@luxonis/visualizer-protobuf 3.1.12 → 3.1.14

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (68) hide show
  1. package/dist/{FoxgloveServer-Da9kV1cr.js → FoxgloveServer-CpnCBMeV.js} +1 -1
  2. package/dist/{communicator-Dh2aL-rj.js → communicator-DO6hmBxI.js} +1 -1
  3. package/dist/{depth-DiD1V2Sg.js → depth-Me_0Xnx6.js} +89 -2
  4. package/dist/{deserialization.worker-CxHfbNSI.js → deserialization.worker-CUrCdjHf.js} +435 -154
  5. package/dist/{foxglove-protocol-BtLMVx24.js → foxglove-protocol-SrBOBs-8.js} +1 -1
  6. package/dist/{index-B5oN0fQm.js → index-5ZSfZI8d.js} +1 -1
  7. package/dist/{index-yO9F9DL5.js → index-B8aafdRQ.js} +5 -5
  8. package/dist/{index-gafqmUmi.js → index-BMew9qiQ.js} +57 -126
  9. package/dist/{index-BydKxany.js → index-BsIRFSYD.js} +36 -9
  10. package/dist/{index-B8JZ9tAh.js → index-CIhAU5Cs.js} +5 -5
  11. package/dist/{index-DuP_Wg3E.js → index-CN6tI-uI.js} +5 -5
  12. package/dist/{index-BFAcwVLJ.js → index-CQtXiN8I.js} +5 -5
  13. package/dist/{index-C-n27_wk.js → index-CZGEFE1k.js} +5 -5
  14. package/dist/{index-O1aT66OM.js → index-CeRrHeG_.js} +5 -5
  15. package/dist/{index-BtMMMbp8.js → index-CqH6rdRP.js} +5 -5
  16. package/dist/{index-CVrY6MoS.js → index-CrPun-aU.js} +5 -5
  17. package/dist/{index-9Qz76jnn.js → index-Dc3rS1Cf.js} +7 -7
  18. package/dist/{index-RxEWv1Fn.js → index-DgNYLOM9.js} +5 -5
  19. package/dist/{index-8bTMarZg.js → index-DjRF0u25.js} +5 -5
  20. package/dist/{index-CwAmHvi3.js → index-Dmc1065I.js} +5 -5
  21. package/dist/{index-BvC_JYBX.js → index-Dn6pTTdu.js} +5 -5
  22. package/dist/{index-DXdd6C_Q.js → index-N2I7Bhtx.js} +5 -5
  23. package/dist/{index-CQhsew4_.js → index-_Z7btKy-.js} +5 -5
  24. package/dist/{index-D_TjqfY9.js → index-_ggcs841.js} +5 -5
  25. package/dist/{index-oyn_LQK1.js → index-svPKcEP3.js} +5 -5
  26. package/dist/{index-DnaaNoIT.js → index-u1cGSF5c.js} +5 -5
  27. package/dist/index.js +5 -5
  28. package/dist/lib/src/components/PanelToolbar.d.ts.map +1 -1
  29. package/dist/lib/src/components/PanelToolbar.js +2 -2
  30. package/dist/lib/src/components/PanelToolbar.js.map +1 -1
  31. package/dist/lib/src/connection/foxglove-connection.d.ts.map +1 -1
  32. package/dist/lib/src/connection/foxglove-connection.js +12 -2
  33. package/dist/lib/src/connection/foxglove-connection.js.map +1 -1
  34. package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js +59 -20
  35. package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map +1 -1
  36. package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts.map +1 -1
  37. package/dist/lib/src/messaging/deserialization/pointcloud/utils.js.map +1 -1
  38. package/dist/lib/src/messaging/deserialization/video/h264.d.ts +4 -1
  39. package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map +1 -1
  40. package/dist/lib/src/messaging/deserialization/video/h264.js +25 -13
  41. package/dist/lib/src/messaging/deserialization/video/h264.js.map +1 -1
  42. package/dist/lib/src/messaging/deserialization/video/h265.d.ts +3 -0
  43. package/dist/lib/src/messaging/deserialization/video/h265.d.ts.map +1 -1
  44. package/dist/lib/src/messaging/deserialization/video/h265.js +21 -9
  45. package/dist/lib/src/messaging/deserialization/video/h265.js.map +1 -1
  46. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.d.ts +5 -5
  47. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.d.ts.map +1 -1
  48. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.js +362 -91
  49. package/dist/lib/src/messaging/deserialization/video/rgbd-to-pointcloud.js.map +1 -1
  50. package/dist/lib/src/messaging/protobuf.d.ts +2 -2
  51. package/dist/lib/src/messaging/protobuf.d.ts.map +1 -1
  52. package/dist/lib/src/messaging/protobuf.js +3 -3
  53. package/dist/lib/src/messaging/protobuf.js.map +1 -1
  54. package/dist/lib/src/utils/poitcloud-sync.d.ts +7 -2
  55. package/dist/lib/src/utils/poitcloud-sync.d.ts.map +1 -1
  56. package/dist/lib/src/utils/poitcloud-sync.js +10 -6
  57. package/dist/lib/src/utils/poitcloud-sync.js.map +1 -1
  58. package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.d.ts.map +1 -1
  59. package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js +7 -2
  60. package/dist/packages/studio-base/src/panels/ThreeDeeRender/Renderer.js.map +1 -1
  61. package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.d.ts.map +1 -1
  62. package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.js +33 -1
  63. package/dist/packages/studio-base/src/panels/ThreeDeeRender/ThreeDeeRender.js.map +1 -1
  64. package/dist/{pointcloudFromDepth.worker-60RA4Ief.js → pointcloudFromDepth.worker-wzSOsJVb.js} +86 -47
  65. package/dist/{protobuf-OcbVtxg1.js → protobuf-CKMA2Rn8.js} +214 -214
  66. package/dist/{worker-C2MHIq3t.js → worker-Bhe7uYcO.js} +4 -4
  67. package/dist/{worker-Be-hru8f.js → worker-VIU0v1ZW.js} +3 -3
  68. package/package.json +1 -1
package/dist/lib/src/connection/foxglove-connection.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js CHANGED
@@ -56,6 +56,8 @@ function depthToPointCloudBuffer(uint16Array, width, height, fx, fy, maxSteroDep
56
56
  }
57
57
  const WORKGROUP_SIZE_X = 128;
58
58
  const POINT_STRIDE_BYTES = 16;
59
+ let cachedGpuContext;
60
+ let gpuContextPromise;
59
61
  const shader = `
60
62
  struct Intrinsics {
61
63
  fx: f32,
@@ -191,6 +193,58 @@ fn main(@builtin(global_invocation_id) global_id: vec3<u32>) {
191
193
  }
192
194
  }
193
195
  `;
196
+ async function getGPUContext() {
197
+ if (cachedGpuContext) {
198
+ return cachedGpuContext;
199
+ }
200
+ if (gpuContextPromise) {
201
+ return await gpuContextPromise;
202
+ }
203
+ gpuContextPromise = (async () => {
204
+ if (typeof navigator.gpu === "undefined") {
205
+ return undefined;
206
+ }
207
+ const adapter = await navigator.gpu.requestAdapter();
208
+ if (!adapter) {
209
+ return undefined;
210
+ }
211
+ const device = await adapter.requestDevice();
212
+ const bindGroupLayout = device.createBindGroupLayout({
213
+ label: "Compute Bind Group Layout",
214
+ entries: [
215
+ { binding: 0, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
216
+ { binding: 1, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
217
+ { binding: 2, visibility: GPUShaderStage.COMPUTE, buffer: { type: "storage" } },
218
+ { binding: 3, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
219
+ ],
220
+ });
221
+ const shaderModule = device.createShaderModule({ label: "Compute Shader Module", code: shader });
222
+ const pipeline = device.createComputePipeline({
223
+ label: "Compute Pipeline",
224
+ layout: device.createPipelineLayout({ bindGroupLayouts: [bindGroupLayout] }),
225
+ compute: { module: shaderModule, entryPoint: "main" },
226
+ });
227
+ const context = {
228
+ device,
229
+ bindGroupLayout,
230
+ pipeline,
231
+ };
232
+ void device.lost.then(() => {
233
+ if (cachedGpuContext?.device === device) {
234
+ cachedGpuContext = undefined;
235
+ }
236
+ gpuContextPromise = undefined;
237
+ });
238
+ cachedGpuContext = context;
239
+ return context;
240
+ })();
241
+ try {
242
+ return await gpuContextPromise;
243
+ }
244
+ finally {
245
+ gpuContextPromise = undefined;
246
+ }
247
+ }
194
248
  async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy, cx, cy, i420Frames, i420Width, i420Height, maxSteroDepth, { hasGPU }) {
195
249
  const numFrames = depthFrames.length;
196
250
  if (numFrames === 0 || numFrames !== i420Frames.length) {
@@ -236,11 +290,11 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
