@luxonis/visualizer-protobuf 3.1.11 → 3.1.13

package/dist/{deserialization.worker-CO4m6y8V.js → deserialization.worker-DU2Hs4UP.js}

@@ -1,10 +1,11 @@
 'use client';
-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 { 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 { b as _objectSpread2, P as PointsAnnotationType, T as Type, h as Profile, p as protobufsBySchema } from './protobuf-OcbVtxg1.js';
+import { w as wrap, e as expose } from './comlink-jf8bdrAf.js';
+import { t as typescript } from './index-B5oN0fQm.js';
+import { U as parseMessage, e as estimateObjectSize, V as fromMillis, W as DecoderRuntimeError, d as dist, X as deserializeDepthFrame, Y as UnsupportedTopicError, Z as NotInSecureContextError, _ as EncodedStreamNotSupportedError } from './depth-DiD1V2Sg.js';
 import { L as Logger } from './logger-Bqy1nuLj.js';
 import { i as isCapableOfEncodedStream } from './encoding-jXImCIb4.js';
+import { u as uint8ArrayToUint16Array } from './utils-DmlHZWuo.js';
 import 'react';
 import 'zustand';
 import 'react-mosaic-component';
@@ -797,17 +798,12 @@ function ensureWebCodecsSupported(target) {
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
 const logger$2 = Logger.getLogger();
-function configureDecoder$1(decoder) {
+function configureDecoder(decoder) {
   decoder.configure({
     codec: "avc1.42001E",
     optimizeForLatency: true
   });
 }
-function ensureDecoderConfigured$1(decoder) {
-  if (decoder.state === "unconfigured") {
-    configureDecoder$1(decoder);
-  }
-}
 function closeDecoder$1(decoder) {
   if (!decoder) {
     return;
@@ -823,110 +819,14 @@ function closeDecoder$1(decoder) {
 }
 function closeTopicDecoder$1(topic, topicDecoders) {
   const decoderInfo = topicDecoders.get(topic);
-  topicDecoders.delete(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();
-  if (decoderInfo) {
-    decoderInfo.pendingFrame = undefined;
-  }
 }
 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 isUnconfiguredCodecError$1(error) {
-  const message = error instanceof Error ? error.message : String(error);
-  return /cannot call ["']decode["'] on an unconfigured (?:codec|decoder)/i.test(message);
-}
-function resetTopicDecoder$1({
-  topic,
-  topicDecoders,
-  callback,
-  onError
-}) {
-  const existingDecoderInfo = topicDecoders.get(topic);
-  closeDecoder$1(existingDecoderInfo === null || existingDecoderInfo === void 0 ? void 0 : existingDecoderInfo.decoder);
-  const decoder = createVideoDecoder$1({
-    topic,
-    callback,
-    topicDecoders,
-    onError
-  });
-  try {
-    configureDecoder$1(decoder);
-  } catch (error) {
-    closeDecoder$1(decoder);
-    closeTopicDecoder$1(topic, topicDecoders);
-    onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to configure H.264 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$1(topic, topicDecoders, callback, onError) {
-  const decoderInfo = topicDecoders.get(topic);
-  if (!decoderInfo) {
-    return;
-  }
-  const decoder = decoderInfo.decoder;
-  if (decoder.state === "closed" || decoder.decodeQueueSize > 0) {
-    return;
-  }
-  const pendingFrame = decoderInfo.pendingFrame;
-  if (!pendingFrame) {
-    return;
-  }
-  decoderInfo.pendingFrame = undefined;
-  decoderInfo.timing.set(pendingFrame.timestamp, pendingFrame.receiveTime);
-  decoderInfo.transformations.set(pendingFrame.timestamp, pendingFrame.transformation);
-  try {
-    var _topicDecoders$get;
-    ensureDecoderConfigured$1(decoder);
-    if (decoder.state !== "configured" || ((_topicDecoders$get = topicDecoders.get(topic)) === null || _topicDecoders$get === void 0 ? void 0 : _topicDecoders$get.decoder) !== decoder) {
-      closeTopicDecoder$1(topic, topicDecoders);
-      return;
-    }
-    const chunk = new EncodedVideoChunk({
-      type: "key",
-      data: pendingFrame.data,
-      timestamp: pendingFrame.timestamp
-    });
-    decoder.decode(chunk);
-  } catch (error) {
