使用 Raspberry Pi 4 和 FFMpeg 将英特尔实感摄像头串流至网络

2024-6-5 • tag-icon

使用 Raspberry Pi 4 和 FFMpeg 将英特尔实感摄像头串流至网络

大家好

因此，我尝试将我的英特尔实感 D435 摄像头流式传输到我的本地网络。

在阅读了许多不同的网站、教程等后，我发现了以下内容：

我可以用 FFMpeg 做什么：

我可以使用 ffmpeg 流式传输到我的网络，并且可以使用 ffmpeg 中 x264 库提供的 h264_mmal 来利用硬件解码器。（稍后将更详细地解释）。

以前我能够使用 ffmpeg 和 libx264 编码器/解码器流式传输我的相机，据说因为这是软件基础，所以很可能会导致延迟，因此我按照教程为 ffmpeg 安装了我的h264_mmal&h264_omx库，请参阅这ffmpeg 设置脚本改编自此和这。我的脚本只是添加：

  --enable-omx \
  --enable-mmal \
  --enable-omx-rpi \

到 ffmpeg 配置。

问题是：

当使用以下内容时：

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

受到推崇的这里和这里和这里和这里，我收到错误：

[video4linux2,v4l2 @ 0x1be1210] 无法找到编解码器“h264”（id 27）的正确格式，像素格式“yuv420p”（id 0）断言 *codec_id != AV_CODEC_ID_NONE 在 src/libavdevice/v4l2.c:811 失败

经过尝试后，我能够以良好的规格/质量运行流，但这最终导致 CPU 使用率约为 45%，流延迟为 +/-5 秒。这次延误是一件大事！

ffmpeg -f v4l2 -i /dev/video4 -s 1280x720 -r 60 -b:v 4000k -f mpegts udp://0.0.0.0:5000

配置：

  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.

真正让我烦恼的是，当我打开 VLC > 媒体 > 打开捕获设备 > 选择 /dev/video4（相机流）时，我的流上几乎有 0 延迟 -[目标] 我正在尝试使用 ffmpeg 复制此内容。

在我的 ffmpeg 流上使用 vlc 打开进行相同操作udp://0.0.0.0:5000会导致 5 秒的延迟，这真的很烦人。

因此，出现了几个问题，但主要是，为什么我在尝试从相机设备进行流式传输时会出现“找不到编解码器的正确格式”问题。

作为另一个问题，是什么导致我的 ffmpeg 流出现 5 秒的延迟？

您可能会问的问题：

为什么我使用 h264？

这是我在流解决方案中发现的第一个编码器/解码器，并且不断出现问题，如果您有替代方案，我洗耳恭听。

我尝试了什么来消除这种延迟？

我读到，由于我使用的是软件编码器libx264，所以我应该尝试硬件编码，因此，这是我上面的问题。

另外，我尝试使用-analyzeduration 0,-fpsprobesize 32和进行各种组合-probesize 32。诚然，我并不完全理解它的功能或对流的影响

我是否安装了硬件编码库？

见下文

相机 ffprobe 输出是什么？

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
    }
}

好的，那怎么样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)

相机真的支持1280x720吗

是的，不记得列出可能的流分辨率的命令（如果有人可以发表评论，将提供输出）

更多信息：

FFMpeg h264 编码器

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 解码器

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)

答案1

实际上英特尔提供了一个软件来利用 RPi4 作为后端，使您的相机在您的网络中可用并直接使用所有 API 命令：https://dev.intelrealsense.com/docs/open-source-ethernet-networking-for-intel-realsense-depth-cameras

FRAMOS 为其参考模型提供了类似的中间件： D435_Manual_V1.1 - 第 24 页

https://www.framos.com/en/framos-depth-camera-d435e-camera-only-22806

答案1

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