@luxonis/visualizer-protobuf 3.1.11 → 3.1.12

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

@@ -6,19 +6,9 @@ import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryE
 import { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
 import { DecoderRuntimeError } from "../../../utils/error.js";
 import { Logger } from "../../../utils/logger";
-import { parseMessage, parsePixelFormat } from "../../utils.js";
+import { parseMessage } from "../../utils.js";
+import { copyVideoFrameToI420 } from "./h264.js";
 const logger = Logger.getLogger();
-function configureDecoder(decoder) {
-    decoder.configure({
-        codec: "hev1.1.6.L93.B0",
-        optimizeForLatency: true,
-    });
-}
-function ensureDecoderConfigured(decoder) {
-    if (decoder.state === "unconfigured") {
-        configureDecoder(decoder);
-    }
-}
 function closeDecoder(decoder) {
     if (!decoder) {
         return;
@@ -35,114 +25,27 @@ function closeDecoder(decoder) {
 }
 function closeTopicDecoder(topic, topicDecoders) {
     const decoderInfo = topicDecoders.get(topic);
-    topicDecoders.delete(topic);
     closeDecoder(decoderInfo?.decoder);
     decoderInfo?.timing.clear();
     decoderInfo?.transformations.clear();
-    if (decoderInfo) {
-        decoderInfo.pendingFrame = undefined;
-    }
-}
-function isUnconfiguredCodecError(error) {
-    const message = error instanceof Error ? error.message : String(error);
-    return /cannot call ["']decode["'] on an unconfigured (?:codec|decoder)/i.test(message);
-}
-function resetTopicDecoder({ topic, topicDecoders, callback, onError, }) {
-    const existingDecoderInfo = topicDecoders.get(topic);
-    closeDecoder(existingDecoderInfo?.decoder);
-    const decoder = createVideoDecoder({ topic, callback, topicDecoders, onError });
-    try {
-        configureDecoder(decoder);
-    }
-    catch (error) {
-        closeDecoder(decoder);
-        closeTopicDecoder(topic, topicDecoders);
-        onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to configure H.265 decoder."));
-        return undefined;
-    }
-    if (existingDecoderInfo) {
-        existingDecoderInfo.decoder = decoder;
-        existingDecoderInfo.timing.clear();
-        existingDecoderInfo.transformations.clear();
-        existingDecoderInfo.pendingFrame = undefined;
-    }
-    else {
-        topicDecoders.set(topic, {
-            decoder,
-            timing: new Map(),
-            transformations: new Map(),
-            pendingFrame: undefined,
-        });
-    }
-    return decoder;
-}
-function decodePendingFrame(topic, topicDecoders, callback, onError) {
-    const decoderInfo = topicDecoders.get(topic);
-    if (!decoderInfo) {
-        return;
-    }
-    const decoder = decoderInfo.decoder;
-    if (decoder.state === "closed" || decoder.decodeQueueSize > 0) {
-        return;
-    }
-    const pendingFrame = decoderInfo.pendingFrame;
-    if (!pendingFrame) {
-        return;
-    }
-    decoderInfo.pendingFrame = undefined;
-    decoderInfo.timing.set(pendingFrame.timestamp, pendingFrame.receiveTime);
-    decoderInfo.transformations.set(pendingFrame.timestamp, pendingFrame.transformation);
-    try {
-        ensureDecoderConfigured(decoder);
-        if (decoder.state !== "configured" || topicDecoders.get(topic)?.decoder !== decoder) {
-            closeTopicDecoder(topic, topicDecoders);
-            return;
-        }
-        const chunk = new EncodedVideoChunk({
-            type: "key",
-            data: pendingFrame.data,
-            timestamp: pendingFrame.timestamp,
-        });
-        decoder.decode(chunk);
-    }
-    catch (error) {
-        if (isUnconfiguredCodecError(error)) {
-            decoderInfo.pendingFrame = pendingFrame;
-            const replacementDecoder = resetTopicDecoder({ topic, topicDecoders, callback, onError });
-            if (replacementDecoder?.state === "configured") {
-                decodePendingFrame(topic, topicDecoders, callback, onError);
-            }
-            return;
-        }
-        closeTopicDecoder(topic, topicDecoders);
-        onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.265 frame."));
-    }
 }
 function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
-    let decoder;
-    decoder = new VideoDecoder({
+    return new VideoDecoder({
         output: async (frame) => {
-            if (topicDecoders.get(topic)?.decoder !== decoder) {
-                frame.close();
-                return;
-            }
-            const buffer = new Uint8Array(frame.allocationSize());
-            await frame.copyTo(buffer);
+            const { data: buffer, width, height } = await copyVideoFrameToI420(frame, "H265");
             const receiveTime = topicDecoders.get(topic)?.timing.get(frame.timestamp)
                 ??