236
290
  let xyzColorBuffer = null;
237
291
  let readbackBuffer = null;
238
292
  try {
239
- const adapter = await navigator.gpu.requestAdapter();
240
- if (!adapter) {
293
+ const gpuContext = await getGPUContext();
294
+ if (!gpuContext) {
241
295
  throw new Error("Failed to get GPU adapter.");
242
296
  }
243
- device = await adapter.requestDevice();
297
+ device = gpuContext.device;
244
298
  const queue = device.queue;
245
299
  const numPixelsPerFrame = depthWidth * depthHeight;
246
300
  const outputFrameSize = numPixelsPerFrame * POINT_STRIDE_BYTES;
@@ -341,18 +395,9 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
341
395
  size: totalOutputBufferSize,
342
396
  usage: GPUBufferUsage.COPY_DST | GPUBufferUsage.MAP_READ,
343
397
  });
344
- const bindGroupLayout = device.createBindGroupLayout({
345
- label: "Compute Bind Group Layout",
346
- entries: [
347
- { binding: 0, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
348
- { binding: 1, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
349
- { binding: 2, visibility: GPUShaderStage.COMPUTE, buffer: { type: "storage" } },
350
- { binding: 3, visibility: GPUShaderStage.COMPUTE, buffer: { type: "read-only-storage" } },
351
- ],
352
- });
353
398
  const bindGroup = device.createBindGroup({
354
399
  label: "Compute Bind Group",
355
- layout: bindGroupLayout,
400
+ layout: gpuContext.bindGroupLayout,
356
401
  entries: [
357
402
  { binding: 0, resource: { buffer: depthGpuBuffer } },
358
403
  { binding: 1, resource: { buffer: intrinsicsBuffer } },
@@ -360,15 +405,9 @@ async function depthToPointcloudGPU(depthFrames, depthWidth, depthHeight, fx, fy
360
405
  { binding: 3, resource: { buffer: i420GpuBuffer } },
361
406
  ],
362
407
  });
363
- const shaderModule = device.createShaderModule({ label: "Compute Shader Module", code: shader });
364
- const pipeline = device.createComputePipeline({
365
- label: "Compute Pipeline",
366
- layout: device.createPipelineLayout({ bindGroupLayouts: [bindGroupLayout] }),
367
- compute: { module: shaderModule, entryPoint: "main" },
368
- });
369
408
  const commandEncoder = device.createCommandEncoder({ label: "Compute Command Encoder" });
370
409
  const passEncoder = commandEncoder.beginComputePass({ label: "Compute Pass" });
371
- passEncoder.setPipeline(pipeline);
410
+ passEncoder.setPipeline(gpuContext.pipeline);
372
411
  passEncoder.setBindGroup(0, bindGroup);
373
412
  const numWorkgroupsX = Math.ceil(numPixelsPerFrame / WORKGROUP_SIZE_X);
374
413
  const numWorkgroupsY = numFrames;
package/dist/lib/src/messaging/deserialization/pointcloud/pointcloudFromDepth.worker.js.map CHANGED
@@ -1 +1 @@
1
- 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package/dist/lib/src/messaging/deserialization/pointcloud/utils.d.ts.map CHANGED
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package/dist/lib/src/messaging/deserialization/pointcloud/utils.js.map CHANGED
@@ -1 +1 @@
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1
+ {"version":3,"file":"utils.js","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/pointcloud/utils.ts"],"names":[],"mappings":"AAAA,sEAAsE;AACtE,oEAAoE;AACpE,0DAA0D;AAE1D,MAAM,UAAU,uBAAuB,CAAC,UAAsB;IAC5D,IAAI,UAAU,CAAC,MAAM,GAAG,CAAC,KAAK,CAAC,EAAE,CAAC;QAChC,MAAM,IAAI,KAAK,CAAC,yEAAyE,CAAC,CAAC;IAC7F,CAAC;IAED,MAAM,WAAW,GAAG,IAAI,WAAW,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,CAAC,CAAC;IAE3D,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,WAAW,CAAC,MAAM,EAAE,CAAC,EAAE,EAAE,CAAC;QAC5C,MAAM,OAAO,GAAG,UAAU,CAAC,CAAC,GAAG,CAAC,CAAC,CAAC;QAClC,MAAM,QAAQ,GAAG,UAAU,CAAC,CAAC,GAAG,CAAC,GAAG,CAAC,CAAC,CAAC;QACvC,qDAAqD;QACrD,IAAI,QAAQ,KAAK,SAAS,IAAI,OAAO,KAAK,SAAS,EAAE,CAAC;YACpD,MAAM,IAAI,KAAK,CAAC,