incorrect RGB when streaming depth alligned RGBD (iHD, Ubuntu 20.04)

[bmegli]

• KabyLake
• only for depth aligned RGB
• only with iHD
• both PointCloudRenderer and GPUPointCloudRenderer

# streaming command
./realsense-nhve-depth-color 192.168.0.100 9768 depth 848 480 848 480 30 500 /dev/dri/renderD128 8000000 1000000 0.0000390625

With i965 everything is ok

LIBVA_DRIVER_NAME=i965 ./realsense-nhve-depth-color 192.168.0.100 9768 depth 848 480 848 480 30 500 /dev/dri/renderD128 8000000 1000000 0.0000390625

[bmegli]

From RNHVE encoding pipelines the difference between aligning to color/depth is color format used (the reason)

• YUYV for color aligned (VAAPI yuyv422)
• RGBA8 for depth aligned (VAAPI rgb0)

[bmegli]

A quick test with HVE encoding raw bgr0/rgb0 (U 20.04, FF 4.2.4, both iHD and i965) suggests that problem is not on encoding side
(both raw H.264 play correctly with ffplay)

Edit:

• turns out problem is resolution dependent (manifests at 848x480)

[bmegli]

Possibly related FFmpeg ticket

[bmegli]

Narrowing down the problem (with color streaming only):

• happens with iHD -> iHD
• doesn't happen with i965 -> iHD
• happens at 848x480
• doesn't happen at 640x360

The fact that it is resolution dependent suggests some kind of stride problem

[bmegli]

Retesting using HVE with specifically 848x480 leads to problem even with FFmpeg playback

• ok when encoding with i965
• problem when encoding with iHD

Which means that the problem may be on the encoding side and it is resolution dependent.

[bmegli]

The problem is on encoding side. Nothing to be done here.