                     fromMicros(frame.timestamp);
-            topicDecoders.get(topic)?.timing.delete(frame.timestamp);
             const transformation = topicDecoders.get(topic)?.transformations.get(frame.timestamp);
             topicDecoders.get(topic)?.transformations.delete(frame.timestamp);
-            const [encoding, step] = parsePixelFormat(frame.format);
             const foxgloveMessage = {
                 timestamp: receiveTime,
                 frame_id: `h265-${topic}-frame`,
-                width: frame.displayWidth,
-                height: frame.displayHeight,
+                width,
+                height,
                 data: buffer,
-                encoding,
-                step: frame.displayWidth * step
+                encoding: "yuv420p",
+                step: width,
             };
             callback({
                 topic,
@@ -153,20 +56,13 @@ function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
                 depthaiTransformation: transformation,
             });
             frame.close();
-            if (topicDecoders.get(topic)?.decoder === decoder) {
-                decodePendingFrame(topic, topicDecoders, callback, onError);
-            }
         },
         error: (error) => {
-            if (topicDecoders.get(topic)?.decoder !== decoder) {
-                return;
-            }
             logger.error(error);
             closeTopicDecoder(topic, topicDecoders);
             onError(new DecoderRuntimeError(topic, error.message));
         },
     });
-    return decoder;
 }
 export async function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback, onError, }) {
     const { receiveTime } = parseMessage(message);
@@ -175,28 +71,55 @@ export async function deserializeEncodedFrameH265({ topic, message, topicDecoder
         return;
     }
     const existingDecoderInfo = topicDecoders.get(topic);
-    if (!existingDecoderInfo || existingDecoderInfo.decoder.state !== "configured") {
-        const decoder = resetTopicDecoder({ topic, callback, topicDecoders, onError });
-        if (!decoder) {
+    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) {
         return;
     }
+    if (decoderInfo.decoder.decodeQueueSize > 60) {
+        decoderInfo.decoder.reset();
+        return;
+    }
     const microTimestamp = receiveTime.sec * 1_000_000 + Math.floor(receiveTime.nsec / 1_000);
+    decoderInfo.timing.set(microTimestamp, receiveTime);
+    decoderInfo.transformations.set(microTimestamp, message.transformation);
     const frame = {
+        type: 'key',
         data: message.data,
-        timestamp: microTimestamp,
-        receiveTime,
-        transformation: message.transformation,
+        timestamp: microTimestamp
     };
-    if (decoderInfo.decoder.decodeQueueSize > 0) {
-        decoderInfo.pendingFrame = frame;
-        return;
+    try {
+        const chunk = new EncodedVideoChunk(frame);
+        decoderInfo.decoder.decode(chunk);
+    }
+    catch (error) {
+        closeTopicDecoder(topic, topicDecoders);
+        onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.265 frame."));
     }
-    decoderInfo.pendingFrame = frame;
-    decodePendingFrame(topic, topicDecoders, callback, onError);
 }
 //# sourceMappingURL=h265.js.map

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

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

@@ -1 +1 @@
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+{"version":3,"file":"mjpeg.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/mjpeg.ts"],"names":[],"mappings":"AAMA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAK3E,MAAM,MAAM,yBAAyB,GAAG;IACtC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,YAAY,CAAC;IACtB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;CACzC,CAAC;AAEF,wBAAsB,qBAAqB,CAAC,EAC1C,KAAK,EACL,OAAO,EACP,QAAQ,EACT,EAAE,yBAAyB,GAAG,OAAO,CAAC,IAAI,CAAC,CAqC3C"}

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

@@ -3,7 +3,8 @@
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation.js";
 import { ensureWebCodecsSupported } from "../../../utils/compatibility.js";
-import { parseMessage, parsePixelFormat } from "../../utils.js";
+import { parseMessage } from "../../utils.js";
+import { copyVideoFrameToI420 } from "./h264.js";
 export async function deserializeMJPEGFrame({ topic, message, callback }) {
     const { receiveTime } = parseMessage(message);
     const supported = ensureWebCodecsSupported("ImageDecoder");
@@ -15,17 +16,15 @@ export async function deserializeMJPEGFrame({ topic, message, callback }) {
         data: message.data
     });
     const { image: frame } = await decoder.decode();
-    const buffer = new Uint8Array(frame.allocationSize());
-    await frame.copyTo(buffer);
-    const [encoding, step] = parsePixelFormat(frame.format);
+    const { data: buffer, width, height } = await copyVideoFrameToI420(frame, "MJPEG");
     const foxgloveMessage = {
         timestamp: receiveTime,
         frame_id: "camera",
-        width: frame.displayWidth,
-        height: frame.displayHeight,
+        width,
+        height,
         data: buffer,
-        encoding,
-        step: frame.displayWidth * step
+        encoding: "yuv420p",
+        step: width,
     };
     frame.close();
     callback({

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

@@ -1 +1 @@
-{"version":3,"file":"mjpeg.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/mjpeg.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAG1D,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAI9F,OAAO,EAAE,wBAAwB,EAAE,MAAM,iCAAiC,CAAC;AAC3E,OAAO,EAAE,YAAY,EAAE,gBAAgB,EAAE,MAAM,gBAAgB,CAAC;AAQhE,MAAM,CAAC,KAAK,UAAU,qBAAqB,CAAC,EAC1C,KAAK,EACL,OAAO,EACP,QAAQ,EACkB;IAC1B,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAA;IAE7C,MAAM,SAAS,GAAG,wBAAwB,CAAC,cAAc,CAAC,CAAC;IAC3D,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,OAAO;IACT,CAAC;IAED,MAAM,OAAO,GAAG,IAAI,YAAY,CAAC;QAC/B,IAAI,EAAE,YAAY;QAClB,IAAI,EAAE,OAAO,CAAC,IAAI;KACnB,CAAC,CAAC;IAEH,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,GAAG,MAAM,OAAO,CAAC,MAAM,EAAE,CAAC;IAEhD,MAAM,MAAM,GAAG,IAAI,UAAU,CAAC,KAAK,CAAC,cAAc,EAAE,CAAC,CAAC;IACtD,MAAM,KAAK,CAAC,MAAM,CAAC,MAAM,CAAC,CAAC;IAE3B,MAAM,CAAC,QAAQ,EAAE,IAAI,CAAC,GAAG,gBAAgB,CAAC,KAAK,CAAC,MAAM,CAAC,CAAC;IAExD,MAAM,eAAe,GAAa;QAChC,SAAS,EAAE,WAAW;QACtB,QAAQ,EAAE,QAAQ;QAClB,KAAK,EAAE,KAAK,CAAC,YAAY;QACzB,MAAM,EAAE,KAAK,CAAC,aAAa;QAC3B,IAAI,EAAE,MAAM;QACZ,QAAQ;QACR,IAAI,EAAE,KAAK,CAAC,YAAY,GAAG,IAAI;KAChC,CAAC;IAEF,KAAK,CAAC,KAAK,EAAE,CAAC;IAEd,QAAQ,CAAC;QACP,KAAK;QACL,WAAW;QACX,OAAO,EAAE,eAAe;QACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;QAChD,UAAU,EAAE,mBAAmB;QAC/B,qBAAqB,EAAE,OAAO,CAAC,cAAc;KAC9B,CAAC,CAAC;AACrB,CAAC"}
