/realsense-depth-to-vaapi-hevc10

Hardware encode Realsense D400 depth stream to HEVC Main10

Primary LanguageC++Mozilla Public License 2.0MPL-2.0

realsense-depth-to-vaapi-hevc10

This program is example how to use:

  • VAAPI through HVE (FFmpeg) to hardware encode
  • Realsense D400 depth stream
  • to HEVC Main10 raw "video"
  • with 10 bit depth encoding
  • stored to disk as example

See benchmarks on wiki for CPU/GPU usage.

See how it works on wiki to understand the code.

See hardware-video-streaming for other related projects.

See video for wireless point cloud streaming example.

Warning

This program uses video codec for depth map encoding. It will not work perfectly.

Consider HEVC 3D extension software encoder if you are not concerned with:

  • CPU usage
  • realtime requirements

Platforms

Unix-like operating systems (e.g. Linux). Tested on Ubuntu 18.04.

Hardware

  • D400 series camera
  • Intel VAAPI compatible hardware encoder (Quick Sync Video), at least Kaby Lake (see also HVE issue)

Tested with D435 camera.

Dependencies

Program depends on:

Install RealSense™ SDK 2.0 as described on github

HVE is included as submodule, you only need to meet its dependencies (FFmpeg).

HVE works with system FFmpeg on Ubuntu 18.04 and doesn't on 16.04 (outdated FFmpeg and VAAPI ecosystem).

Building Instructions

Tested on Ubuntu 18.04.

# update package repositories
sudo apt-get update 
# get avcodec and avutil (and ffmpeg for testing)
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev
# get compilers and make
sudo apt-get install build-essential
# get cmake - we need to specify libcurl4 for Ubuntu 18.04 dependencies problem
sudo apt-get install libcurl4 cmake
# get git
sudo apt-get install git
# clone the repository (don't forget `--recursive` for submodule!)
git clone --recursive https://github.com/bmegli/realsense-depth-to-vaapi-hevc10.git

# finally build the program
cd realsense-depth-to-vaapi-hevc10
mkdir build
cd build
cmake ..
make

Running

# realsense-depth-to-vaapi-hevc10 <width> <height> <framerate> <depth units> <seconds> [device]
# e.g
./realsense-depth-to-vaapi-hevc10 848 480 30 0.0001 5

Details:

  • width and height have to be supported by D400 camera and HEVC
  • framerate and depth units have to be supported by D400 camera

Troubleshooting

If you have multiple VAAPI devices you may have to specify Intel directly.

Check with:

sudo apt-get install vainfo
# try the devices you have in /dev/dri/ path
vainfo --display drm --device /dev/dri/renderD128

Once you identify your Intel device run the program, e.g.

./realsense-depth-to-vaapi-hevc10 848 480 30 0.0001 5 /dev/dri/renderD128

Testing

Play result raw HEVC file with FFmpeg:

# output goes to output.hevc file
ffplay output.hevc

You will see:

  • dark colors for near depth (near 0 value)
  • light colors for far depth (near 65472 value)
  • black where there is no data (0 value)
  • all above is somewhat counterintuitive

License

realsense-depth-to-vaapi-hevc10 and HVE are licensed under Mozilla Public License, v. 2.0

This is similiar to LGPL but more permissive:

  • you can use it as LGPL in prioprietrary software
  • unlike LGPL you may compile it statically with your code
  • the license works on file-by-file basis

Like in LGPL, if you modify the code, you have to make your changes available. Making a github fork with your changes satisfies those requirements perfectly.

Since you are linking to FFmpeg libraries. Consider also avcodec and avutil licensing.

Beyond Depth Encoding

The next logical step is to add texture to the depth map.

RNHVE already does that. If you are interested see: