-
Notifications
You must be signed in to change notification settings - Fork 3
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Related to #26
- Loading branch information
Showing
3 changed files
with
48 additions
and
30 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -2,7 +2,7 @@ | |
| * Realsense Network Hardware Video Encoder | ||
| * | ||
| * Realsense hardware encoded UDP HEVC streaming | ||
| * - color/infrared (Main) | ||
| * - color/infrared/infrared rgb (Main) | ||
| * - depth (Main10) | ||
| * | ||
| * Copyright 2020 (C) Bartosz Meglicki <[email protected]> | ||
|
|
@@ -28,7 +28,7 @@ using namespace std; | |
|
|
||
| int hint_user_on_failure(char *argv[]); | ||
|
|
||
| enum StreamType {COLOR, INFRARED, DEPTH}; | ||
| enum StreamType {COLOR, INFRARED, INFRARED_RGB, DEPTH}; | ||
|
|
||
| //user supplied input | ||
| struct input_args | ||
|
|
@@ -78,10 +78,10 @@ int main(int argc, char* argv[]) | |
|
|
||
| bool status = false; | ||
|
|
||
| if(user_input.stream == COLOR || user_input.stream == INFRARED) | ||
| status = main_loop_color_infrared(user_input, realsense, streamer); | ||
| if(user_input.stream == DEPTH) | ||
| status = main_loop_depth(user_input, realsense, streamer); | ||
| else //color, infrared, infrared rgb | ||
| status = main_loop_color_infrared(user_input, realsense, streamer); | ||
|
|
||
| nhve_close(streamer); | ||
|
|
||
|
|
@@ -97,17 +97,17 @@ bool main_loop_color_infrared(const input_args& input, rs2::pipeline& realsense, | |
| const int frames = input.seconds * input.framerate; | ||
| int f; | ||
| nhve_frame frame = {0}; | ||
| uint8_t *color_data = NULL; //data of dummy color plane for NV12 | ||
| uint8_t *color_data = NULL; //data of dummy color plane for NV12 with Realsense infrared | ||
|
|
||
| for(f = 0; f < frames; ++f) | ||
| { | ||
| rs2::frameset frameset = realsense.wait_for_frames(); | ||
|
|
||
| rs2::video_frame video_frame = input.stream == COLOR ? frameset.get_color_frame() : frameset.get_infrared_frame(1); | ||
| rs2::video_frame video_frame = (input.stream == COLOR) ? frameset.get_color_frame() : frameset.get_infrared_frame(0); | ||
|
|
||
| if(!(input.stream == COLOR) && !color_data) | ||
| { //prepare dummy color plane for NV12 format, half the size of Y | ||
| //we can't alloc it in advance, this is the first time we know realsense stride | ||
| if(input.stream == INFRARED && !color_data) | ||
| { //prepare dummy color plane for NV12 format, half the size of Y | ||
| //we can't alloc it in advance, this is the first time we know realsense stride | ||
| int size = video_frame.get_stride_in_bytes()*video_frame.get_height()/2; | ||
| color_data = new uint8_t[size]; | ||
| memset(color_data, 128, size); | ||
|
|
@@ -116,8 +116,8 @@ bool main_loop_color_infrared(const input_args& input, rs2::pipeline& realsense, | |
| frame.linesize[0] = video_frame.get_stride_in_bytes(); | ||
| frame.data[0] = (uint8_t*) video_frame.get_data(); | ||
|
|
||
| //if we are streaming infrared we have 2 planes (luminance and color) | ||
| frame.linesize[1] = (input.stream == COLOR) ? 0 : frame.linesize[0]; | ||
| //if we are streaming infrared we have 2 planes (luminance and dummy color) | ||
| frame.linesize[1] = (input.stream == INFRARED) ? frame.linesize[0] : 0; | ||
| frame.data[1] = color_data; //dummy color plane for infrared | ||
|
|
||
| if(nhve_send(streamer, &frame, 0) != NHVE_OK) | ||
|
|
@@ -212,10 +212,9 @@ void init_realsense(rs2::pipeline& pipe, input_args& input) | |
| if(input.stream == COLOR) | ||
| cfg.enable_stream(RS2_STREAM_COLOR, input.width, input.height, RS2_FORMAT_YUYV, input.framerate); | ||
| else if(input.stream == INFRARED) | ||
| {// depth stream seems to be required for infrared to work | ||
| cfg.enable_stream(RS2_STREAM_DEPTH, input.width, input.height, RS2_FORMAT_Z16, input.framerate); | ||
| cfg.enable_stream(RS2_STREAM_INFRARED, input.width, input.height, RS2_FORMAT_Y8, input.framerate); | ||
| } | ||
| else if(input.stream == INFRARED_RGB) | ||