+{"version":3,"file":"mjpeg.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/mjpeg.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAG1D,OAAO,EAAE,kBAAkB,EAAE,MAAM,0DAA0D,CAAC;AAI9F,OAAO,EAAE,wBAAwB,EAAE,MAAM,iCAAiC,CAAC;AAC3E,OAAO,EAAE,YAAY,EAAE,MAAM,gBAAgB,CAAC;AAC9C,OAAO,EAAE,oBAAoB,EAAE,MAAM,WAAW,CAAC;AAQjD,MAAM,CAAC,KAAK,UAAU,qBAAqB,CAAC,EAC1C,KAAK,EACL,OAAO,EACP,QAAQ,EACkB;IAC1B,MAAM,EAAE,WAAW,EAAE,GAAG,YAAY,CAAC,OAAO,CAAC,CAAA;IAE7C,MAAM,SAAS,GAAG,wBAAwB,CAAC,cAAc,CAAC,CAAC;IAC3D,IAAI,CAAC,SAAS,EAAE,CAAC;QACf,OAAO;IACT,CAAC;IAED,MAAM,OAAO,GAAG,IAAI,YAAY,CAAC;QAC/B,IAAI,EAAE,YAAY;QAClB,IAAI,EAAE,OAAO,CAAC,IAAI;KACnB,CAAC,CAAC;IAEH,MAAM,EAAE,KAAK,EAAE,KAAK,EAAE,GAAG,MAAM,OAAO,CAAC,MAAM,EAAE,CAAC;IAEhD,MAAM,EAAE,IAAI,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,EAAE,GAAG,MAAM,oBAAoB,CAAC,KAAK,EAAE,OAAO,CAAC,CAAC;IAEnF,MAAM,eAAe,GAAa;QAChC,SAAS,EAAE,WAAW;QACtB,QAAQ,EAAE,QAAQ;QAClB,KAAK;QACL,MAAM;QACN,IAAI,EAAE,MAAM;QACZ,QAAQ,EAAE,SAAS;QACnB,IAAI,EAAE,KAAK;KACZ,CAAC;IAEF,KAAK,CAAC,KAAK,EAAE,CAAC;IAEd,QAAQ,CAAC;QACP,KAAK;QACL,WAAW;QACX,OAAO,EAAE,eAAe;QACxB,WAAW,EAAE,kBAAkB,CAAC,eAAe,CAAC;QAChD,UAAU,EAAE,mBAAmB;QAC/B,qBAAqB,EAAE,OAAO,CAAC,cAAc;KAC9B,CAAC,CAAC;AACrB,CAAC"}

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

@@ -0,0 +1,17 @@
+import type { MessageEvent } from "@foxglove/studio-base/players/types";
+import { type PointCloudWithDimensions } from "./depth";
+import { type TopicDecoders } from "./h264";
+import type { RGBDData } from "../../../protobuf.generated/RGBDData";
+import type { NeuralCameraIntrinsics } from "../pointcloud/utils";
+export type DeserializeRGBDFrameArgs = {
+    topic: string;
+    topicDecoders: TopicDecoders;
+    cameraIntrinsics: NeuralCameraIntrinsics;
+    maxStereoDepth: number;
+    message: RGBDData;
+    callback: (event: MessageEvent) => void;
+    onError: (error: Error) => void;
+};
+export type PointCloudWithColorAndDepth = PointCloudWithDimensions;
+export declare function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, }: DeserializeRGBDFrameArgs): Promise<void>;
+//# sourceMappingURL=rgbd-to-pointcloud.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"rgbd-to-pointcloud.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/rgbd-to-pointcloud.ts"],"names":[],"mappings":"AAQA,OAAO,KAAK,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAExE,OAAO,EAAyB,KAAK,wBAAwB,EAAE,MAAM,SAAS,CAAC;AAC/E,OAAO,EAAkD,KAAK,aAAa,EAAE,MAAM,QAAQ,CAAC;AAK5F,OAAO,KAAK,EAAE,QAAQ,EAAE,MAAM,sCAAsC,CAAC;AAIrE,OAAO,KAAK,EAAE,sBAAsB,EAAE,MAAM,qBAAqB,CAAC;AAGlE,MAAM,MAAM,wBAAwB,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,aAAa,EAAE,aAAa,CAAC;IAC7B,gBAAgB,EAAE,sBAAsB,CAAC;IACzC,cAAc,EAAE,MAAM,CAAC;IACvB,OAAO,EAAE,QAAQ,CAAC;IAClB,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CAAC;AAEF,MAAM,MAAM,2BAA2B,GAAG,wBAAwB,CAAC;AAqVnE,wBAAsB,gCAAgC,CAAC,EACrD,KAAK,EACL,aAAa,EACb,gBAAgB,EAChB,cAAc,EACd,OAAO,EACP,QAAQ,GACT,EAAE,wBAAwB,GAAG,OAAO,CAAC,IAAI,CAAC,CA4E1C"}

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

@@ -0,0 +1,320 @@
+// This Source Code Form is subject to the terms of the Mozilla Public
+// License, v2.0. If a copy of the MPL was not distributed with this
