How it works

Program structure

• process user input
  • host, port, stream type/alignment, widths, heights, framerate, seconds, hardware device, bitrate, depth units
• init Realsense device (for user input and resulting encoding pipeline)
• init network and VAAPI encoder(s) with NHVE (for user input and encoding pipeline)
• start encoding pipeline loop
• keep (seconds)
  • getting data from D400/L515 device
  • aligning streams if necessary
  • post-processing depth if necessary
  • hardware encoding
  • sending through network
• cleanup

Encoding pipelines

Pipeline	Post processing	D400 format	VAAPI format	Codec	Comment
color		YUYV	yuyv422	H.264/HEVC	Matching format Realsense native
infrared		Y8	nv12	H.264/HEVC	Y infrared encoding UV plane dummy
infrared-rgb		UYVY	uyvy422	H.264/HEVC	Matching format
depth		Z16	p010le	HEVC Main10	Y depth encoding UV plane dummy
depth + infrared		Z16 Y8	p010le nv12	HEVC Main10 HEVC Main	See depth above See infrared above
depth + infrared rgb		Z16 UYVY	p010le uyvy422	HEVC Main10 HEVC Main	See depth above See infrared-rgb above
depth + color color aligned	alignment	Z16 YUYV	p010le yuyv422	HEVC Main10 HEVC Main	See depth above See color above
depth + color depth aligned	alignment	Z16 RGBA8	p010le rgb0	HEVC Main10 HEVC Main	See depth above Matching format

D415 and D455 have color IR imagers suitable for infrared rgb streaming.

For L515 all depth pipelines perform additional post-processing to simulate depth units and depth clamping.

Deprecated pipelines

Pipeline	Post processing	D400 format	VAAPI format	Codec	Comment
depth + infrared		Z16 Y8	p010le	HEVC Main10	Y depth encoding UV infrared encoding

This pipeline was replaced with a newer one. You may still try it out with previous releases:

• RNHVE hardware-accelerated-infrared-textured-point-cloud-streaming
• UNHVD hardware-accelerated-infrared-textured-point-cloud-streaming