@luxonis/visualizer-protobuf 3.1.11 → 3.1.13

package/dist/lib/src/messaging/deserialization/video/h264.d.ts

@@ -6,14 +6,19 @@ export type TopicDecoders = Map<string, {
     decoder: VideoDecoder;
     timing: Map<number, Timestamp>;
     transformations: Map<number, ImgTransformation | undefined>;
-    pendingFrame?: PendingFrame;
+    callback: (event: MessageEvent) => void;
+    onError: (error: Error) => void;
 }>;
-type PendingFrame = {
+export type PackedVideoPixelFormat = "RGBX" | "RGBA" | "BGRX" | "BGRA";
+export type VideoPlaneLayout = Required<Pick<PlaneLayout, "offset" | "stride">>;
+export declare function packedToI420(packed: Uint8Array, width: number, height: number, stride: number, format: PackedVideoPixelFormat, cropLeft?: number, cropTop?: number): Uint8Array;
+export declare function convertNv12ToI420(nv12Buffer: Uint8Array, width: number, height: number, yStride: number, uvStride: number, yOffset?: number, uvOffset?: number, cropLeft?: number, cropTop?: number): Uint8Array;
+export declare function repackI420(source: Uint8Array, width: number, height: number, yLayout: VideoPlaneLayout, uLayout: VideoPlaneLayout, vLayout: VideoPlaneLayout, cropLeft?: number, cropTop?: number): Uint8Array;
+export declare function copyVideoFrameToI420(frame: VideoFrame, logPrefix: string): Promise<{
     data: Uint8Array;
-    timestamp: number;
-    receiveTime: Timestamp;
-    transformation: ImgTransformation | undefined;
-};
+    width: number;
+    height: number;
+}>;
 type DeserializeEncodedFrameH264Args = {
     topic: string;
     message: EncodedFrame | ImgFrame;

package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"h264.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h264.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;AAQrF,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;IAC5D,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CACF,CAAC;AAOF,MAAM,MAAM,sBAAsB,GAAG,MAAM,GAAG,MAAM,GAAG,MAAM,GAAG,MAAM,CAAC;AACvE,MAAM,MAAM,gBAAgB,GAAG,QAAQ,CAAC,IAAI,CAAC,WAAW,EAAE,QAAQ,GAAG,QAAQ,CAAC,CAAC,CAAC;AAqChF,wBAAgB,YAAY,CAC1B,MAAM,EAAE,UAAU,EAClB,KAAK,EAAE,MAAM,EACb,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,MAAM,EACd,MAAM,EAAE,sBAAsB,EAC9B,QAAQ,SAAI,EACZ,OAAO,SAAI,GACV,UAAU,CAqEZ;AACD,wBAAgB,iBAAiB,CAC/B,UAAU,EAAE,UAAU,EACtB,KAAK,EAAE,MAAM,EACb,MAAM,EAAE,MAAM,EACd,OAAO,EAAE,MAAM,EACf,QAAQ,EAAE,MAAM,EAChB,OAAO,SAAI,EACX,QAAQ,SAAmB,EAC3B,QAAQ,SAAI,EACZ,OAAO,SAAI,GACV,UAAU,CA4BZ;AAED,wBAAgB,UAAU,CACxB,MAAM,EAAE,UAAU,EAClB,KAAK,EAAE,MAAM,EACb,MAAM,EAAE,MAAM,EACd,OAAO,EAAE,gBAAgB,EACzB,OAAO,EAAE,gBAAgB,EACzB,OAAO,EAAE,gBAAgB,EACzB,QAAQ,SAAI,EACZ,OAAO,SAAI,GACV,UAAU,CAuBZ;AAED,wBAAsB,oBAAoB,CACxC,KAAK,EAAE,UAAU,EACjB,SAAS,EAAE,MAAM,GAChB,OAAO,CAAC;IAAE,IAAI,EAAE,UAAU,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,MAAM,EAAE,MAAM,CAAA;CAAE,CAAC,CAoE9D;AAyDD,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,CAmGjD"}

