proof-of-concept for multi-frame textured point cloud streaming

- bump NHVD (multi-frame depth unprojection) - update NHVD wrapper - modify point cloud example for multi-frame aproach Related to #15
bmegli · Apr 18, 2020 · 6d86d13 · 6d86d13
1 parent ca4e017
commit 6d86d13
Show file tree

Hide file tree

Showing 4 changed files with 15 additions and 12 deletions.
diff --git a/Assets/NHVD.cs b/Assets/NHVD.cs
@@ -88,7 +88,7 @@ public struct nhvd_point_cloud
 	#else
 	[DllImport ("nhvd")]
 	#endif
-	public static extern System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config, ref nhvd_depth_config depth_config) ;
+	public static extern System.IntPtr nhvd_init(ref nhvd_net_config net_config, [In]nhvd_hw_config[] hw_configs, int hw_size, ref nhvd_depth_config depth_config);
 
 	///Return Type: nhvd*
 	///net_config: nhvd_net_config*
@@ -99,11 +99,11 @@ public struct nhvd_point_cloud
 	#else
 	[DllImport ("nhvd")]
 	#endif
-	private static extern System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config, System.	IntPtr depth_config) ;
+	private static extern System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config, int hw_size, System.IntPtr depth_config) ;
 
 	public static System.IntPtr nhvd_init(ref nhvd_net_config net_config, ref nhvd_hw_config hw_config) 
 	{
-		return nhvd_init(ref net_config, ref hw_config, System.IntPtr.Zero);
+		return nhvd_init(ref net_config, ref hw_config, 1, System.IntPtr.Zero);
 	}
 
 	/// Return Type: void

diff --git a/Assets/PointCloudRenderer.cs b/Assets/PointCloudRenderer.cs
@@ -30,11 +30,14 @@ public class PointCloudRenderer : MonoBehaviour
 	void Awake()
 	{
 		NHVD.nhvd_net_config net_config = new NHVD.nhvd_net_config{ip=this.ip, port=this.port, timeout_ms=500 };
-		NHVD.nhvd_hw_config hw_config = new NHVD.nhvd_hw_config{hardware="vaapi", codec="hevc", device=this.device, pixel_format="p010le", width=848, height=480, profile=2};
-		NHVD.nhvd_depth_config depth_config = new NHVD.nhvd_depth_config{ppx = 421.353f, ppy=240.93f, fx=426.768f, fy=426.768f, depth_unit = 0.0001f};
-		//NHVD.nhvd_depth_config depth_config = new NHVD.nhvd_depth_config{ppx = 421.353f, ppy=240.93f, fx=426.768f, fy=426.768f, depth_unit = 0.00003125f};
-
-		nhvd=NHVD.nhvd_init (ref net_config, ref hw_config, ref depth_config);
+		NHVD.nhvd_hw_config[] hw_config = new NHVD.nhvd_hw_config[]{
+			new NHVD.nhvd_hw_config{hardware="vaapi", codec="hevc", device=this.device, pixel_format="p010le", width=848, height=480, profile=2},
+			new NHVD.nhvd_hw_config{hardware="vaapi", codec="hevc", device=this.device, pixel_format="rgb0", width=848, height=480, profile=1}
+			};
+		//NHVD.nhvd_depth_config depth_config = new NHVD.nhvd_depth_config{ppx = 421.353f, ppy=240.93f, fx=426.768f, fy=426.768f, depth_unit = 0.0001f};
+		NHVD.nhvd_depth_config depth_config = new NHVD.nhvd_depth_config{ppx = 421.353f, ppy=240.93f, fx=426.768f, fy=426.768f, depth_unit = 0.00003125f};
+
+		nhvd=NHVD.nhvd_init (ref net_config, hw_config, hw_config.Length, ref depth_config);
 
 		if (nhvd == IntPtr.Zero)
 		{

diff --git a/Assets/Scenes/SampleScene.unity b/Assets/Scenes/SampleScene.unity
@@ -650,7 +650,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &785509538
 RectTransform:
   m_ObjectHideFlags: 0
@@ -715,7 +715,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 12effc58cbb744b51ba7e080578fcc88, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  device: /dev/dri/renderD129
+  device: /dev/dri/renderD128
   ip: 
   port: 9767
 --- !u!1 &1469442498
@@ -733,7 +733,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 0
+  m_IsActive: 1
 --- !u!224 &1469442499
 RectTransform:
   m_ObjectHideFlags: 0

diff --git a/PluginsSource/network-hardware-video-decoder b/PluginsSource/network-hardware-video-decoder
+3 −0		CMakeLists.txt
+2 −2		README.md
+31 −20		examples/nhvd_cloud_example.cpp
+1 −1		examples/nhvd_frame_example.cpp
+164 −0		examples/nhvd_frame_multi_example.cpp
+1 −1		hardware-depth-unprojector
+1 −1		hardware-video-decoder
+1 −1		minimal-latency-streaming-protocol
+144 −63		nhvd.cpp
+9 −3		nhvd.h