Error when using point cloud from depthcloud_encoder with VP8 encoder

[jstnhuang]

I'm streaming Kinect point clouds to the browser from a PR2 in Hydro / Ubuntu 12.04.

If I use depthcloud_encoder with a _depth_source:=cloud, then when I go to the stream with type=vp8, I get the following error in web_video_server's output:

/web_video_server  INFO [1464141570.807769008]: Handling Request: /stream?topic=/depthcloud_encoded&bitrate=250000&type=vp8
/web_video_server  INFO [1464141571.154136284]: Handling Request: /stream?topic=/depthcloud_encoded&bitrate=250000&type=vp8
[webm @ 0x7f921d1b4240] Application provided invalid, non monotonically increasing dts to muxer in stream 0: 1 >= 1
/web_video_server  INFO [1464141571.443697832]: Removed Stream: /depthcloud_encoded
[webm @ 0x7f921d1ae1c0] Application provided invalid, non monotonically increasing dts to muxer in stream 0: 1 >= 1
/web_video_server  INFO [1464141571.944019255]: Removed Stream: /depthcloud_encoded

Only one frame of the stream will show up, but the stream will end after that.

I've tried these configurations and most have been able to stream point clouds:

Video server	Depth encoder source	Encoding	Works?
web_video_server	cloud	vp8	No
web_video_server	depthmap	vp8	Yes
web_video_server	cloud	mjpeg	Yes
web_video_server	depthmap	mjpeg	Yes
ros_web_video	cloud	vp8	Yes
ros_web_video	depthmap	vp8	Yes

This gist shows how I've been using depthcloud_encoder: https://gist.github.com/jstnhuang/9efd171a52bd3045c691923c08e14611

Any ideas on how to fix this error? It's no big deal since I can use ros_web_video in the meantime.

[arnasIV]

I have also tried streaming an encoded pointcloud, I can see the images in browser without any noticeable delays, but whenever I add the &type=vp8 to the url, (which is neccesary for ROS3D.DepthCloud) it has a huge delay, up to 9s, even though the topic is being published at 20 Hz.