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

@@ -14,11 +14,6 @@ function configureDecoder(decoder) {
         optimizeForLatency: true,
     });
 }
-function ensureDecoderConfigured(decoder) {
-    if (decoder.state === "unconfigured") {
-        configureDecoder(decoder);
-    }
-}
 function closeDecoder(decoder) {
     if (!decoder) {
         return;
@@ -35,98 +30,15 @@ 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 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(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.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(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;
-        }
-        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."));
-    }
-}
-function packedToI420(packed, width, height, stride, format, cropLeft = 0, cropTop = 0) {
+export 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.");
     }
@@ -184,7 +96,7 @@ function packedToI420(packed, width, height, stride, format, cropLeft = 0, cropT
     }
     return out;
 }
-function convertNv12ToI420(nv12Buffer, width, height, yStride, uvStride, yOffset = 0, uvOffset = yStride * height, cropLeft = 0, cropTop = 0) {
+export 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);
@@ -209,7 +121,7 @@ function convertNv12ToI420(nv12Buffer, width, height, yStride, uvStride, yOffset
     }
     return i420Buffer;
 }
-function repackI420(source, width, height, yLayout, uLayout, vLayout, cropLeft = 0, cropTop = 0) {
+export function repackI420(source, width, height, yLayout, uLayout, vLayout, cropLeft = 0, cropTop = 0) {
     const ySize = width * height;
     const uvWidth = width >> 1;
     const uvHeight = height >> 1;
@@ -230,67 +142,61 @@ function repackI420(source, width, height, yLayout, uLayout, vLayout, cropLeft =
     }
     return out;
 }
-function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
+export async function copyVideoFrameToI420(frame, logPrefix) {
+    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(`${logPrefix} decoder output format: ${frame.format}, coded=${frame.codedWidth}x${frame.codedHeight}, display=${frame.displayWidth}x${frame.displayHeight}, visible=${frameWidth}x${frameHeight}@${cropLeft},${cropTop}`);
+    switch (frame.format) {
+        case "I420": {
+            const i420Buffer = new Uint8Array(frame.allocationSize());
+            const layouts = await frame.copyTo(i420Buffer);
+            const [yLayout, uLayout, vLayout] = layouts;
+            finalBuffer =
+                yLayout != undefined && uLayout != undefined && vLayout != undefined
+                    ? repackI420(i420Buffer, frameWidth, frameHeight, yLayout, uLayout, vLayout, cropLeft, cropTop)
+                    : i420Buffer;
+            break;
+        }
+        case "NV12": {
+            const nv12Buffer = new Uint8Array(frame.allocationSize());
+            const layouts = await frame.copyTo(nv12Buffer);
+            const [yLayout, uvLayout] = layouts;
+            finalBuffer = convertNv12ToI420(nv12Buffer, frameWidth, frameHeight, yLayout?.stride ?? frame.codedWidth, uvLayout?.stride ?? frame.codedWidth, yLayout?.offset ?? 0, uvLayout?.offset ?? (yLayout?.stride ?? frame.codedWidth) * frame.codedHeight, cropLeft, cropTop);
+            break;
+        }
+        case "RGBX":
+        case "RGBA":
+        case "BGRX":
+        case "BGRA": {
+            const packedBuffer = new Uint8Array(frame.allocationSize());
+            const [layout] = await frame.copyTo(packedBuffer);
+            logger.warn(`${logPrefix} decoder received ${frame.format} frame.`);
+            finalBuffer = packedToI420(packedBuffer, frameWidth, frameHeight, layout?.stride ?? frame.codedWidth * 4, frame.format, cropLeft, cropTop);
+            break;
+        }
+        default:
+            logger.warn(`${logPrefix} decoder received unexpected frame format:`, frame.format);
+            break;
+    }
+    return {
+        data: finalBuffer,
+        width: frameWidth,
+        height: frameHeight,
+    };
+}
+function createVideoDecoder({ topic, topicDecoders, }) {
     let hasProducedFrame = false;
-    let decoder;
-    decoder = new VideoDecoder({
+    return new VideoDecoder({
         output: async (frame) => {
-            if (topicDecoders.get(topic)?.decoder !== decoder) {
-                frame.close();
-                return;
-            }
             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": {
-                    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());
-                    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 "RGBA":
-                case "BGRX":
-                case "BGRA": {
-                    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:
-                    // Unsupported format, already warned below
-                    break;
-            }
-            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);
-            }
+            const { data: finalBuffer, width: frameWidth, height: frameHeight } = await copyVideoFrameToI420(frame, "H264");
             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 foxgloveMessage = {
@@ -302,7 +208,7 @@ function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
                 encoding: "yuv420p",
                 step: frameWidth
             };
-            callback({
+            topicDecoders.get(topic)?.callback({
                 topic,
                 receiveTime,
                 message: foxgloveMessage,
@@ -311,14 +217,8 @@ 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;
-            }
             if (!hasProducedFrame && isIgnorableInitialDecodeError(error)) {
                 logger.warn(`Ignoring initial H264 decoder error for topic ${topic}: ${error.message}`);
                 closeTopicDecoder(topic, topicDecoders);
@@ -326,10 +226,9 @@ function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
             }
             logger.error(error);
             closeTopicDecoder(topic, topicDecoders);
-            onError(new DecoderRuntimeError(topic, error.message));
+            topicDecoders.get(topic)?.onError(new DecoderRuntimeError(topic, error.message));
         },
     });
-    return decoder;
 }
 export async function deserializeEncodedFrameH264({ topic, message, topicDecoders, callback, onError, }) {
     const { receiveTime } = parseMessage(message);
@@ -338,9 +237,44 @@ export async function deserializeEncodedFrameH264({ 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, topicDecoders });
+        try {
+            configureDecoder(decoder);
+        }
+        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();
+            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(topic, topicDecoders);
+            onError(new DecoderRuntimeError(topic, error instanceof Error ? error.message : "Failed to reconfigure H.264 decoder."));
             return;
         }
     }
@@ -348,18 +282,33 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
     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 * 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) {
+        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."));
     }
-    decoderInfo.pendingFrame = frame;
-    decodePendingFrame(topic, topicDecoders, callback, onError);
 }
 //# 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

@@ -6,14 +6,9 @@ export type TopicDecoders = Map<string, {
     decoder: VideoDecoder;
     timing: Map<number, Timestamp>;
     transformations: Map<number, ImgTransformation | undefined>;
-    pendingFrame?: PendingFrame;
+    callback: (event: MessageEvent) => void;
+    onError: (error: Error) => void;
 }>;
-type PendingFrame = {
-    data: Uint8Array;
-    timestamp: number;
-    receiveTime: Timestamp;
-    transformation: ImgTransformation | undefined;
-};
 type DeserializeEncodedFrameH265Args = {
     topic: string;
     message: EncodedFrame | ImgFrame;

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

@@ -1 +1 @@
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