-    if (isUnconfiguredCodecError$1(error)) {
-      decoderInfo.pendingFrame = pendingFrame;
-      const replacementDecoder = resetTopicDecoder$1({
-        topic,
-        topicDecoders,
-        callback,
-        onError
-      });
-      if ((replacementDecoder === null || replacementDecoder === void 0 ? void 0 : replacementDecoder.state) === "configured") {
-        decodePendingFrame$1(topic, topicDecoders, callback, onError);
-      }
-      return;
-    }
-    if (isIgnorableInitialDecodeError(error)) {
-      closeTopicDecoder$1(topic, topicDecoders);
-      return;
-    }
-    closeTopicDecoder$1(topic, topicDecoders);
-    onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.264 frame."));
-  }
-}
 function packedToI420(packed, width, height, stride, format, cropLeft = 0, cropTop = 0) {
   if ((width & 1) !== 0 || (height & 1) !== 0) {
     throw new Error("I420 requires even width and height.");
@@ -1032,67 +932,72 @@ function repackI420(source, width, height, yLayout, uLayout, vLayout, cropLeft =
   }
   return out;
 }
+async function copyVideoFrameToI420(frame, logPrefix) {
+  var _visibleRect$width, _visibleRect$height, _visibleRect$x, _visibleRect$y;
+  const visibleRect = frame.visibleRect;
+  const frameWidth = (_visibleRect$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$2.warn(`${logPrefix} decoder output format: ${frame.format}, coded=${frame.codedWidth}x${frame.codedHeight}, display=${frame.displayWidth}x${frame.displayHeight}, visible=${frameWidth}x${frameHeight}@${cropLeft},${cropTop}`);
+  switch (frame.format) {
+    case "I420":
+      {
+        const i420Buffer = new Uint8Array(frame.allocationSize());
+        const layouts = await frame.copyTo(i420Buffer);
+        const [yLayout, uLayout, vLayout] = layouts;
+        finalBuffer = yLayout != undefined && uLayout != undefined && vLayout != undefined ? repackI420(i420Buffer, frameWidth, frameHeight, yLayout, uLayout, vLayout, cropLeft, cropTop) : i420Buffer;
+        break;
+      }
+    case "NV12":
+      {
+        var _yLayout$stride, _uvLayout$stride, _yLayout$offset, _uvLayout$offset, _yLayout$stride2;
+        const nv12Buffer = new Uint8Array(frame.allocationSize());
+        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$stride2 : frame.codedWidth) * frame.codedHeight, cropLeft, cropTop);
+        break;
+      }
+    case "RGBX":
+    case "RGBA":
+    case "BGRX":
+    case "BGRA":
+      {
+        var _layout$stride;
+        const packedBuffer = new Uint8Array(frame.allocationSize());
+        const [layout] = await frame.copyTo(packedBuffer);
+        logger$2.warn(`${logPrefix} 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;
+      }
+    default:
+      logger$2.warn(`${logPrefix} decoder received unexpected frame format:`, frame.format);
+      break;
+  }
+  return {
+    data: finalBuffer,
+    width: frameWidth,
+    height: frameHeight
+  };
+}
 function createVideoDecoder$1({
   topic,
-  callback,
-  topicDecoders,
-  onError
+  topicDecoders
 }) {
   let hasProducedFrame = false;
-  let decoder;
-  decoder = new VideoDecoder({
+  return new VideoDecoder({
     output: async frame => {
-      var _topicDecoders$get2, _visibleRect$width, _visibleRect$height, _visibleRect$x, _visibleRect$y, _topicDecoders$get$ti, _topicDecoders$get3, _topicDecoders$get4, _topicDecoders$get5, _topicDecoders$get6, _topicDecoders$get7;
-      if (((_topicDecoders$get2 = topicDecoders.get(topic)) === null || _topicDecoders$get2 === void 0 ? void 0 : _topicDecoders$get2.decoder) !== decoder) {
-        frame.close();
-        return;
-      }
+      var _topicDecoders$get$ti, _topicDecoders$get, _topicDecoders$get2, _topicDecoders$get3, _topicDecoders$get4;
       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},${cropTop}`);
-      switch (frame.format) {
-        case "I420":
-          {