4BAA4B,CAAC,CAAC;QAChD,CAAC;QACD,WAAW,CAAC,CAAC,CAAC,GAAG,CAAC,QAAQ,IAAI,CAAC,CAAC,GAAG,OAAO,CAAC;IAC7C,CAAC;IAED,OAAO,WAAW,CAAC;AACrB,CAAC;AAED,yBAAyB;AACzB,MAAM,UAAU,sBAAsB,CACpC,QAAoB,EACpB,SAAiB,EACjB,UAAkB,EAClB,UAAkB,EAClB,WAAmB,EACnB,IAAgB;IAEhB,MAAM,SAAS,GAAG,SAAS,GAAG,UAAU,CAAC;IACzC,MAAM,OAAO,GAAG,SAAS,CAAC;IAC1B,MAAM,OAAO,GAAG,SAAS,GAAG,CAAC,SAAS,GAAG,CAAC,CAAC,CAAC;IAC5C,MAAM,UAAU,GAAG,IAAI,CAAC,UAAU,GAAG,EAAE,CAAC;IACxC,MAAM,MAAM,GAAG,IAAI,WAAW,CAAC,IAAI,CAAC,UAAU,CAAC,CAAC;IAChD,MAAM,IAAI,GAAG,IAAI,QAAQ,CAAC,MAAM,CAAC,CAAC;IAClC,MAAM,QAAQ,GAAG,IAAI,QAAQ,CAAC,IAAI,CAAC,MAAM,CAAC,CAAC;IAE3C,KAAK,IAAI,CAAC,GAAG,CAAC,EAAE,CAAC,GAAG,UAAU,EAAE,CAAC,EAAE,EAAE,CAAC;QACpC,MAAM,MAAM,GAAG,CAAC,GAAG,UAAU,CAAC;QAC9B,MAAM,MAAM,GAAG,IAAI,CAAC,KAAK,CAAC,CAAC,GAAG,UAAU,CAAC,CAAC;QAE1C,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,SAAS,GAAG,UAAU,CAAC,CAAC,CAAC;QAC5D,MAAM,KAAK,GAAG,IAAI,CAAC,KAAK,CAAC,MAAM,GAAG,CAAC,UAAU,GAAG,WAAW,CAAC,CAAC,CAAC;QAE9D,IAAI,KAAK,IAAI,SAAS,IAAI,KAAK,IAAI,UAAU,EAAE,CAAC;YAAC,SAAS;QAAC,CAAC;QAE5D,MAAM,KAAK,GAAG,KAAK,GAAG,SAAS,GAAG,KAAK,CAAC;QACxC,MAAM,OAAO,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,CAAC,CAAC,GAAG,CAAC,SAAS,GAAG,CAAC,CAAC,GAAG,IAAI,CAAC,KAAK,CAAC,KAAK,GAAG,CAAC,CAAC,CAAC;QAEhF,MAAM,CAAC,GAAG,QAAQ,CAAC,KAAK,CAAC,IAAI,CAAC,CAAC;QAC/B,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,OAAO,GAAG,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,GAAG,CAAC;QACrD,MAAM,CAAC,GAAG,CAAC,QAAQ,CAAC,OAAO,GAAG,OAAO,CAAC,IAAI,GAAG,CAAC,GAAG,GAAG,CAAC;QAErD,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC;QACtB,IAAI,CAAC,GAAG,CAAC,GAAG,QAAQ,GAAG,CAAC,GAAG,QAAQ,GAAG,CAAC,CAAC;QACxC,IAAI,CAAC,GAAG,CAAC,GAAG,KAAK,GAAG,CAAC,CAAC;QAEtB,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAClC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAClC,CAAC,GAAG,IAAI,CAAC,GAAG,CAAC,GAAG,EAAE,IAAI,CAAC,GAAG,CAAC,CAAC,EAAE,CAAC,CAAC,CAAC,CAAC;QAElC,MAAM,MAAM,GAAG,CAAC,GAAG,EAAE,CAAC;QACtB,IAAI,CAAC,UAAU,CAAC,MAAM,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QACtE,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QAC9E,IAAI,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,QAAQ,CAAC,UAAU,CAAC,MAAM,GAAG,CAAC,EAAE,IAAI,CAAC,EAAE,IAAI,CAAC,CAAC,CAAC,IAAI;QAC9E,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,MAAM;QACrC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,QAAQ;QACvC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,CAAC,CAAC,CAAC,CAAC,OAAO;QACtC,IAAI,CAAC,QAAQ,CAAC,MAAM,GAAG,EAAE,EAAE,GAAG,CAAC,CAAC,CAAC,uBAAuB;IAC1D,CAAC;IAED,OAAO,IAAI,UAAU,CAAC,MAAM,CAAC,CAAC;AAChC,CAAC"}
package/dist/lib/src/messaging/deserialization/video/h264.d.ts CHANGED
@@ -6,13 +6,16 @@ export type TopicDecoders = Map<string, {
6
6
  decoder: VideoDecoder;
7
7
  timing: Map<number, Timestamp>;
8
8
  transformations: Map<number, ImgTransformation | undefined>;
9
+ pendingCallbacks: Map<number, (event: MessageEvent) => void>;
10
+ callback: (event: MessageEvent) => void;
11
+ onError: (error: Error) => void;
9
12
  }>;
10
13
  export type PackedVideoPixelFormat = "RGBX" | "RGBA" | "BGRX" | "BGRA";
11
14
  export type VideoPlaneLayout = Required<Pick<PlaneLayout, "offset" | "stride">>;
12
15
  export declare function packedToI420(packed: Uint8Array, width: number, height: number, stride: number, format: PackedVideoPixelFormat, cropLeft?: number, cropTop?: number): Uint8Array;
13
16
  export declare function convertNv12ToI420(nv12Buffer: Uint8Array, width: number, height: number, yStride: number, uvStride: number, yOffset?: number, uvOffset?: number, cropLeft?: number, cropTop?: number): Uint8Array;
14
17
  export declare function repackI420(source: Uint8Array, width: number, height: number, yLayout: VideoPlaneLayout, uLayout: VideoPlaneLayout, vLayout: VideoPlaneLayout, cropLeft?: number, cropTop?: number): Uint8Array;
