@luxonis/visualizer-protobuf 3.1.0 → 3.1.2

package/dist/lib/src/messaging/deserialization/video/h264.js

@@ -4,59 +4,35 @@
 import { fromMicros } from "@foxglove/rostime";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
 import { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
+import { DecoderRuntimeError } from "../../../utils/error.js";
 import { Logger } from "../../../utils/logger";
 import { parseMessage } from "../../utils.js";
 const logger = 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(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;
     }
-    return out;
+    try {
+        decoder.close();
+    }
+    catch (error) {
+        logger.warn("Failed to close H264 decoder cleanly.", error);
+    }
+}
+function closeTopicDecoder(topic, topicDecoders) {
+    const decoderInfo = topicDecoders.get(topic);
+    closeDecoder(decoderInfo?.decoder);
+    decoderInfo?.timing.clear();
+    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 bgraToI420(bgra, width, height) {
+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.");
     }
@@ -66,20 +42,29 @@ 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;
@@ -105,14 +90,12 @@ function bgraToI420(bgra, width, height) {
     }
     return out;
 }
-function convertNv12ToI420(nv12Buffer, width, height, stride) {
-    const actualStride = 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);
     }
@@ -120,10 +103,11 @@ 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++) {
-            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] ?? 0; // U
             i420Buffer[vPlaneOffset + dstIndex] = nv12Buffer[srcIndex + 1] ?? 0; // V
@@ -131,34 +115,65 @@ function convertNv12ToI420(nv12Buffer, width, height, stride) {
     }
     return i420Buffer;
 }
-function createVideoDecoder({ topic, callback, topicDecoders, }) {
+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({ topic, callback, topicDecoders, onError, }) {
+    let hasProducedFrame = false;
     return new VideoDecoder({
         output: async (frame) => {
+            hasProducedFrame = true;
+            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;
             let finalBuffer = new Uint8Array(frame.allocationSize());
+            logger.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": {
                     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 ?? frame.codedWidth, uvLayout?.stride ?? frame.codedWidth, yLayout?.offset ?? 0, uvLayout?.offset ?? (yLayout?.stride ?? frame.codedWidth) * frame.codedHeight, cropLeft, cropTop);
                     break;
                 }
                 case "RGBX":
-                case "BGRX": {
-                    const bgrxBuffer = new Uint8Array(frame.allocationSize());
-                    await frame.copyTo(bgrxBuffer);
-                    logger.warn("PointCloud decoder received RGBX frame.");
-                    finalBuffer = bgrxToI420(bgrxBuffer, frame.codedWidth, frame.codedHeight);
-                    break;
-                }
+                case "RGBA":
+                case "BGRX":
                 case "BGRA": {
-                    const bgraBuffer = new Uint8Array(frame.allocationSize());
-                    await frame.copyTo(bgraBuffer);
-                    finalBuffer = bgraToI420(bgraBuffer, frame.codedWidth, frame.codedHeight);
+                    const packedBuffer = new Uint8Array(frame.allocationSize());
+                    const [layout] = await frame.copyTo(packedBuffer);
+                    logger.warn(`H264 decoder received ${frame.format} frame.`);
+                    finalBuffer = packedToI420(packedBuffer, frameWidth, frameHeight, layout?.stride ?? frame.codedWidth * 4, frame.format, cropLeft, cropTop);
                     break;
                 }
                 default:
@@ -168,6 +183,7 @@ function createVideoDecoder({ topic, callback, topicDecoders, }) {
             if (frame.format !== "I420" &&
                 frame.format !== "NV12" &&
                 frame.format !== "RGBX" &&
+                frame.format !== "RGBA" &&
                 frame.format !== "BGRX" &&
                 frame.format !== "BGRA") {
                 logger.warn("H264 decoder received unexpected frame format:", frame.format);
@@ -180,11 +196,11 @@ function createVideoDecoder({ topic, callback, topicDecoders, }) {
             const foxgloveMessage = {
                 timestamp: receiveTime,
                 frame_id: `h264-${topic}-frame`,
-                width: frame.displayWidth,
-                height: frame.displayHeight,
+                width: frameWidth,
+                height: frameHeight,
                 data: finalBuffer,
                 encoding: "yuv420p",
-                step: frame.displayWidth
+                step: frameWidth
             };
             callback({
                 topic,
@@ -196,26 +212,50 @@ function createVideoDecoder({ topic, callback, topicDecoders, }) {
             });
             frame.close();
         },
-        error: logger.error
+        error: (error) => {
+            if (!hasProducedFrame && isIgnorableInitialDecodeError(error)) {
+                logger.warn(`Ignoring initial H264 decoder error for topic ${topic}: ${error.message}`);
+                closeTopicDecoder(topic, topicDecoders);
+                return;
+            }
+            logger.error(error);
+            closeTopicDecoder(topic, topicDecoders);
+            onError(new DecoderRuntimeError(topic, error.message));
+        },
     });
 }
-export async function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback }) {
+export async function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback, onError, }) {
     const { receiveTime } = parseMessage(message);
     const supported = ensureWebCodecsSupported("VideoDecoder");
     if (!supported) {
         return;
     }
-    if (!topicDecoders.has(topic)) {
-        const decoder = createVideoDecoder({ topic, callback, topicDecoders });
-        decoder.configure({
-            codec: "avc1.42001E",
-            optimizeForLatency: true
-        });
-        topicDecoders.set(topic, {
-            decoder,
-            timing: new Map(),
-            transformations: new Map(),
-        });
+    const existingDecoderInfo = topicDecoders.get(topic);
+    if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
+        const decoder = createVideoDecoder({ topic, callback, topicDecoders, onError });
+        try {
+            decoder.configure({
+                codec: "avc1.42001E",
+                optimizeForLatency: true
+            });
+        }
+        catch (error) {
+            closeDecoder(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) {
@@ -237,8 +277,13 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
         const chunk = new EncodedVideoChunk(frame);
         decoderInfo.decoder.decode(chunk);
     }
-    catch {
-        topicDecoders.delete(topic);
+    catch (error) {
+        if (isIgnorableInitialDecodeError(error)) {
+            closeTopicDecoder(topic, topicDecoders);
+            return;
+        }
+        closeTopicDecoder(topic, topicDecoders);
+        onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.264 frame."));
     }
 }
 //# sourceMappingURL=h264.js.map