-            const i420Buffer = new Uint8Array(frame.allocationSize());
-            const layouts = await frame.copyTo(i420Buffer);
-            const [yLayout, uLayout, vLayout] = layouts;
-            finalBuffer = yLayout != undefined && uLayout != undefined && vLayout != undefined ? repackI420(i420Buffer, frameWidth, frameHeight, yLayout, uLayout, vLayout, cropLeft, cropTop) : i420Buffer;
-            break;
-          }
-        case "NV12":
-          {
-            var _yLayout$stride, _uvLayout$stride, _yLayout$offset, _uvLayout$offset, _yLayout$stride2;
-            const nv12Buffer = new Uint8Array(frame.allocationSize());
-            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$stride2 : frame.codedWidth) * frame.codedHeight, cropLeft, cropTop);
-            break;
-          }
-        case "RGBX":
-        case "RGBA":
-        case "BGRX":
-        case "BGRA":
-          {
-            var _layout$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 !== "RGBA" && frame.format !== "BGRX" && frame.format !== "BGRA") {
-        logger$2.warn("H264 decoder received unexpected frame format:", frame.format);
-      }
-      const receiveTime = (_topicDecoders$get$ti = (_topicDecoders$get3 = topicDecoders.get(topic)) === null || _topicDecoders$get3 === void 0 ? void 0 : _topicDecoders$get3.timing.get(frame.timestamp)) !== null && _topicDecoders$get$ti !== void 0 ? _topicDecoders$get$ti : dist.fromMicros(frame.timestamp);
-      (_topicDecoders$get4 = topicDecoders.get(topic)) === null || _topicDecoders$get4 === void 0 || _topicDecoders$get4.timing.delete(frame.timestamp);
-      const transformation = (_topicDecoders$get5 = topicDecoders.get(topic)) === null || _topicDecoders$get5 === void 0 ? void 0 : _topicDecoders$get5.transformations.get(frame.timestamp);
-      (_topicDecoders$get6 = topicDecoders.get(topic)) === null || _topicDecoders$get6 === void 0 || _topicDecoders$get6.transformations.delete(frame.timestamp);
+      const {
+        data: finalBuffer,
+        width: frameWidth,
+        height: frameHeight
+      } = await copyVideoFrameToI420(frame, "H264");
+      const receiveTime = (_topicDecoders$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);
+      const transformation = (_topicDecoders$get2 = topicDecoders.get(topic)) === null || _topicDecoders$get2 === void 0 ? void 0 : _topicDecoders$get2.transformations.get(frame.timestamp);
+      (_topicDecoders$get3 = topicDecoders.get(topic)) === null || _topicDecoders$get3 === void 0 || _topicDecoders$get3.transformations.delete(frame.timestamp);
       const foxgloveMessage = {
         timestamp: receiveTime,
         frame_id: `h264-${topic}-frame`,
@@ -1102,7 +1007,7 @@ function createVideoDecoder$1({
         encoding: "yuv420p",
         step: frameWidth
       };
-      callback({
+      (_topicDecoders$get4 = topicDecoders.get(topic)) === null || _topicDecoders$get4 === void 0 || _topicDecoders$get4.callback({
         topic,
         receiveTime,
         message: foxgloveMessage,
@@ -1111,15 +1016,9 @@ function createVideoDecoder$1({
         depthaiTransformation: transformation
       });
       frame.close();
-      if (((_topicDecoders$get7 = topicDecoders.get(topic)) === null || _topicDecoders$get7 === void 0 ? void 0 : _topicDecoders$get7.decoder) === decoder) {
-        decodePendingFrame$1(topic, topicDecoders, callback, onError);
-      }
     },
     error: error => {
-      var _topicDecoders$get8;
-      if (((_topicDecoders$get8 = topicDecoders.get(topic)) === null || _topicDecoders$get8 === void 0 ? void 0 : _topicDecoders$get8.decoder) !== decoder) {
-        return;
-      }
+      var _topicDecoders$get5;
       if (!hasProducedFrame && isIgnorableInitialDecodeError(error)) {
         logger$2.warn(`Ignoring initial H264 decoder error for topic ${topic}: ${error.message}`);
         closeTopicDecoder$1(topic, topicDecoders);
@@ -1127,10 +1026,9 @@ function createVideoDecoder$1({