+// file, You can obtain one at http://mozilla.org/MPL/2.0/
+import { wrap } from "comlink";
+import { NumericType } from "@foxglove/schemas";
+import { estimateObjectSize } from "@foxglove/studio-base/players/messageMemoryEstimation";
+import { deserializeDepthFrame } from "./depth";
+import { convertNv12ToI420, deserializeEncodedFrameH264 } from "./h264";
+import { deserializeEncodedFrameH265 } from "./h265";
+import { deserializeMJPEGFrame } from "./mjpeg";
+import { Profile } from "../../../protobuf.generated/EncodedFrame";
+import { Type } from "../../../protobuf.generated/ImgFrame";
+import { parseMessage } from "../../utils";
+import { Logger } from "../../../utils/logger";
+import { uint8ArrayToUint16Array } from "../pointcloud/utils";
+const RGBD_POINTCLOUD_WORKER_COUNT = 4;
+let cachedRGBDHasGPU;
+let rgbdHasGPUPromise;
+let rgbdPointCloudWorkers;
+let rgbdPointCloudWorkerIndex = 0;
+const logger = Logger.getLogger();
+function ensureEvenByteLength(data) {
+    if (data.length % 2 === 0) {
+        return data;
+    }
+    const padded = new Uint8Array(data.length + 1);
+    padded.set(data);
+    return padded;
+}
+async function detectRGBDGPUSupport() {
+    if (cachedRGBDHasGPU != undefined) {
+        return cachedRGBDHasGPU;
+    }
+    if (rgbdHasGPUPromise) {
+        return await rgbdHasGPUPromise;
+    }
+    rgbdHasGPUPromise = (async () => {
+        if (typeof navigator.gpu === "undefined") {
+            cachedRGBDHasGPU = false;
+            return false;
+        }
+        try {
+            const adapter = await navigator.gpu.requestAdapter();
+            cachedRGBDHasGPU = adapter != undefined;
+            return cachedRGBDHasGPU;
+        }
+        catch {
+            cachedRGBDHasGPU = false;
+            return false;
+        }
+        finally {
+            rgbdHasGPUPromise = undefined;
+        }
+    })();
+    return await rgbdHasGPUPromise;
+}
+function getRGBDPointCloudWorkerSlot() {
+    if (!rgbdPointCloudWorkers) {
+        rgbdPointCloudWorkers = Array.from({ length: RGBD_POINTCLOUD_WORKER_COUNT }, () => {
+            const worker = new Worker(new URL("../pointcloud/pointcloudFromDepth.worker", import.meta.url), {
+                type: "module",
+            });
+            return {
+                worker,
+                remote: wrap(worker),
+                activeJobs: 0,
+            };
+        });
+    }
+    const slots = rgbdPointCloudWorkers;
+    const candidateSlots = slots
+        .map((slot, index) => ({ slot, index }))
+        .sort((left, right) => {
+        if (left.slot.activeJobs !== right.slot.activeJobs) {
+            return left.slot.activeJobs - right.slot.activeJobs;
+        }
+        const leftDistance = (left.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
+        const rightDistance = (right.index - rgbdPointCloudWorkerIndex + slots.length) % slots.length;
+        return leftDistance - rightDistance;
+    });
+    const selected = candidateSlots[0];
+    rgbdPointCloudWorkerIndex = (selected.index + 1) % slots.length;
+    return selected.slot;
+}
+function repackYuv420pToI420(imageFrame, width, height) {
+    const specs = imageFrame.fb ?? imageFrame.sourceFb;
+    const source = ensureEvenByteLength(imageFrame.data);
+    const yStride = specs?.stride || width;
