Persee Ubuntu: Efficient (hardware) video compression howto

I need to stream the content of my Persee RGBD sensor, for this reason I’m looking for an efficient way to compress the video stream.
In the past, on the good old raspberry I remember they had a hardware encoder for h264, I’m looking for something similar.
I know the Mali GPU should support it, but I couldn’t find any clean way to do it (ex: raspberry has the omx module)
I’m using ubuntu 16.04 with ROS kinetic.

Thank you