![Raspberry Pi 4 및 FFMpeg를 사용하여 Intel RealSense 카메라를 네트워크로 스트리밍](https://linux55.com/image/166148/Raspberry%20Pi%204%20%EB%B0%8F%20FFMpeg%EB%A5%BC%20%EC%82%AC%EC%9A%A9%ED%95%98%EC%97%AC%20Intel%20RealSense%20%EC%B9%B4%EB%A9%94%EB%9D%BC%EB%A5%BC%20%EB%84%A4%ED%8A%B8%EC%9B%8C%ED%81%AC%EB%A1%9C%20%EC%8A%A4%ED%8A%B8%EB%A6%AC%EB%B0%8D.png)
여러분, 안녕하세요
그래서 Intel RealSense D435 카메라를 로컬 네트워크로 스트리밍해 보았습니다.
다양한 웹사이트, 튜토리얼 등을 읽은 후 다음을 발견했습니다.
FFMpeg로 무엇을 할 수 있나요?
ffmpeg를 사용하여 네트워크로 스트리밍할 수 있고 ffmpeg의 x264 라이브러리에서 제공하는 h264_mmal을 사용하여 하드웨어 디코더를 활용할 수 있습니다. (나중에 더 자세히 설명합니다).
이전에는 ffmpeg 및 libx264 인코더/디코더를 사용하여 카메라를 스트리밍할 수 있었지만 이것이 소프트웨어 기반이기 때문에 지연이 발생할 가능성이 높다고 하여 튜토리얼에 따라 ffmpeg용 h264_mmal
& h264_omx
libx264 라이브러리를 설치했습니다.이것ffmpeg 설정 스크립트이것으로부터 적응됨그리고이것. 내 스크립트는 다음을 추가합니다.
--enable-omx \
--enable-mmal \
--enable-omx-rpi \
ffmpeg 구성에.
문제는 다음과 같습니다
사용할 때:
ffmpeg -f v4l2 -c:v h264_mmal -pix_fmt yuv420p -i /dev/video4 -s 1280x720 -r 30 -c:v h264_omx -b:v 4000k -f mpegts udp://0.0.0.0:5000
존경받는여기그리고여기그리고여기그리고여기, 오류가 발생합니다.
[video4linux2,v4l2 @ 0x1be1210] 코덱 'h264'(id 27), 픽셀 형식 'yuv420p'(id 0)에 대한 올바른 형식을 찾을 수 없습니다. 어설션 *codec_id != AV_CODEC_ID_NONE이 src/libavdevice/v4l2.c:811에서 실패했습니다.
시도해 본 후 좋은 사양/품질로 스트림을 실행할 수 있었지만 결국 CPU 사용량은 ~45%, 스트림 지연 시간은 +/-5초로 나타났습니다.이 지연은 큰 문제입니다!
ffmpeg -f v4l2 -i /dev/video4 -s 1280x720 -r 60 -b:v 4000k -f mpegts udp://0.0.0.0:5000
구성:
libavutil 56. 38.100 / 56. 22.100
libavcodec 58. 66.100 / 58. 35.100
libavformat 58. 35.104 / 58. 20.100
libavdevice 58. 9.103 / 58. 5.100
libavfilter 7. 71.100 / 7. 40.101
libswscale 5. 6.100 / 5. 3.100
libswresample 3. 6.100 / 3. 3.100
libpostproc 55. 6.100 / 55. 3.100
Input #0, video4linux2,v4l2, from '/dev/video4':
Duration: N/A, start: 1223.259868, bitrate: 55296 kb/s
Stream #0:0: Video: rawvideo (YUY2 / 0x32595559), yuyv422, 320x180, 55296 kb/s, 60 fps, 60 tbr, 1000k tbn, 1000k tbc
Stream mapping:
Stream #0:0 -> #0:0 (rawvideo (native) -> mpeg2video (native))
Press [q] to stop, [?] for help
Output #0, mpegts, to 'udp://0.0.0.0:5000':
Metadata:
encoder : Lavf58.20.100
Stream #0:0: Video: mpeg2video (4:2:2), yuv422p, 1280x720, q=2-31, 4000 kb/s, 60 fps, 90k tbn, 60 tbc
Metadata:
encoder : Lavc58.66.100 mpeg2video
Side data:
cpb: bitrate max/min/avg: 0/0/4000000 buffer size: 0 vbv_delay: -1
frame= 85 fps= 30 q=7.3 Lsize= 1292kB time=00:00:02.76 bitrate=3827.0kbits/s speed=0.962x
video:1188kB audio:0kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: 8.771708%
Exiting normally, received signal 2.