+    const uvWidth = Math.floor(width / 2);
+    const uvHeight = Math.floor(height / 2);
+    const uvStride = yStride > width ? Math.floor(yStride / 2) : uvWidth;
+    const yPlaneSize = width * height;
+    const uvPlaneSize = uvWidth * uvHeight;
+    const uOffset = specs?.p1Offset || yStride * height;
+    const vOffset = specs?.p2Offset || uOffset + uvStride * uvHeight;
+    const i420 = new Uint8Array(yPlaneSize + 2 * uvPlaneSize);
+    for (let row = 0; row < height; row++) {
+        const srcOffset = row * yStride;
+        const dstOffset = row * width;
+        i420.set(source.subarray(srcOffset, srcOffset + width), dstOffset);
+    }
+    for (let row = 0; row < uvHeight; row++) {
+        const srcUOffset = uOffset + row * uvStride;
+        const srcVOffset = vOffset + row * uvStride;
+        const dstOffset = row * uvWidth;
+        i420.set(source.subarray(srcUOffset, srcUOffset + uvWidth), yPlaneSize + dstOffset);
+        i420.set(source.subarray(srcVOffset, srcVOffset + uvWidth), yPlaneSize + uvPlaneSize + dstOffset);
+    }
+    return i420;
+}
+function toMatrix3x3(matrix) {
+    const rows = matrix?.arrays;
+    if (!rows || rows.length < 3) {
+        return undefined;
+    }
+    const normalizedRows = rows
+        .slice(0, 3)
+        .map((row) => row?.values.slice(0, 3).map((value) => value ?? 0));
+    if (normalizedRows.some((row) => !row || row.length < 3)) {
+        return undefined;
+    }
+    return normalizedRows;
+}
+function multiply3x3(left, right) {
+    return [
+        [
+            left[0][0] * right[0][0] + left[0][1] * right[1][0] + left[0][2] * right[2][0],
+            left[0][0] * right[0][1] + left[0][1] * right[1][1] + left[0][2] * right[2][1],
+            left[0][0] * right[0][2] + left[0][1] * right[1][2] + left[0][2] * right[2][2],
+        ],
+        [
+            left[1][0] * right[0][0] + left[1][1] * right[1][0] + left[1][2] * right[2][0],
+            left[1][0] * right[0][1] + left[1][1] * right[1][1] + left[1][2] * right[2][1],
+            left[1][0] * right[0][2] + left[1][1] * right[1][2] + left[1][2] * right[2][2],
+        ],
+        [
+            left[2][0] * right[0][0] + left[2][1] * right[1][0] + left[2][2] * right[2][0],
+            left[2][0] * right[0][1] + left[2][1] * right[1][1] + left[2][2] * right[2][1],
+            left[2][0] * right[0][2] + left[2][1] * right[1][2] + left[2][2] * right[2][2],
+        ],
+    ];
+}
+function extractIntrinsicsFromTransformation(transformation) {
+    const sourceIntrinsicMatrix = toMatrix3x3(transformation?.sourceIntrinsicMatrix);
+    if (!sourceIntrinsicMatrix) {
+        return undefined;
+    }
+    const transformationMatrix = toMatrix3x3(transformation?.transformationMatrix);
+    const effectiveIntrinsicMatrix = transformationMatrix
+        ? multiply3x3(transformationMatrix, sourceIntrinsicMatrix)
+        : sourceIntrinsicMatrix;
+    const fx = effectiveIntrinsicMatrix[0][0];
+    const fy = effectiveIntrinsicMatrix[1][1];
+    const cx = effectiveIntrinsicMatrix[0][2];
+    const cy = effectiveIntrinsicMatrix[1][2];
+    if (![fx, fy, cx, cy].every((value) => Number.isFinite(value))) {
+        return undefined;
+    }
+    return {
+        left: {
+            focalLenght: { x: fx, y: fy },
