deserializeDepthAiMessage(args) {
     default:
       {
         logger.warn(`Message decoding failed: unsupported type "${type}"`);
-        break;
+        throw new UnsupportedTopicError(topic, `Unsupported message type "${type}"`);
       }
   }
 }