@luxonis/visualizer-protobuf 3.1.11 → 3.1.13

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;
@@ -35,116 +25,29 @@ 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({
+function createVideoDecoder({ topic, topicDecoders, }) {
+    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({
+            topicDecoders.get(topic)?.callback({
                 topic,
                 receiveTime,
                 message: foxgloveMessage,
@@ -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));
+            topicDecoders.get(topic)?.onError(new DecoderRuntimeError(topic, error.message));
         },
     });
-    return decoder;
 }
 export async function deserializeEncodedFrameH265({ topic, message, topicDecoders, callback, onError, }) {
     const { receiveTime } = parseMessage(message);
@@ -175,28 +71,61 @@ 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, topicDecoders });
+        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 * 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 @@
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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, onError, }: 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 @@
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