15
- export declare function copyVideoFrameToI420(frame: VideoFrame, logPrefix: string): Promise<{
18
+ export declare function copyVideoFrameToI420(frame: VideoFrame, _logPrefix: string): Promise<{
16
19
  data: Uint8Array;
17
20
  width: number;
18
21
  height: number;
package/dist/lib/src/messaging/deserialization/video/h264.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"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;CAC7D,CACF,CAAC;AASF,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;AA2DD,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,CA2FjD"}
1
+ {"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,gBAAgB,EAAE,GAAG,CAAC,MAAM,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC,CAAC;IAC7D,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;AAsChF,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,UAAU,EAAE,MAAM,GACjB,OAAO,CAAC;IAAE,IAAI,EAAE,UAAU,CAAC;IAAC,KAAK,EAAE,MAAM,CAAC;IAAC,MAAM,EAAE,MAAM,CAAA;CAAE,CAAC,CA8D9D;AA0DD,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,CAuGjD"}
package/dist/lib/src/messaging/deserialization/video/h264.js CHANGED
@@ -33,6 +33,7 @@ function closeTopicDecoder(topic, topicDecoders) {
33
33
  closeDecoder(decoderInfo?.decoder);
34
34
  decoderInfo?.timing.clear();
35
35
  decoderInfo?.transformations.clear();
36
+ decoderInfo?.pendingCallbacks.clear();
36
37
  }
37
38
  function isIgnorableInitialDecodeError(error) {
38
39
  const message = error instanceof Error ? error.message : String(error);
@@ -142,14 +143,13 @@ export function repackI420(source, width, height, yLayout, uLayout, vLayout, cro
142
143
  }
143
144
  return out;
144
145
  }
145
- export async function copyVideoFrameToI420(frame, logPrefix) {
146
+ export async function copyVideoFrameToI420(frame, _logPrefix) {
146
147
  const visibleRect = frame.visibleRect;
147
148
  const frameWidth = visibleRect?.width ?? frame.codedWidth;
148
149
  const frameHeight = visibleRect?.height ?? frame.codedHeight;
149
150
  const cropLeft = visibleRect?.x ?? 0;
150
151
  const cropTop = visibleRect?.y ?? 0;
151
152
  let finalBuffer = new Uint8Array(frame.allocationSize());
152
- 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},${cropTop}`);
153
153
  switch (frame.format) {
154
154
  case "I420": {
155
155
  const i420Buffer = new Uint8Array(frame.allocationSize());
@@ -174,12 +174,10 @@ export async function copyVideoFrameToI420(frame, logPrefix) {
174
174
  case "BGRA": {
175
175
  const packedBuffer = new Uint8Array(frame.allocationSize());
176
176
  const [layout] = await frame.copyTo(packedBuffer);
177
- logger.warn(`${logPrefix} decoder received ${frame.format} frame.`);
178
177
  finalBuffer = packedToI420(packedBuffer, frameWidth, frameHeight, layout?.stride ?? frame.codedWidth * 4, frame.format, cropLeft, cropTop);
179
178
  break;
180
179
  }
181
180
  default:
182
- logger.warn(`${logPrefix} decoder received unexpected frame format:`, frame.format);
183
181
  break;
184
182
  }
185
183
  return {
@@ -188,17 +186,19 @@ export async function copyVideoFrameToI420(frame, logPrefix) {
188
186
  height: frameHeight,
189
187
  };
190
188
  }
191
- function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
189
+ function createVideoDecoder({ topic, topicDecoders, }) {
192
190
  let hasProducedFrame = false;
193
191
  return new VideoDecoder({
194
192
  output: async (frame) => {
195
193
  hasProducedFrame = true;
196
194
  const { data: finalBuffer, width: frameWidth, height: frameHeight } = await copyVideoFrameToI420(frame, "H264");
197
- const receiveTime = topicDecoders.get(topic)?.timing.get(frame.timestamp)
198
- ??