저를 정말 짜증나게 하는 점은 VLC > 미디어 > 캡처 장치 열기 > /dev/video4(카메라 스트림)를 선택하면 스트림 대기 시간이 거의 0이라는 것입니다.[대상] ffmpeg를 사용하여 이것을 재현해 보려고 합니다..
내 ffmpeg 스트림에서 vlc를 열어서 동일한 작업을 수행하면 udp://0.0.0.0:5000
5초 지연이 발생하여 정말 짜증납니다.
그래서 몇 가지 질문이 나왔지만 주로 카메라 장치에서 스트리밍하려고 할 때 "코덱의 올바른 형식을 찾을 수 없습니다." 문제가 발생하는 이유는 무엇입니까?
또 다른 질문으로, 내 ffmpeg 스트림에서 5초 지연의 원인은 무엇입니까?
당신이 물어볼 수 있는 질문:
- 왜 h264를 사용하나요?
이것은 제가 스트리밍 솔루션에서 찾은 첫 번째 인코더/디코더이며 계속해서 문제가 발생합니다. 대안이 있다면 모두 귀 기울이겠습니다.
- 이 지연을 없애기 위해 무엇을 시도했습니까?
소프트웨어 인코더를 사용하고 있으므로 libx264
하드웨어 인코딩을 시도해야 한다는 내용을 읽었으므로 위의 질문은 다음과 같습니다.
그리고 , , 를 이용하여 다양한 조합을 시도했습니다 -analyzeduration 0
. 물론 나는 그 기능이나 전류에 미치는 영향을 완전히 이해하지 못합니다.-fpsprobesize 32
-probesize 32
- 하드웨어 인코딩 라이브러리가 설치되어 있습니까?
아래를 참조하세요
카메라 ffprobe 출력은 무엇입니까?
ffprobe -v quiet -print_format json -show_format -show_streams /dev/video4 { "streams": [ { "index": 0, "codec_name": "rawvideo", "codec_long_name": "raw video", "codec_type": "video", "codec_time_base": "1/90", "codec_tag_string": "UYVY", "codec_tag": "0x59565955", "width": 256, "height": 144, "coded_width": 256, "coded_height": 144, "has_b_frames": 0, "pix_fmt": "uyvy422", "level": -99, "refs": 1, "r_frame_rate": "90/1", "avg_frame_rate": "90/1", "time_base": "1/1000000", "start_pts": 2981098662, "start_time": "2981.098662", "bit_rate": "53084160", (rest omitted for brevity) } ], "format": { "filename": "/dev/video4", "nb_streams": 1, "nb_programs": 0, "format_name": "video4linux2,v4l2", "format_long_name": "Video4Linux2 device grab", "start_time": "2981.098662", "bit_rate": "53084160", "probe_score": 99 } }
응 그건 어때?
v4l2-ctl
v4l2-ctl -d /dev/video4 --list-formats ioctl: VIDIOC_ENUM_FMT Type: Video Capture [0]: 'YUYV' (YUYV 4:2:2) [1]: '' (36315752-1a66-a242-9065-d01814a)
카메라가 실제로 1280x720을 지원합니까?
예, 가능한 스트림 해상도를 나열하는 명령이 기억나지 않습니다(누군가 댓글을 달 수 있으면 출력을 제공합니다).