       }
       logger$2.error(error);
       closeTopicDecoder$1(topic, topicDecoders);
-      onError(new DecoderRuntimeError(topic, error.message));
+      (_topicDecoders$get5 = topicDecoders.get(topic)) === null || _topicDecoders$get5 === void 0 || _topicDecoders$get5.onError(new DecoderRuntimeError(topic, error.message));
     }
   });
-  return decoder;
 }
 async function deserializeEncodedFrameH264({
   topic,
@@ -1147,14 +1045,43 @@ async function deserializeEncodedFrameH264({
     return;
   }
   const existingDecoderInfo = topicDecoders.get(topic);
-  if (!existingDecoderInfo || existingDecoderInfo.decoder.state !== "configured") {
-    const decoder = resetTopicDecoder$1({
+  if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
+    const decoder = createVideoDecoder$1({
       topic,
-      callback,
-      topicDecoders,
-      onError
+      topicDecoders
     });
-    if (!decoder) {
+    try {
+      configureDecoder(decoder);
+    } 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();
+      existingDecoderInfo.callback = callback;
+      existingDecoderInfo.onError = onError;
+    } else {
+      topicDecoders.set(topic, {
+        decoder,
+        timing: new Map(),
+        transformations: new Map(),
+        callback,
+        onError
+      });
+    }
+  } else if (existingDecoderInfo.decoder.state === "unconfigured") {
+    try {
+      configureDecoder(existingDecoderInfo.decoder);
+      existingDecoderInfo.timing.clear();
+      existingDecoderInfo.transformations.clear();
+      existingDecoderInfo.callback = callback;
+      existingDecoderInfo.onError = onError;
+    } catch (error) {
+      closeTopicDecoder$1(topic, topicDecoders);
+      onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to reconfigure H.264 decoder."));
       return;
     }
   }
@@ -1162,19 +1089,33 @@ async function deserializeEncodedFrameH264({
   if (!decoderInfo) {
     return;
   }
+  decoderInfo.callback = callback;
+  decoderInfo.onError = onError;
+  if (decoderInfo.decoder.decodeQueueSize > 60) {
+    decoderInfo.decoder.reset();
+    decoderInfo.timing.clear();
+    decoderInfo.transformations.clear();
+    return;
+  }
   const microTimestamp = receiveTime.sec * 1000000 + Math.floor(receiveTime.nsec / 1000);
+  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) {
+    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."));
   }
-  decoderInfo.pendingFrame = frame;
-  decodePendingFrame$1(topic, topicDecoders, callback, onError);
 }
 
 // This Source Code Form is subject to the terms of the Mozilla Public
@@ -1182,17 +1123,6 @@ async function deserializeEncodedFrameH264({
 // file, You can obtain one at http://mozilla.org/MPL/2.0/
 
 const logger$1 = 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;
@@ -1208,133 +1138,35 @@ function closeDecoder(decoder) {
 }
 function closeTopicDecoder(topic, topicDecoders) {
   const decoderInfo = topicDecoders.get(topic);
-  topicDecoders.delete(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();
-  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 === null || existingDecoderInfo === void 0 ? void 0 : 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 {
-    var _topicDecoders$get;
-    ensureDecoderConfigured(decoder);
-    if (decoder.state !== "configured" || ((_topicDecoders$get = topicDecoders.get(topic)) === null || _topicDecoders$get === void 0 ? void 0 : _topicDecoders$get.decoder) !== decoder) {
-      closeTopicDecoder(topic, topicDecoders);
-      return;
-    }
-    const chunk = new EncodedVideoChunk({
-      type: "key",
-      data: pendingFrame.data,
-      timestamp: pendingFrame.timestamp
-    });
-    decoder.decode(chunk);
-  } catch (error) {
-    if (isUnconfiguredCodecError(error)) {
-      decoderInfo.pendingFrame = pendingFrame;
-      const replacementDecoder = resetTopicDecoder({
-        topic,
