PDrAW (pronounced like the name "Pedro") is an audio and video pipeline building library supporting Parrot ANAFI drones. It supports MP4 recordings, RTP/RTSP streaming with H.264 and H.265 video and AAC audio.
PDrAW was formerly Parrot Drones Awesome Video Viewer when it was only a video player. It was originally written by Aurélien Barre as a personal project and is now officially maintained by Parrot Drones SAS.
PDrAW is the main video pipeline implementation of Ground SDK used in the FreeFlight applications, both on iOS and Android. It is also used on Parrot's drones and remotes for video pipelines implementations.
PDrAW is also available on desktop platforms (Linux and macOS) as part of the Parrot Drones SDK.
- Linux PC
- macOS
- Windows
- Android (5.0 minimum) (note: for sample code, see GroundSDK Android)
- iOS (8.0 minimum) (note: for sample code, see GroundSDK iOS)
- Demuxing
- Record demuxer
- Playback of local replays
- MP4 file format (ISO/IEC 14496-12, ISO Base Media File Format / ISO/IEC 14496-14, MP4 File Format)
- Multi-track support on the video and audio with user selection
- Chapter support (ISO/IEC 14496-12, 'chap' track)
- Stream demuxer
- Live video and streamed replays playback
- RTP/AVP/UDP streams (RFC 3550, RFC 3551)
- RTP/AVP/MUX streams with SkyController remotes (using Parrot libmux)
- Unicast only
- RTSP 1.0 protocol (RFC 2326)
- Multi-track support on the video in RTSP with user selection
- Playback control
- Play/pause
- Seeking (except for live streams)
- Playback speed control (except for live streams)
- Negative speeds for playing backward (except for live streams)
- Frame-by-frame forward and backward on local replays (MP4 records)
- Support of Parrot session and frame metadata (see libvideo_metadata)
- Record demuxer
- Decoding
- Video
- H.264 video decoding (ITU-T H.264 / ISO/IEC 14496-10), baseline, main and high profiles
- H.265 video decoding (ITU-T H.265 / ISO/IEC 23008-2), main and main 10 profiles
- Frame output API for application-side processing on the video (either H.264 frames before decoding or YUV frames after decoding)
- Audio
- AAC audio decoding (ISO/IEC 13818-7), Low Complexity (LC) profile
- Video
- Rendering
- Video
- OpenGL video rendering
- Imaging features:
- Overexposure zebras
- RGB and luminance histograms computation
- User rendering callback functions
- Custom texture loading with provided video metadata
- Video overlay with provided video metadata
- Audio
- ALSA audio rendering
- Video
- Encoding
- Video
- H.264 video encoding (x264, ITU-T H.264 / ISO/IEC 14496-10), main profile
- H.265 video encoding (x265, ITU-T H.265 / ISO/IEC 23008-2), main and main 10 profiles
- Audio
- AAC audio encoding (Fraunhofer FDK AAC, ISO/IEC 14496-3), Low Complexity (LC) profile
- Video
- Muxing
- Record muxer
- Local recording of replays
- MP4 file format (ISO/IEC 14496-12, ISO Base Media File Format / ISO/IEC 14496-14, MP4 File Format)
- Multi-track support for video and audio
- Chapter support (ISO/IEC 14496-12, 'chap' track)
- Stream muxer
- Live video and audio streaming (fake audio)
- RTMP streams (RTMP specification, AMF0/AMF3)
- Record muxer
- Sources
- Video
- Parrot Video IPC (VIPC) source (I420, N12, NV21)
- External coded source (H.264 byte stream, H.264 AVCC, H265 byte stream, H.265 AVCC)
- External raw source
- Audio
- External audio (raw or coded) source (PCM 16B, AAC LC 16B)
- Video
- Sinks
- Video
- External coded sink (H.264 byte stream, H.264 AVCC, H265 byte stream, H.265 AVCC)
- External raw sink (I420, NV12, RAW8, RAW16)
- Audio
- ALSA source
- External audio sink (raw or coded) source (PCM 16B, AAC LC 16B)
- Video
PDrAW is mainly libpdraw.