+            principalPoint: { x: cx, y: cy },
+        },
+        right: {
+            focalLenght: { x: fx, y: fy },
+            principalPoint: { x: cx, y: cy },
+        },
+    };
+}
+function resolveRGBDIntrinsics(message, fallbackIntrinsics) {
+    return (extractIntrinsicsFromTransformation(message.depthImgFrame?.transformation) ??
+        extractIntrinsicsFromTransformation(message.depthEncodedFrame?.transformation) ??
+        extractIntrinsicsFromTransformation(message.colorImgFrame?.transformation) ??
+        extractIntrinsicsFromTransformation(message.colorEncodedFrame?.transformation) ??
+        fallbackIntrinsics);
+}
+async function extractEncodedColorFrame(encodedFrame, topicDecoders, topic) {
+    const decodeFrame = async () => await new Promise((resolve, reject) => {
+        const callback = (event) => {
+            resolve(event.message);
+        };
+        const rejectDecode = (error) => {
+            reject(error);
+        };
+        const args = {
+            topic,
+            message: encodedFrame,
+            callback,
+        };
+        if (encodedFrame.profile === Profile.AVC) {
+            void deserializeEncodedFrameH264({ ...args, topicDecoders, onError: rejectDecode }).catch(rejectDecode);
+        }
+        else if (encodedFrame.profile === Profile.JPEG) {
+            void deserializeMJPEGFrame(args).catch(rejectDecode);
+        }
+        else if (encodedFrame.profile === Profile.HEVC) {
+            void deserializeEncodedFrameH265({ ...args, topicDecoders, onError: rejectDecode }).catch(rejectDecode);
+        }
+        else {
+            reject(new Error(`Unsupported RGBD color profile ${Profile[encodedFrame.profile] ?? encodedFrame.profile}`));
+        }
+    });
+    const decoded = await decodeFrame();
+    return {
+        data: ensureEvenByteLength(decoded.data),
+        width: decoded.width,
+        height: decoded.height,
+    };
+}
+function extractColorFrame(encodedFrame, imageFrame, topicDecoders, topic) {
+    if (encodedFrame) {
+        return extractEncodedColorFrame(encodedFrame, topicDecoders, topic);
+    }
+    if (imageFrame) {
+        const { width, height, type } = parseMessage(imageFrame);
+        const specs = imageFrame.fb ?? imageFrame.sourceFb;
+        if (type === Type.NV12) {
+            const stride = specs?.stride || width;
+            const uvOffset = specs?.p1Offset || stride * height;
+            return Promise.resolve({
+                data: convertNv12ToI420(ensureEvenByteLength(imageFrame.data), width, height, stride, stride, 0, uvOffset),
+                width,
+                height,
+            });
+        }
+        if (type === Type.YUV420p) {
+            return Promise.resolve({
+                data: repackYuv420pToI420(imageFrame, width, height),
+                width,
+                height,
+            });
+        }
+        return Promise.reject(new Error(`Unsupported RGBD color ImgFrame type ${Type[type]}`));
+    }
+    return Promise.resolve({
+        data: new Uint8Array(),
+        width: 0,
+        height: 0,
+    });
+}
+function extractDepthFrame(encodedFrame, imageFrame) {
+    if (encodedFrame) {
+        return ensureEvenByteLength(encodedFrame.data);
+    }
+    if (imageFrame) {
+        return ensureEvenByteLength(imageFrame.data);