package/dist/lib/src/messaging/deserialization/video/h264.js.map

@@ -1 +1 @@
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package/dist/lib/src/messaging/deserialization/video/h265.d.ts

@@ -12,7 +12,8 @@ type DeserializeEncodedFrameH265Args = {
     message: EncodedFrame | ImgFrame;
     topicDecoders: TopicDecoders;
     callback: (event: MessageEvent) => void;
+    onError: (error: Error) => void;
 };
-export declare function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback }: DeserializeEncodedFrameH265Args): Promise<void>;
+export declare function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback, onError, }: DeserializeEncodedFrameH265Args): Promise<void>;
 export {};
 //# sourceMappingURL=h265.d.ts.map

package/dist/lib/src/messaging/deserialization/video/h265.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"h265.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h265.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAC3E,OAAO,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACnE,OAAO,EAAE,iBAAiB,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;AAOrF,MAAM,MAAM,aAAa,GAAG,GAAG,CAC7B,MAAM,EACN;IACE,OAAO,EAAE,YAAY,CAAC;IACtB,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;IAC/B,eAAe,EAAE,GAAG,CAAC,MAAM,EAAE,iBAAiB,GAAG,SAAS,CAAC,CAAC;CAC7D,CACF,CAAC;AAiDF,KAAK,+BAA+B,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,YAAY,GAAG,QAAQ,CAAC;IACjC,aAAa,EAAE,aAAa,CAAC;IAC7B,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,CAAC;AAEF,wBAAsB,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACT,EAAE,+BAA+B,GAAG,OAAO,CAAC,IAAI,CAAC,CAkDjD"}
+{"version":3,"file":"h265.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h265.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAC3E,OAAO,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACnE,OAAO,EAAE,iBAAiB,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;AA+BrF,MAAM,MAAM,aAAa,GAAG,GAAG,CAC7B,MAAM,EACN;IACE,OAAO,EAAE,YAAY,CAAC;IACtB,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;IAC/B,eAAe,EAAE,GAAG,CAAC,MAAM,EAAE,iBAAiB,GAAG,SAAS,CAAC,CAAC;CAC7D,CACF,CAAC;AA2DF,KAAK,+BAA+B,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,YAAY,GAAG,QAAQ,CAAC;IACjC,aAAa,EAAE,aAAa,CAAC;IAC7B,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CAAC;AAEF,wBAAsB,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACR,OAAO,GACR,EAAE,+BAA+B,GAAG,OAAO,CAAC,IAAI,CAAC,CAyEjD"}