199
- fromMicros(frame.timestamp);
200
- const transformation = topicDecoders.get(topic)?.transformations.get(frame.timestamp);
201
- topicDecoders.get(topic)?.transformations.delete(frame.timestamp);
195
+ const decoderInfo = topicDecoders.get(topic);
196
+ const receiveTime = decoderInfo?.timing.get(frame.timestamp) ?? fromMicros(frame.timestamp);
197
+ const transformation = decoderInfo?.transformations.get(frame.timestamp);
198
+ const callback = decoderInfo?.pendingCallbacks.get(frame.timestamp) ?? decoderInfo?.callback;
199
+ decoderInfo?.timing.delete(frame.timestamp);
200
+ decoderInfo?.transformations.delete(frame.timestamp);
201
+ decoderInfo?.pendingCallbacks.delete(frame.timestamp);
202
202
  const foxgloveMessage = {
203
203
  timestamp: receiveTime,
204
204
  frame_id: `h264-${topic}-frame`,
@@ -208,7 +208,7 @@ function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
208
208
  encoding: "yuv420p",
209
209
  step: frameWidth
210
210
  };
211
- callback({
211
+ callback?.({
212
212
  topic,
213
213
  receiveTime,
214
214
  message: foxgloveMessage,
@@ -226,7 +226,7 @@ function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
226
226
  }
227
227
  logger.error(error);
228
228
  closeTopicDecoder(topic, topicDecoders);
229
- onError(new DecoderRuntimeError(topic, error.message));
229
+ topicDecoders.get(topic)?.onError(new DecoderRuntimeError(topic, error.message));
230
230
  },
231
231
  });
232
232
  }
@@ -238,7 +238,7 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
238
238
  }
239
239
  const existingDecoderInfo = topicDecoders.get(topic);
240
240
  if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
241
- const decoder = createVideoDecoder({ topic, callback, topicDecoders, onError });
241
+ const decoder = createVideoDecoder({ topic, topicDecoders });
242
242
  try {
243
243
  configureDecoder(decoder);
244
244
  }
@@ -251,12 +251,18 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
251
251
  existingDecoderInfo.decoder = decoder;
252
252
  existingDecoderInfo.timing.clear();
253
253
  existingDecoderInfo.transformations.clear();
254
+ existingDecoderInfo.pendingCallbacks.clear();
255
+ existingDecoderInfo.callback = callback;
256
+ existingDecoderInfo.onError = onError;
254
257
  }
255
258
  else {
256
259
  topicDecoders.set(topic, {
257
260
  decoder,
258
261
  timing: new Map(),
259
262
  transformations: new Map(),
263
+ pendingCallbacks: new Map(),
264
+ callback,
265
+ onError,
260
266
  });
261
267
  }
262
268
  }
@@ -265,6 +271,9 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
265
271
  configureDecoder(existingDecoderInfo.decoder);
266
272
  existingDecoderInfo.timing.clear();
267
273
  existingDecoderInfo.transformations.clear();
274
+ existingDecoderInfo.pendingCallbacks.clear();
275
+ existingDecoderInfo.callback = callback;
276
+ existingDecoderInfo.onError = onError;
268
277
  }
269
278
  catch (error) {
270
279
  closeTopicDecoder(topic, topicDecoders);
@@ -276,6 +285,8 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
276
285
  if (!decoderInfo) {
277
286
  return;
278
287
  }
288
+ decoderInfo.callback = callback;
289
+ decoderInfo.onError = onError;
279
290
  if (decoderInfo.decoder.decodeQueueSize > 60) {
280
291
  decoderInfo.decoder.reset();
281
292
  decoderInfo.timing.clear();