추가 정보:
FFMpeg h264 인코더
ffmpeg -encoders | grep h264
ffmpeg version N-96431-g4de2106 Copyright (c) 2000-2020 the FFmpeg developers
built with gcc 8 (Raspbian 8.3.0-6+rpi1)
configuration: --pkg-config-flags=--static --extra-cflags='-fPIC -I/root/ffmpeg_build/include' --extra-ldflags=-L/root/ffmpeg_build/lib --enable-gpl --enable-libass --enable-libfdk-aac --enable-libfreetype --enable-libmp3lame --enable-libopus --enable-libtheora --enable-libvorbis --enable-libvpx --enable-libx264 --enable-omx --enable-mmal --enable-omx-rpi --enable-nonfree --enable-pic --extra-ldexeflags=-pie --enable-shared
WARNING: library configuration mismatch
avutil configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avcodec configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avformat configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avdevice configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avfilter configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
swscale configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
swresample configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
postproc configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
libavutil 56. 38.100 / 56. 22.100
libavcodec 58. 66.100 / 58. 35.100
libavformat 58. 35.104 / 58. 20.100
libavdevice 58. 9.103 / 58. 5.100
libavfilter 7. 71.100 / 7. 40.101
libswscale 5. 6.100 / 5. 3.100
libswresample 3. 6.100 / 3. 3.100
libpostproc 55. 6.100 / 55. 3.100
V..... libx264 libx264 H.264 / AVC / MPEG-4 AVC / MPEG-4 part 10 (codec h264)
V..... libx264rgb libx264 H.264 / AVC / MPEG-4 AVC / MPEG-4 part 10 RGB (codec h264)
V..... h264_omx OpenMAX IL H.264 video encoder (codec h264)
V..... h264_v4l2m2m V4L2 mem2mem H.264 encoder wrapper (codec h264)
V..... h264_vaapi H.264/AVC (VAAPI) (codec h264)
FFMpeg h264 디코더
ffmpeg -decoders | grep h264
ffmpeg version N-96431-g4de2106 Copyright (c) 2000-2020 the FFmpeg developers
built with gcc 8 (Raspbian 8.3.0-6+rpi1)
configuration: --pkg-config-flags=--static --extra-cflags='-fPIC -I/root/ffmpeg_build/include' --extra-ldflags=-L/root/ffmpeg_build/lib --enable-gpl --enable-libass --enable-libfdk-aac --enable-libfreetype --enable-libmp3lame --enable-libopus --enable-libtheora --enable-libvorbis --enable-libvpx --enable-libx264 --enable-omx --enable-mmal --enable-omx-rpi --enable-nonfree --enable-pic --extra-ldexeflags=-pie --enable-shared
WARNING: library configuration mismatch
avutil configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avcodec configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avformat configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avdevice configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
avfilter configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
swscale configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
swresample configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
postproc configuration: --prefix=/usr --extra-version='1+rpt1~deb10u1' --toolchain=hardened --libdir=/usr/lib/arm-linux-gnueabihf --incdir=/usr/include/arm-linux-gnueabihf --arch=arm --enable-gpl --disable-stripping --enable-avresample --disable-filter=resample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvidstab --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-lv2 --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-omx-rpi --enable-mmal --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libx264 --enable-shared
libavutil 56. 38.100 / 56. 22.100
libavcodec 58. 66.100 / 58. 35.100
libavformat 58. 35.104 / 58. 20.100
libavdevice 58. 9.103 / 58. 5.100
libavfilter 7. 71.100 / 7. 40.101
libswscale 5. 6.100 / 5. 3.100
libswresample 3. 6.100 / 3. 3.100
libpostproc 55. 6.100 / 55. 3.100
VFS..D h264 H.264 / AVC / MPEG-4 AVC / MPEG-4 part 10
V..... h264_v4l2m2m V4L2 mem2mem H.264 decoder wrapper (codec h264)
V..... h264_mmal h264 (mmal) (codec h264)
답변1
Intel은 실제로 RPi4를 백엔드로 활용하여 네트워크에서 카메라를 사용할 수 있도록 하고 모든 API 명령을 직접 사용할 수 있는 소프트웨어를 제공합니다.https://dev.intelrealsense.com/docs/open-source-ethernet-networking-for-intel-realsense-length-cameras
FRAMOS는 참조 모델에 대해 유사한 미들웨어를 제공합니다.
D435_Manual_V1.1 - 페이지 24
https://www.framos.com/en/framos-length-camera-d435e-camera-only-22806