-        topicDecoders,
-        callback,
-        onError
-      });
-      if ((replacementDecoder === null || replacementDecoder === void 0 ? void 0 : replacementDecoder.state) === "configured") {
-        decodePendingFrame(topic, topicDecoders, callback, onError);
-      }
-      return;
-    }
-    closeTopicDecoder(topic, topicDecoders);
-    onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to decode H.265 frame."));
-  }
 }
 function createVideoDecoder({
   topic,
-  callback,
-  topicDecoders,
-  onError
+  topicDecoders
 }) {
-  let decoder;
-  decoder = new VideoDecoder({
+  return new VideoDecoder({
     output: async frame => {
-      var _topicDecoders$get2, _topicDecoders$get$ti, _topicDecoders$get3, _topicDecoders$get4, _topicDecoders$get5, _topicDecoders$get6, _topicDecoders$get7;
-      if (((_topicDecoders$get2 = topicDecoders.get(topic)) === null || _topicDecoders$get2 === void 0 ? void 0 : _topicDecoders$get2.decoder) !== decoder) {
-        frame.close();
-        return;
-      }
-      const buffer = new Uint8Array(frame.allocationSize());
-      await frame.copyTo(buffer);
-      const receiveTime = (_topicDecoders$get$ti = (_topicDecoders$get3 = topicDecoders.get(topic)) === null || _topicDecoders$get3 === void 0 ? void 0 : _topicDecoders$get3.timing.get(frame.timestamp)) !== null && _topicDecoders$get$ti !== void 0 ? _topicDecoders$get$ti : dist.fromMicros(frame.timestamp);
-      (_topicDecoders$get4 = topicDecoders.get(topic)) === null || _topicDecoders$get4 === void 0 || _topicDecoders$get4.timing.delete(frame.timestamp);
-      const transformation = (_topicDecoders$get5 = topicDecoders.get(topic)) === null || _topicDecoders$get5 === void 0 ? void 0 : _topicDecoders$get5.transformations.get(frame.timestamp);
-      (_topicDecoders$get6 = topicDecoders.get(topic)) === null || _topicDecoders$get6 === void 0 || _topicDecoders$get6.transformations.delete(frame.timestamp);
-      const [encoding, step] = parsePixelFormat(frame.format);
+      var _topicDecoders$get$ti, _topicDecoders$get, _topicDecoders$get2, _topicDecoders$get3, _topicDecoders$get4;
+      const {
+        data: buffer,
+        width,
+        height
+      } = await copyVideoFrameToI420(frame, "H265");
+      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$ti : dist.fromMicros(frame.timestamp);
+      const transformation = (_topicDecoders$get2 = topicDecoders.get(topic)) === null || _topicDecoders$get2 === void 0 ? void 0 : _topicDecoders$get2.transformations.get(frame.timestamp);
+      (_topicDecoders$get3 = topicDecoders.get(topic)) === null || _topicDecoders$get3 === void 0 || _topicDecoders$get3.transformations.delete(frame.timestamp);
       const foxgloveMessage = {
         timestamp: receiveTime,
         frame_id: `h265-${topic}-frame`,
-        width: frame.displayWidth,
-        height: frame.displayHeight,
+        width,
+        height,
         data: buffer,
-        encoding,
-        step: frame.displayWidth * step
+        encoding: "yuv420p",
+        step: width
       };
-      callback({
+      (_topicDecoders$get4 = topicDecoders.get(topic)) === null || _topicDecoders$get4 === void 0 || _topicDecoders$get4.callback({
         topic,
         receiveTime,
         message: foxgloveMessage,
@@ -1343,21 +1175,14 @@ function createVideoDecoder({
         depthaiTransformation: transformation
       });
       frame.close();
-      if (((_topicDecoders$get7 = topicDecoders.get(topic)) === null || _topicDecoders$get7 === void 0 ? void 0 : _topicDecoders$get7.decoder) === decoder) {
-        decodePendingFrame(topic, topicDecoders, callback, onError);
-      }
     },
     error: error => {
-      var _topicDecoders$get8;
-      if (((_topicDecoders$get8 = topicDecoders.get(topic)) === null || _topicDecoders$get8 === void 0 ? void 0 : _topicDecoders$get8.decoder) !== decoder) {
-        return;
-      }