@@ -285,6 +296,7 @@ export async function deserializeEncodedFrameH264({ topic, message, topicDecoder
285
296
  const microTimestamp = receiveTime.sec * 1_000_000 + Math.floor(receiveTime.nsec / 1_000);
286
297
  decoderInfo.timing.set(microTimestamp, receiveTime);
287
298
  decoderInfo.transformations.set(microTimestamp, message.transformation);
299
+ decoderInfo.pendingCallbacks.set(microTimestamp, callback);
288
300
  const frame = {
289
301
  type: 'key',
290
302
  data: message.data,
package/dist/lib/src/messaging/deserialization/video/h264.js.map CHANGED
@@ -1 +1 @@
1
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package/dist/lib/src/messaging/deserialization/video/h265.d.ts CHANGED
@@ -6,6 +6,9 @@ export type TopicDecoders = Map<string, {
6
6
  decoder: VideoDecoder;
7
7
  timing: Map<number, Timestamp>;
8
8
  transformations: Map<number, ImgTransformation | undefined>;
9
+ pendingCallbacks: Map<number, (event: MessageEvent) => void>;
10
+ callback: (event: MessageEvent) => void;
11
+ onError: (error: Error) => void;
9
12
  }>;
10
13
  type DeserializeEncodedFrameH265Args = {
11
14
  topic: string;
package/dist/lib/src/messaging/deserialization/video/h265.d.ts.map CHANGED
@@ -1 +1 @@
1
- {"version":3,"file":"h265.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h265.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAC3E,OAAO,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACnE,OAAO,EAAE,iBAAiB,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;AAgCrF,MAAM,MAAM,aAAa,GAAG,GAAG,CAC7B,MAAM,EACN;IACE,OAAO,EAAE,YAAY,CAAC;IACtB,MAAM,EAAE,GAAG,CAAC,MAAM,EAAE,SAAS,CAAC,CAAC;IAC/B,eAAe,EAAE,GAAG,CAAC,MAAM,EAAE,iBAAiB,GAAG,SAAS,CAAC,CAAC;CAC7D,CACF,CAAC;AAwDF,KAAK,+BAA+B,GAAG;IACrC,KAAK,EAAE,MAAM,CAAC;IACd,OAAO,EAAE,YAAY,GAAG,QAAQ,CAAC;IACjC,aAAa,EAAE,aAAa,CAAC;IAC7B,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CAAC;AAEF,wBAAsB,2BAA2B,CAAC,EAChD,KAAK,EACL,OAAO,EACP,aAAa,EACb,QAAQ,EACR,OAAO,GACR,EAAE,+BAA+B,GAAG,OAAO,CAAC,IAAI,CAAC,CAyEjD"}
1
+ {"version":3,"file":"h265.d.ts","sourceRoot":"","sources":["../../../../../../src/messaging/deserialization/video/h265.ts"],"names":[],"mappings":"AAOA,OAAO,EAAE,YAAY,EAAE,MAAM,qCAAqC,CAAC;AAEnE,OAAO,EAAE,YAAY,EAAE,MAAM,6CAA6C,CAAC;AAC3E,OAAO,EAAE,QAAQ,EAAE,MAAM,yCAAyC,CAAC;AACnE,OAAO,EAAE,iBAAiB,EAAE,SAAS,EAAE,MAAM,uCAAuC,CAAC;AAiCrF,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,gBAAgB,EAAE,GAAG,CAAC,MAAM,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC,CAAC;IAC7D,QAAQ,EAAE,CAAC,KAAK,EAAE,YAAY,KAAK,IAAI,CAAC;IACxC,OAAO,EAAE,CAAC,KAAK,EAAE,KAAK,KAAK,IAAI,CAAC;CACjC,CACF,CAAC;AAqDF,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,CAkFjD"}
package/dist/lib/src/messaging/deserialization/video/h265.js CHANGED
@@ -28,16 +28,19 @@ function closeTopicDecoder(topic, topicDecoders) {
28
28
  closeDecoder(decoderInfo?.decoder);
29
29
  decoderInfo?.timing.clear();
30
30
  decoderInfo?.transformations.clear();
31
+ decoderInfo?.pendingCallbacks.clear();
31
32
  }
32
- function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
33
+ function createVideoDecoder({ topic, topicDecoders, }) {
33
34
  return new VideoDecoder({
34
35
  output: async (frame) => {
35
36
  const { data: buffer, width, height } = await copyVideoFrameToI420(frame, "H265");
36
- const receiveTime = topicDecoders.get(topic)?.timing.get(frame.timestamp)
37
- ??