+    }
+    return new Uint8Array();
+}
+function parseDimensions(message) {
+    const obj = {
+        depthWidth: 0,
+        depthHeight: 0,
+    };
+    if (message.depthEncodedFrame) {
+        const { width, height } = message.depthEncodedFrame ?? { width: 1920, height: 1200 };
+        obj.depthWidth = width;
+        obj.depthHeight = height;
+    }
+    else if (message.depthImgFrame) {
+        const { width, height } = parseMessage(message.depthImgFrame);
+        obj.depthWidth = width;
+        obj.depthHeight = height;
+    }
+    return obj;
+}
+export async function deserializeRGBDFrameToPointCloud({ topic, topicDecoders, cameraIntrinsics, maxStereoDepth, message, callback, }) {
+    const workerSlot = getRGBDPointCloudWorkerSlot();
+    workerSlot.activeJobs += 1;
+    const { receiveTime } = parseMessage(message);
+    const { depthWidth, depthHeight } = parseDimensions(message);
+    const rgbdIntrinsics = resolveRGBDIntrinsics(message, cameraIntrinsics);
+    const hasGPU = await detectRGBDGPUSupport();
+    const colorFrame = await extractColorFrame(message.colorEncodedFrame, message.colorImgFrame, topicDecoders, topic);
+    const uint8DepthFrames = extractDepthFrame(message.depthEncodedFrame, message.depthImgFrame);
+    const depthFrames = uint8ArrayToUint16Array(uint8DepthFrames);
+    try {
+        const pointCloud = await workerSlot.remote.depthToPointcloudGPU([depthFrames], depthWidth, depthHeight, rgbdIntrinsics.right.focalLenght.x, rgbdIntrinsics.right.focalLenght.y, rgbdIntrinsics.right.principalPoint.x, rgbdIntrinsics.right.principalPoint.y, [colorFrame.data], colorFrame.width, colorFrame.height, maxStereoDepth, { hasGPU });
+        const foxgloveMessage = {
+            timestamp: message.tsDevice ?? receiveTime,
+            frame_id: `pointcloud-${topic}-frame`,
+            point_stride: 16,
+            pose: {
+                position: { x: 0, y: 0, z: 0 },
+                orientation: { x: 0, y: 0, z: 1, w: 0 }
+            },
+            width: depthWidth,
+            height: depthHeight,
+            fields: [
+                { name: "x", offset: 0, type: NumericType.FLOAT32 },
+                { name: "y", offset: 4, type: NumericType.FLOAT32 },
+                { name: "z", offset: 8, type: NumericType.FLOAT32 },
+                { name: "red", offset: 12, type: NumericType.UINT8 },
+                { name: "green", offset: 13, type: NumericType.UINT8 },
+                { name: "blue", offset: 14, type: NumericType.UINT8 },
+                { name: "alpha", offset: 15, type: NumericType.UINT8 },
+            ],
+            data: pointCloud[0]
+        };
+        callback({
+            topic,
+            receiveTime,
+            message: foxgloveMessage,
+            sizeInBytes: estimateObjectSize(foxgloveMessage),
+            schemaName: "foxglove.PointCloud.Colored"
+        });
+        if (message.depthImgFrame) {
+            void deserializeDepthFrame({
+                topic,
+                message: message.depthImgFrame,
+                callback,
+                maxStereoDepth: maxStereoDepth / 1000,
+            });
+        }
+    }
+    finally {
+        workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
+    }
+}
+//# sourceMappingURL=rgbd-to-pointcloud.js.map