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FFmpeg 硬件加速方案概览 (上)

多媒体应用程序是典型的资源密集型应用,因此优化多媒体应用程序至关重要,这也是使用视频处理专用硬件加速的初衷。作为回报,这允许整个系统更加有效地运行(以达到最佳性能)。 但是为了支持硬件加速,软件开发厂商面临着各种挑战:一个是存在潜在的系统性能风险问题;此外,软件开发商一直也因为要面对各种硬件架构的复杂性而苦苦挣扎,并需要维护不同的代码路径来支持不同的架构和不同的方案。优化这类代码,耗时费力。想想你可能需要面对不同的操作系统,诸如Linux,Windows,macOS,Android,iOS,ChromeOS;需要面对不同的硬件厂商,诸如Intel,NVIDIA,AMD,ARM,TI, Broadcom……,因此,提供一个通用且完整的跨平台,跨硬件厂商的多媒体硬件加速方案显得价值非凡。

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FogROS2 使用 ROS 2 的云和雾机器人的自适应和可扩展平台

FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2 Abstract— Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run modern robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing power on demand, but tapping into that power from a robot is non-trivial. In this paper, we present FogROS2, an easy-to-use, open-source platform to facilitate cloud and fog robotics that is compatible with the emerging Robot Operating System 2 (ROS 2) standard. FogROS 2 provisions a cloud computer, deploys and launches ROS 2 nodes to the cloud computer, sets up secure networking between the robot and cloud, and starts the application running. FogROS 2 is completely redesigned and distinct from its predecessor to support ROS 2 applications, transparent video compression and communication, improved performance and security, support for multiple cloud-computing providers, and remote monitoring and visualization. We demonstrate in example applications that the performance gained by using cloud computers can overcome the network latency to significantly speed up robot performance. In examples, FogROS 2 reduces SLAM latency by 50%, reduces grasp planning time from 14s to 1.2s, and speeds up motion planning 28x. When compared to alternatives, FogROS 2 reduces network utilization by up to 3.8x. FogROS2, source, examples, and documentation is available at github.com/BerkeleyAutomation/FogROS2.

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