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

@@ -4,10 +4,31 @@
 import { fromMicros } from "@foxglove/rostime";
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
 import { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
+import { DecoderRuntimeError } from "../../../utils/error.js";
 import { Logger } from "../../../utils/logger";
 import { parseMessage, parsePixelFormat } from "../../utils.js";
 const logger = Logger.getLogger();
-function createVideoDecoder({ topic, callback, topicDecoders }) {
+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);
+    decoderInfo?.timing.clear();
+    decoderInfo?.transformations.clear();
+}
+function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
     return new VideoDecoder({
         output: async (frame) => {
             const buffer = new Uint8Array(frame.allocationSize());
@@ -37,26 +58,45 @@ function createVideoDecoder({ topic, callback, topicDecoders }) {
             });
             frame.close();
         },
-        error: logger.error
+        error: (error) => {
+            logger.error(error);
+            closeTopicDecoder(topic, topicDecoders);
+            onError(new DecoderRuntimeError(topic, error.message));
+        },
     });
 }
-export async function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback }) {
+export async function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback, onError, }) {
     const { receiveTime } = parseMessage(message);
     const supported = ensureWebCodecsSupported("VideoDecoder");
     if (!supported) {
         return;
     }
-    if (!topicDecoders.has(topic)) {
-        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(),
-        });
+    const existingDecoderInfo = topicDecoders.get(topic);
+    if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
+        const decoder = createVideoDecoder({ topic, callback, 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) {
@@ -78,8 +118,9 @@ export async function deserializeEncodedFrameH265({ topic, message, topicDecoder
         const chunk = new EncodedVideoChunk(frame);
         decoderInfo.decoder.decode(chunk);
     }
-    catch {
-        topicDecoders.delete(topic);
+    catch (error) {
+        closeTopicDecoder(topic, topicDecoders);
+        onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.265 frame."));
     }
 }
 //# sourceMappingURL=h265.js.map