38
- fromMicros(frame.timestamp);
39
- const transformation = topicDecoders.get(topic)?.transformations.get(frame.timestamp);
40
- topicDecoders.get(topic)?.transformations.delete(frame.timestamp);
37
+ const decoderInfo = topicDecoders.get(topic);
38
+ const receiveTime = decoderInfo?.timing.get(frame.timestamp) ?? fromMicros(frame.timestamp);
39
+ const transformation = decoderInfo?.transformations.get(frame.timestamp);
40
+ const callback = decoderInfo?.pendingCallbacks.get(frame.timestamp) ?? decoderInfo?.callback;
41
+ decoderInfo?.timing.delete(frame.timestamp);
42
+ decoderInfo?.transformations.delete(frame.timestamp);
43
+ decoderInfo?.pendingCallbacks.delete(frame.timestamp);
41
44
  const foxgloveMessage = {
42
45
  timestamp: receiveTime,
43
46
  frame_id: `h265-${topic}-frame`,
@@ -47,7 +50,7 @@ function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
47
50
  encoding: "yuv420p",
48
51
  step: width,
49
52
  };
50
- callback({
53
+ callback?.({
51
54
  topic,
52
55
  receiveTime,
53
56
  message: foxgloveMessage,
@@ -60,7 +63,7 @@ function createVideoDecoder({ topic, callback, topicDecoders, onError, }) {
60
63
  error: (error) => {
61
64
  logger.error(error);
62
65
  closeTopicDecoder(topic, topicDecoders);
63
- onError(new DecoderRuntimeError(topic, error.message));
66
+ topicDecoders.get(topic)?.onError(new DecoderRuntimeError(topic, error.message));
64
67
  },
65
68
  });
66
69
  }
@@ -72,7 +75,7 @@ export async function deserializeEncodedFrameH265({ topic, message, topicDecoder
72
75
  }
73
76
  const existingDecoderInfo = topicDecoders.get(topic);
74
77
  if (!existingDecoderInfo || existingDecoderInfo.decoder.state === "closed") {
75
- const decoder = createVideoDecoder({ topic, callback, topicDecoders, onError });
78
+ const decoder = createVideoDecoder({ topic, topicDecoders });
76
79
  try {
77
80
  decoder.configure({
78
81
  codec: "hev1.1.6.L93.B0",
@@ -88,12 +91,18 @@ export async function deserializeEncodedFrameH265({ topic, message, topicDecoder
88
91
  existingDecoderInfo.decoder = decoder;
89
92
  existingDecoderInfo.timing.clear();
90
93
  existingDecoderInfo.transformations.clear();
94
+ existingDecoderInfo.pendingCallbacks.clear();
95
+ existingDecoderInfo.callback = callback;
96
+ existingDecoderInfo.onError = onError;
91
97
  }
92
98
  else {
93
99
  topicDecoders.set(topic, {
94
100
  decoder,
95
101
  timing: new Map(),
96
102
  transformations: new Map(),
103
+ pendingCallbacks: new Map(),
104
+ callback,
105
+ onError,
97
106
  });
98
107
  }
99
108
  }
@@ -101,6 +110,8 @@ export async function deserializeEncodedFrameH265({ topic, message, topicDecoder
101
110
  if (!decoderInfo) {
102
111
  return;
103
112
  }
113
+ decoderInfo.callback = callback;
114
+ decoderInfo.onError = onError;
104
115
  if (decoderInfo.decoder.decodeQueueSize > 60) {
105
116
  decoderInfo.decoder.reset();
106
117
  return;
@@ -108,6 +119,7 @@ export async function deserializeEncodedFrameH265({ topic, message, topicDecoder
108
119
  const microTimestamp = receiveTime.sec * 1_000_000 + Math.floor(receiveTime.nsec / 1_000);
109
120
  decoderInfo.timing.set(microTimestamp, receiveTime);
110
121
  decoderInfo.transformations.set(microTimestamp, message.transformation);
122
+ decoderInfo.pendingCallbacks.set(microTimestamp, callback);
111
123
  const frame = {
112
124
  type: 'key',
113
125
  data: message.data,