| cfg.enable_stream(RS2_STREAM_INFRARED, input.width, input.height, RS2_FORMAT_UYVY, input.framerate); | ||
| else if(input.stream == DEPTH) | ||
| cfg.enable_stream(RS2_STREAM_DEPTH, input.width, input.height, RS2_FORMAT_Z16, input.framerate); | ||
|
|
||
|
|
@@ -315,13 +314,15 @@ int process_user_input(int argc, char* argv[], input_args* input, nhve_net_confi | |
| { | ||
| if(argc < 8) | ||
| { | ||
| cerr << "Usage: " << argv[0] << " <host> <port> <color/ir/depth> <width> <height> <framerate> <seconds> [device] [bitrate] [depth units] [json]" << endl; | ||
| cerr << "Usage: " << argv[0] << " <host> <port> <color/ir/ir-rgb/depth> <width> <height> <framerate> <seconds> [device] [bitrate] [depth units] [json]" << endl; | ||
| cerr << endl << "examples: " << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 color 640 360 30 5" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 infrared 640 360 30 5" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 ir 640 360 30 5" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 ir-rgb 640 360 30 5" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 depth 640 360 30 5" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 color 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 infrared 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 ir 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 ir-rgb 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 depth 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 192.168.0.125 9766 color 640 360 30 50 /dev/dri/renderD128 500000" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9768 depth 848 480 30 50 /dev/dri/renderD128 2000000" << endl; | ||
|
|
@@ -339,8 +340,13 @@ int process_user_input(int argc, char* argv[], input_args* input, nhve_net_confi | |
|
|
||
| char c = argv[3][0]; //color, infrared, depth | ||
| if(c == 'c') input->stream = COLOR; | ||
| else if(c == 'i') input->stream = INFRARED; | ||
| else if(c == 'd') input->stream = DEPTH; | ||
| else if(c == 'i') | ||
| { | ||
| input->stream = INFRARED; | ||
| if(strlen(argv[3]) > 3 && argv[3][2] == '-') | ||
| input->stream = INFRARED_RGB; | ||
| } | ||
| else | ||
| { | ||
| cerr << "unknown stream: " << argv[3]; | ||
|
|
@@ -349,11 +355,14 @@ int process_user_input(int argc, char* argv[], input_args* input, nhve_net_confi | |
|
|
||
| //native format of Realsense RGB sensor is YUYV (YUY2, YUYV422) | ||
| //see https://github.com/IntelRealSense/librealsense/issues/3042 | ||
| //Realsense datasheet mentions uyvy format for IR rgb data | ||
| //see https://dev.intelrealsense.com/docs/intel-realsense-d400-series-product-family-datasheet | ||
|
|
||
| //on the other hand native format for VAAPI is nv12 | ||
| //we will match: | ||
| //- Realsense RGB sensor YUYV with VAAPI YUYV422 (same format) | ||
| //- Realsense IR sensor Y8 with VAAPI NV12 (luminance plane with dummy color plane) | ||
| //- Realsense IR sensor rgb data UYVY with VAAPI uyvy422 | ||
| //this way we always have optimal format at least on one side and hardware conversion on other | ||
|
|
||
| //for depth encoding we use 10 bit P010LE pixel format | ||
|
|
@@ -368,6 +377,8 @@ int process_user_input(int argc, char* argv[], input_args* input, nhve_net_confi | |
| hw_config->pixel_format = "yuyv422"; | ||
| else if(input->stream == INFRARED) | ||
| hw_config->pixel_format = "nv12"; | ||
| else if(input->stream == INFRARED_RGB) | ||
| hw_config->pixel_format = "uyvy422"; | ||
| else //DEPTH | ||
| { | ||
| hw_config->pixel_format = "p010le"; | ||
|
|
@@ -421,7 +432,8 @@ int hint_user_on_failure(char *argv[]) | |
| { | ||
| cerr << "unable to initalize, try to specify device e.g:" << endl << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 color 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 infrared 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 ir 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 ir-rgb 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| cerr << argv[0] << " 127.0.0.1 9766 depth 640 360 30 5 /dev/dri/renderD128" << endl; | ||
| return -1; | ||
| } | ||