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

@@ -1 +1 @@
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+{"version":3,"file":"h265.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h265.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,OAAO,EAAE,UAAU,EAAE,MAAM,mBAAmB,CAAC;AAE/C,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAM9F,OAAO,EAAE,wBAAwB,EAAE,MAAM,iCAAiC,CAAC;AAC3E,OAAO,EAAE,mBAAmB,EAAE,MAAM,yBAAyB,CAAC;AAC9D,OAAO,EAAE,MAAM,EAAE,MAAM,uBAAuB,CAAC;AAC/C,OAAO,EAAE,YAAY,EAAE,gBAAgB,EAAE,MAAM,gBAAgB,CAAC;AAEhE,MAAM,MAAM,GAAG,MAAM,CAAC,SAAS,EAAE,CAAC;AAElC,SAAS,YAAY,CAAC,OAAiC;IACrD,IAAI,CAAC,OAAO,EAAE,CAAC;QACb,OAAO;IACT,CAAC;IAED,IAAI,OAAO,CAAC,KAAK,KAAK,QAAQ,EAAE,CAAC;QAC/B,OAAO;IACT,CAAC;IAED,IAAI,CAAC;QACH,OAAO,CAAC,KAAK,EAAE,CAAC;IAClB,CAAC;IAAC,OAAO,KAAK,EAAE,CAAC;QACf,MAAM,CAAC,IAAI,CAAC,uCAAuC,EAAE,KAAK,CAAC,CAAC;IAC9D,CAAC;AACH,CAAC;AAED,SAAS,iBAAiB,CAAC,KAAa,EAAE,aAA4B;IACpE,MAAM,WAAW,GAAG,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC7C,YAAY,CAAC,WAAW,EAAE,OAAO,CAAC,CAAC;IACnC,WAAW,EAAE,MAAM,CAAC,KAAK,EAAE,CAAC;IAC5B,WAAW,EAAE,eAAe,CAAC,KAAK,EAAE,CAAC;AACvC,CAAC;AAkBD,SAAS,kBAAkB,CAAC,EAC1B,KAAK,EACL,QAAQ,EACR,aAAa,EACb,OAAO,GACgB;IACvB,OAAO,IAAI,YAAY,CAAC;QACtB,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,EAAE;YACtB,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,KAAK,CAAC,cAAc,EAAE,CAAC,CAAC;YACtD,MAAM,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;YAE3B,MAAM,WAAW,GACf,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,MAAM,CAAC,GAAG,CAAC,KAAK,CAAC,SAAS,CAAC;;oBAErD,UAAU,CAAC,KAAK,CAAC,SAAS,CAAC,CAAC;YAC9B,MAAM,cAAc,GAAG,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,eAAe,CAAC,GAAG,CAAC,KAAK,CAAC,SAAS,CAAC,CAAC;YACtF,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,EAAE,eAAe,CAAC,MAAM,CAAC,KAAK,CAAC,SAAS,CAAC,CAAC;YAElE,MAAM,CAAC,QAAQ,EAAE,IAAI,CAAC,GAAG,gBAAgB,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;YAExD,MAAM,eAAe,GAAa;gBAChC,SAAS,EAAE,WAAW;gBACtB,QAAQ,EAAE,QAAQ,KAAK,QAAQ;gBAC/B,KAAK,EAAE,KAAK,CAAC,YAAY;gBACzB,MAAM,EAAE,KAAK,CAAC,aAAa;gBAC3B,IAAI,EAAE,MAAM;gBACZ,QAAQ;gBACR,IAAI,EAAE,KAAK,CAAC,YAAY,GAAG,IAAI;aAChC,CAAC;YAGF,QAAQ,CAAC;gBACP,KAAK;gBACL,WAAW;gBACX,OAAO,EAAE,eAAe;gBACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;gBAChD,UAAU,EAAE,mBAAmB;gBAC/B,qBAAqB,EAAE,cAAc;aACtB,CAAC,CAAC;YAEnB,KAAK,CAAC,KAAK,EAAE,CAAC;QAChB,CAAC;QACD,KAAK,EAAE,CAAC,KAAK,EAAE,EAAE;YACf,MAAM,CAAC,KAAK,CAAC,KAAK,CAAC,CAAC;YACpB,iBAAiB,CAAC,KAAK,EAAE,aAAa,CAAC,CAAC;YACxC,OAAO,CAAC,IAAI,mBAAmB,CAAC,KAAK,EAAE,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC;QACzD,CAAC;KACF,CAAC,CAAC;AACL,CAAC;AAUD,MAAM,CAAC,KAAK,UAAU,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACR,OAAO,GACyB;IAChC,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAC;IAE9C,MAAM,SAAS,GAAG,wBAAwB,CAAC,cAAc,CAAC,CAAC;IAC3D,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,OAAO;IACT,CAAC;IAED,MAAM,mBAAmB,GAAG,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IACrD,IAAI,CAAC,mBAAmB,IAAI,mBAAmB,CAAC,OAAO,CAAC,KAAK,KAAK,QAAQ,EAAE,CAAC;QAC3E,MAAM,OAAO,GAAG,kBAAkB,CAAC,EAAE,KAAK,EAAE,QAAQ,EAAE,aAAa,EAAE,OAAO,EAAE,CAAC,CAAC;QAChF,IAAI,CAAC;YACH,OAAO,CAAC,SAAS,CAAC;gBAChB,KAAK,EAAE,iBAAiB;gBACxB,kBAAkB,EAAE,IAAI;aACzB,CAAC,CAAC;QACL,CAAC;QAAC,OAAO,KAAK,EAAE,CAAC;YACf,YAAY,CAAC,OAAO,CAAC,CAAC;YACtB,OAAO,CACL,IAAI,mBAAmB,CACrB,KAAK,EACL,KAAK,YAAY,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,oCAAoC,CAC9E,CACF,CAAC;YACF,OAAO;QACT,CAAC;QAED,IAAI,mBAAmB,EAAE,CAAC;YACxB,mBAAmB,CAAC,OAAO,GAAG,OAAO,CAAC;YACtC,mBAAmB,CAAC,MAAM,CAAC,KAAK,EAAE,CAAC;YACnC,mBAAmB,CAAC,eAAe,CAAC,KAAK,EAAE,CAAC;QAC9C,CAAC;aAAM,CAAC;YACN,aAAa,CAAC,GAAG,CAAC,KAAK,EAAE;gBACvB,OAAO;gBACP,MAAM,EAAE,IAAI,GAAG,EAAE;gBACjB,eAAe,EAAE,IAAI,GAAG,EAAE;aAC3B,CAAC,CAAC;QACL,CAAC;IACH,CAAC;IAED,MAAM,WAAW,GAAG,aAAa,CAAC,GAAG,CAAC,KAAK,CAAC,CAAC;IAC7C,IAAI,CAAC,WAAW,EAAE,CAAC;QACjB,OAAO;IACT,CAAC;IAED,IAAI,WAAW,CAAC,OAAO,CAAC,eAAe,GAAG,EAAE,EAAE,CAAC;QAC7C,WAAW,CAAC,OAAO,CAAC,KAAK,EAAE,CAAC;QAC5B,OAAO;IACT,CAAC;IAED,MAAM,cAAc,GAAG,WAAW,CAAC,GAAG,GAAG,SAAS,GAAG,IAAI,CAAC,KAAK,CAAC,WAAW,CAAC,IAAI,GAAG,KAAK,CAAC,CAAC;IAC1F,WAAW,CAAC,MAAM,CAAC,GAAG,CAAC,cAAc,EAAE,WAAW,CAAC,CAAC;IACpD,WAAW,CAAC,eAAe,CAAC,GAAG,CAAC,cAAc,EAAE,OAAO,CAAC,cAAc,CAAC,CAAC;IAGxE,MAAM,KAAK,GAA0B;QACnC,IAAI,EAAE,KAAK;QACX,IAAI,EAAE,OAAO,CAAC,IAAI;QAClB,SAAS,EAAE,cAAc;KAC1B,CAAC;IAEF,IAAI,CAAC;QACH,MAAM,KAAK,GAAG,IAAI,iBAAiB,CAAC,KAAK,CAAC,CAAC;QAC3C,WAAW,CAAC,OAAO,CAAC,MAAM,CAAC,KAAK,CAAC,CAAC;IACpC,CAAC;IAAC,OAAO,KAAK,EAAE,CAAC;QACf,iBAAiB,CAAC,KAAK,EAAE,aAAa,CAAC,CAAC;QACxC,OAAO,CACL,IAAI,mBAAmB,CACrB,KAAK,EACL,KAAK,YAAY,KAAK,CAAC,CAAC,CAAC,KAAK,CAAC,OAAO,CAAC,CAAC,CAAC,+BAA+B,CACzE,CACF,CAAC;IACJ,CAAC;AACH,CAAC"}