+      var _topicDecoders$get5;
       logger$1.error(error);
       closeTopicDecoder(topic, topicDecoders);
-      onError(new DecoderRuntimeError(topic, error.message));
+      (_topicDecoders$get5 = topicDecoders.get(topic)) === null || _topicDecoders$get5 === void 0 || _topicDecoders$get5.onError(new DecoderRuntimeError(topic, error.message));
     }
   });
-  return decoder;
 }
 async function deserializeEncodedFrameH265({
   topic,
@@ -1374,34 +1199,62 @@ async function deserializeEncodedFrameH265({
     return;
   }
   const existingDecoderInfo = topicDecoders.get(topic);
-  if (!existingDecoderInfo || existingDecoderInfo.decoder.state !== "configured") {
-    const decoder = resetTopicDecoder({
+  if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
+    const decoder = createVideoDecoder({
       topic,
-      callback,
-      topicDecoders,
-      onError
+      topicDecoders
     });
-    if (!decoder) {
+    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();
+      existingDecoderInfo.callback = callback;
+      existingDecoderInfo.onError = onError;
+    } else {
+      topicDecoders.set(topic, {
+        decoder,
+        timing: new Map(),
+        transformations: new Map(),
+        callback,
+        onError
+      });
+    }
   }
   const decoderInfo = topicDecoders.get(topic);
   if (!decoderInfo) {
     return;
   }
+  decoderInfo.callback = callback;
+  decoderInfo.onError = onError;
+  if (decoderInfo.decoder.decodeQueueSize > 60) {
+    decoderInfo.decoder.reset();
+    return;
+  }
   const microTimestamp = receiveTime.sec * 1000000 + Math.floor(receiveTime.nsec / 1000);
+  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);
 }
 
 // This Source Code Form is subject to the terms of the Mozilla Public
@@ -1427,17 +1280,19 @@ async function deserializeMJPEGFrame({
   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({
@@ -1450,6 +1305,372 @@ async function deserializeMJPEGFrame({
   });
 }
 
+const RGBD_POINTCLOUD_WORKER_COUNT = 6;
+let cachedRGBDHasGPU;
+let rgbdHasGPUPromise;
+let rgbdPointCloudWorkers;
+let rgbdPointCloudWorkerIndex = 0;
+function ensureEvenByteLength(data) {
+  if (data.length % 2 === 0) {
+    return data;
+  }
+  const padded = new Uint8Array(data.length + 1);
+  padded.set(data);
+  return padded;
+}
+function ensureRGBDGPUSupportDetection() {
+  if (cachedRGBDHasGPU != undefined || rgbdHasGPUPromise) {
+    return;
+  }
+  rgbdHasGPUPromise = (async () => {
+    if (typeof navigator.gpu === "undefined") {
+      cachedRGBDHasGPU = false;
+      return false;
+    }
+    try {
+      const adapter = await navigator.gpu.requestAdapter();
+      cachedRGBDHasGPU = adapter != undefined;
+      return cachedRGBDHasGPU;
+    } catch (error) {
+      cachedRGBDHasGPU = false;
+      return false;
+    } finally {
+      rgbdHasGPUPromise = undefined;
+    }
+  })();
+}
+function getRGBDGPUSupport() {
+  ensureRGBDGPUSupportDetection();
+  return cachedRGBDHasGPU !== null && cachedRGBDHasGPU !== void 0 ? cachedRGBDHasGPU : false;
+}
+function getRGBDPointCloudWorkerSlot() {
+  if (!rgbdPointCloudWorkers) {
+    rgbdPointCloudWorkers = Array.from({
+      length: RGBD_POINTCLOUD_WORKER_COUNT
+    }, () => {
+      const worker = new Worker(new URL("pointcloudFromDepth.worker-60RA4Ief.js", 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 {
+    slot: selected.slot,
+    index: selected.index
+  };
+}
+function repackYuv420pToI420(imageFrame, width, height) {
+  var _imageFrame$fb;
+  const specs = (_imageFrame$fb = imageFrame.fb) !== null && _imageFrame$fb !== void 0 ? _imageFrame$fb : imageFrame.sourceFb;
+  const source = ensureEvenByteLength(imageFrame.data);
+  const yStride = (specs === null || specs === void 0 ? void 0 : 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 === null || specs === void 0 ? void 0 : specs.p1Offset) || yStride * height;
+  const vOffset = (specs === null || specs === void 0 ? void 0 : 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 === null || matrix === void 0 ? void 0 : matrix.arrays;
+  if (!rows || rows.length < 3) {
+    return undefined;
+  }
+  const normalizedRows = rows.slice(0, 3).map(row => row === null || row === void 0 ? void 0 : row.values.slice(0, 3).map(value => value !== null && value !== void 0 ? 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 === null || transformation === void 0 ? void 0 : transformation.sourceIntrinsicMatrix);
+  if (!sourceIntrinsicMatrix) {
+    return undefined;
+  }
+  const transformationMatrix = toMatrix3x3(transformation === null || transformation === void 0 ? void 0 : 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) {
+  var _ref, _ref2, _ref3, _extractIntrinsicsFro, _message$depthImgFram, _message$depthEncoded, _message$colorImgFram, _message$colorEncoded;
+  return (_ref = (_ref2 = (_ref3 = (_extractIntrinsicsFro = extractIntrinsicsFromTransformation((_message$depthImgFram = message.depthImgFrame) === null || _message$depthImgFram === void 0 ? void 0 : _message$depthImgFram.transformation)) !== null && _extractIntrinsicsFro !== void 0 ? _extractIntrinsicsFro : extractIntrinsicsFromTransformation((_message$depthEncoded = message.depthEncodedFrame) === null || _message$depthEncoded === void 0 ? void 0 : _message$depthEncoded.transformation)) !== null && _ref3 !== void 0 ? _ref3 : extractIntrinsicsFromTransformation((_message$colorImgFram = message.colorImgFrame) === null || _message$colorImgFram === void 0 ? void 0 : _message$colorImgFram.transformation)) !== null && _ref2 !== void 0 ? _ref2 : extractIntrinsicsFromTransformation((_message$colorEncoded = message.colorEncodedFrame) === null || _message$colorEncoded === void 0 ? void 0 : _message$colorEncoded.transformation)) !== null && _ref !== void 0 ? _ref : 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(_objectSpread2(_objectSpread2({}, 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(_objectSpread2(_objectSpread2({}, args), {}, {
+        topicDecoders,
+        onError: rejectDecode
+      })).catch(rejectDecode);
+    } else {
+      var _Profile$encodedFrame;
+      reject(new Error(`Unsupported RGBD color profile ${(_Profile$encodedFrame = Profile[encodedFrame.profile]) !== null && _Profile$encodedFrame !== void 0 ? _Profile$encodedFrame : 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) {
+    var _imageFrame$fb2;
+    const {
+      width,
+      height,
+      type
+    } = parseMessage(imageFrame);
+    const specs = (_imageFrame$fb2 = imageFrame.fb) !== null && _imageFrame$fb2 !== void 0 ? _imageFrame$fb2 : imageFrame.sourceFb;
+    if (type === Type.NV12) {
+      const stride = (specs === null || specs === void 0 ? void 0 : specs.stride) || width;
+      const uvOffset = (specs === null || specs === void 0 ? void 0 : 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 ${Type[type]}`));
+  }
+  return Promise.resolve({
+    data: new Uint8Array(),
+    width: 0,
+    height: 0
+  });
+}
+function extractDepthFrame(encodedFrame, imageFrame) {
+  if (encodedFrame) {
+    return ensureEvenByteLength(encodedFrame.data);
+  }
+  if (imageFrame) {
+    return ensureEvenByteLength(imageFrame.data);
+  }
+  return new Uint8Array();
+}
+function parseDimensions(message) {
+  const obj = {
+    depthWidth: 0,
+    depthHeight: 0
+  };
+  if (message.depthEncodedFrame) {
+    var _message$depthEncoded2;
+    const {
+      width,
+      height
+    } = (_message$depthEncoded2 = message.depthEncodedFrame) !== null && _message$depthEncoded2 !== void 0 ? _message$depthEncoded2 : {
+      width: 1920,
+      height: 1200
+    };
+    obj.depthWidth = width;
+    obj.depthHeight = height;
+  } else if (message.depthImgFrame) {
+    const {
+      width,
+      height
+    } = parseMessage(message.depthImgFrame);
+    obj.depthWidth = width;
