OAK-D support H264 and H265 video encoding and gzip detph data

[m3d]

• extend video encoders
• gzip depth data

before:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /home/md/git/osgar/test-oak-camera-usb-240507_171842.log
 k                 name    bytes | count | freq Hz
--------------------------------------------------
 0                  sys     1243 |  9 |   0.9Hz
 1            oak.depth 35337246 | 69 |   6.9Hz
 2            oak.color 32602560 | 68 |   6.8Hz
 3 oak.orientation_list    36366 | 66 |   6.6Hz
 4       oak.detections        0 |  0 |   0.0Hz
 5        oak.depth_seq      759 | 69 |   6.9Hz
 6        oak.color_seq      748 | 68 |   6.8Hz
 7   oak.detections_seq        0 |  0 |   0.0Hz

Total time 0:00:10.039510

after

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /home/md/git/osgar/test-oak-camera-usb-240507_172759.log 
 k                 name   bytes | count | freq Hz
-------------------------------------------------
 0                  sys    1271 |  9 |   0.9Hz
 1            oak.depth 1823576 | 68 |   6.8Hz
 2            oak.color 2426190 | 68 |   6.8Hz
 3 oak.orientation_list   36917 | 67 |   6.7Hz
 4       oak.detections       0 |  0 |   0.0Hz
 5        oak.depth_seq     748 | 68 |   6.8Hz
 6        oak.color_seq     748 | 68 |   6.8Hz
 7   oak.detections_seq       0 |  0 |   0.0Hz

Total time 0:00:10.064269

[tajgr]

This change increases the load on the cpu. In my opinion, this option (:gz) must be optional.

[m3d]

Are you sure about it? Realsense also uses :gz version - I mean it will surely slow down CPU, but save time on storage??

[m3d]

p.s. it would be interesting/nice, to do this packing already on OAK-D side, but then you spend CPU time unpacking if you use it

[tajgr]

I agree let this be the default setting. However, in one application in particular we are hitting a cpu performance limit and this change will probably make our work more difficult.
Thus, if possible, I would be happy for the option to turn this off.
Yes, the situation is the same with the RS camera, but we don't use it now.

[m3d]

OK, thanks - if we agree that default should be gzipped and you already have application which would reach the limit, then let's add the on/off option.

[tajgr]

Please add some config parameter e.g. disable_depth_compression.
But yes, the effect is huge. Thanks.

[m3d]

I hope this extra flag will work for you (if not please let me know). I tried also H265 and it also seems to work, but lidarview etc will be tricky. Thanks & merging