package/dist/lib/src/messaging/deserialization.worker.d.ts

@@ -11,6 +11,7 @@ import { type ImgFrame } from "../protobuf.generated/ImgFrame.js";
 import type { PointCloudData } from "../protobuf.generated/PointCloudData.js";
 import type { SpatialImgDetections } from "../protobuf.generated/SpatialImgDetections.js";
 import { ConfigStore } from "../utils/config-store";
+import { type DecodingErrorCode } from "../utils/error";
 export type DeserializeDepthAiMessageArgs = {
     topic: string;
     topicDecoders: TopicDecoders;
@@ -18,6 +19,7 @@ export type DeserializeDepthAiMessageArgs = {
     maxSteroDepth: number;
     topicSizes: TopicSizes;
     callback: (event: MessageEvent) => void;
+    onError: (error: Error) => void;
 } & ({
     type: "imageFrame";
     message: ImgFrame;
@@ -40,7 +42,7 @@ export type DeserializeDepthAiMessageArgs = {
     type: "imu";
     message: IMUData;
 });
-export type ErrorCode = "EncodedStreamNotSupported" | "Error";
+export type ErrorCode = DecodingErrorCode;
 export declare function errorInstanceToErrorCode(error: Error): ErrorCode;
 export type DeserializationErrorCallback = (errorCode: ErrorCode, topic: string, errorData?: unknown) => void;
 export type DeserializationWorkerApi = {

package/dist/lib/src/messaging/deserialization.worker.d.ts.map

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