+    obj.depthHeight = height;
+  }
+  return obj;
+}
+async function deserializeRGBDFrameToPointCloud({
+  topic,
+  topicDecoders,
+  cameraIntrinsics,
+  maxStereoDepth,
+  message,
+  callback,
+  onError
+}) {
+  const {
+    slot: workerSlot,
+    index: workerIndex
+  } = getRGBDPointCloudWorkerSlot();
+  workerSlot.activeJobs += 1;
+  const {
+    receiveTime
+  } = parseMessage(message);
+  const {
+    depthWidth,
+    depthHeight
+  } = parseDimensions(message);
+  const rgbdIntrinsics = resolveRGBDIntrinsics(message, cameraIntrinsics);
+  const hasGPU = getRGBDGPUSupport();
+  if (message.depthImgFrame) {
+    const depthFrameForPreview = _objectSpread2(_objectSpread2({}, message.depthImgFrame), {}, {
+      data: message.depthImgFrame.data.slice()
+    });
+    void deserializeDepthFrame({
+      topic,
+      message: depthFrameForPreview,
+      callback,
+      maxStereoDepth: maxStereoDepth / 1000
+    }).catch(onError);
+  }
+  const colorFrame = await extractColorFrame(message.colorEncodedFrame, message.colorImgFrame, topicDecoders, topic);
+  const uint8DepthFrames = extractDepthFrame(message.depthEncodedFrame, message.depthImgFrame);
+  const depthFrames = uint8ArrayToUint16Array(uint8DepthFrames);
+  try {
+    var _message$tsDevice;
+    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$tsDevice = message.tsDevice) !== null && _message$tsDevice !== void 0 ? _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: typescript.NumericType.FLOAT32
+      }, {
+        name: "y",
+        offset: 4,
+        type: typescript.NumericType.FLOAT32
+      }, {
+        name: "z",
+        offset: 8,
+        type: typescript.NumericType.FLOAT32
+      }, {
+        name: "red",
+        offset: 12,
+        type: typescript.NumericType.UINT8
+      }, {
+        name: "green",
+        offset: 13,
+        type: typescript.NumericType.UINT8
+      }, {
+        name: "blue",
+        offset: 14,
+        type: typescript.NumericType.UINT8
+      }, {
+        name: "alpha",
+        offset: 15,
+        type: typescript.NumericType.UINT8
+      }],
+      data: pointCloud[0]
+    };
+    callback({
+      topic,
+      receiveTime,
+      message: foxgloveMessage,
+      sizeInBytes: estimateObjectSize(foxgloveMessage),
+      schemaName: "foxglove.PointCloud.Colored"
+    });
+  } finally {
+    workerSlot.activeJobs = Math.max(0, workerSlot.activeJobs - 1);
+  }
+}
+
 const logger = Logger.getLogger();
 function errorInstanceToErrorCode(error) {
   if (error instanceof UnsupportedTopicError) {
@@ -1481,6 +1702,7 @@ function handleMessageToDecode({
   schema,
   buffer,
   topic,
+  neuralCameraIntrinsics,
   stereoDepthMaxValue
 }, configStore, errorCallback) {
   const handleDecodingError = error => {
@@ -1514,6 +1736,7 @@ function handleMessageToDecode({
       topic,
       topicSizes,
       topicDecoders,
+      neuralCameraIntrinsics,
       message,
       callback,
       type: protobufSchema.type,
@@ -1525,7 +1748,6 @@ function handleMessageToDecode({
   }
 }
 async function deserializeDepthAiMessage(args) {
-  // eslint-disable-next-line @typescript-eslint/no-shadow
   const {
     topicDecoders,
     topicSizes,
@@ -1533,6 +1755,7 @@ async function deserializeDepthAiMessage(args) {
     message,
     callback,
     topic,
+    neuralCameraIntrinsics,
     maxSteroDepth,
     onError
   } = args;
@@ -1678,6 +1901,19 @@ async function deserializeDepthAiMessage(args) {
         });
         break;
       }
+    case 'rgbd':
+      {
+        void deserializeRGBDFrameToPointCloud({
+          topic,
+          topicDecoders,
+          cameraIntrinsics: neuralCameraIntrinsics,
+          maxStereoDepth: maxSteroDepth,
+          message,
+          callback,
+          onError
+        });
+        break;
+      }
     default:
       {
         logger.warn(`Message decoding failed: unsupported type "${type}"`);