Available APIs for libpdraw are:
- C
- C++
The library depends on the following Alchemy modules:
- eigen
- libaac
- libaudio-decode
- libaudio-defs
- libaudio-encode
- libaudio-encode-core
- libfutils
- libh264
- libh265
- libmedia-buffers
- libmedia-buffers-memory
- libmedia-buffers-memory-generic
- libmp4
- libpomp
- librtp
- librtsp
- libsdp
- libtransport-packet
- libtransport-socket
- libulog
- libvideo-decode
- libvideo-defs
- libvideo-encode
- libvideo-encode-core
- libvideo-metadata
- libvideo-scale
- libvideo-scale-core
- libvideo-streaming
- (optional) alsa-lib (for AlsaSource and AlsaAudioRenderer support)
- (optional) json
- (optional) libmedia-buffers-memory-hisi
- (optional) libmedia-buffers-memory-ion
- (optional) libmux (for StreamDemuxerMux support)
- (optional) librtmp (for RtmpStreamMuxer support)
- (optional) libvideo-ipc (for VipcSource support)
- (optional) libvideo-ipc-client-config (for VipcSource support)
- (optional) libvideo-ipc-dmabuf-be (for VipcSource support)
- (optional) libvideo-ipc-hisibe (for VipcSource support)
- (optional) libvideo-ipc-network-cbuf-be (for VipcSource support)
- (optional) libvideo-ipc-network-hisi-be (for VipcSource support)
- (optional) libvideo-ipc-shmbe (for VipcSource support)
- (optional) opengl (for GlVideoRenderer support)
The library is designed to run on a libpomp event loop (pomp_loop, see libpomp documentation), except for rendering functions. All API functions must be called from the pomp_loop thread and all callback functions are called from the pomp_loop thread, except for rendering function which must be called on the rendering (OpenGL) thread and rendering callback functions which are called also on the rendering thread. The RecordMuxer element runs on a dedicated internal thread to optimize MP4 writing efficiency.
libpdraw-backend is a wrapper for libpdraw's API that allows calling functions from any thread, with the exception of rendering functions which must still be called from the rendering thread.
Available APIs for libpdraw-backend are:
- C
- C++
The library depends on the following Alchemy modules:
- libfutils
- libpdraw
- libpomp
- libulog
libpdraw-vsink is a helper library to easily create a libpdraw instance on a stream or record without rendering and get YUV frames, for example to process them with OpenCV in an application.
The API is available in C. The functions can be called from any thread but are not thread-safe: they should always be called from the same thread, or it is the caller's responsibility to synchronize calls if multiple threads are used.
The libpdraw-vsink module provides two methods for retrieving frames:
- Synchronous retrieval using the pdraw_vsink_get_frame() function.
- In blocking mode (timeout_ms = -1 or timeout_ms > 0)
- In non-blocking mode (polling, with timeout_ms = 0),
- Asynchronous retrieval by registering a get_frame_cb_t callback. Note: This callback is executed from the pdraw_vsink thread. The caller must ensure thread safety and be aware that the pdraw_vsink thread is blocked during the callback execution.
The library depends on the following Alchemy modules:
- libfutils
- libmedia-buffers
- libmedia-buffers-memory
- libmedia-buffers-memory-generic
- libpdraw
- libpomp
- libulog
libpdraw-gles2hud is a helper library to draw an OpenGL ES 2.0 example HUD (Head-Up Display) on top of the rendered video using libpdraw's rendering overlay callback function.
The API is available in C. All functions must be called from the rendering thread.
The library depends on the following Alchemy modules:
- eigen
- libpdraw
- libulog
- libvideo-metadata
- opengl
qpdraw is a helper library to easily create a Qt application using libpdraw-backend. The following classes are provided:
- QPdraw (QObject), a libpdraw-backend wrapper.
- QPdrawDemuxer (QObject), a demuxer wrapper
- QpdrawWidget (QOpenGLWidget), a renderer wrapper
The API is available in C++.
The library depends on the following Alchemy modules:
- libfutils
- libpdraw-backend
- libulog
Applications are built on top of libpdraw, libpdraw-backend, libpdraw-vsink or qpdraw.
pdraw-desktop is Linux PC, macOS and Windows application written in C using SDL2 for windowed display and the UI.
The application depends on the following Alchemy modules:
- eigen
- libfutils
- libmedia-buffers
- libpdraw
- libpdraw-backend
- libpdraw-gles2hud
- libpomp
- libulog
- libvideo-defs
- libvideo-metadata
- sdl2