RGB Full Resolution Saver

This example does its best to save full-resolution 3840x2160 .jpeg files as fast at it can from the RGB sensor. It serves as an example of recording high resolution to disk for the purposes of high-resolution ground-truth data. We also recently added the options to save isp - YUV420p uncompressed frames, processed by ISP, and raw - BayerRG (R_Gr_Gb_B), as read from sensor, 10-bit packed.

Be careful, this example saves pictures to your host storage. So if you leave it running, you could fill up your storage on your host.

Similiar samples:

Demo

Setup

Please run the install script to download all required dependencies. Please note that this script must be ran from git context, so you have to download the depthai-python repository first and then run the script

git clone https://github.com/luxonis/depthai-python.git
cd depthai-python/examples
python3 install_requirements.py

For additional information, please follow installation guide

Source code

Also available on GitHub

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#!/usr/bin/env python3

import time
from pathlib import Path
import cv2
import depthai as dai

# Create pipeline
pipeline = dai.Pipeline()

# Define sources and outputs
camRgb = pipeline.createColorCamera()
videoEnc = pipeline.createVideoEncoder()
xoutJpeg = pipeline.createXLinkOut()
xoutRgb = pipeline.createXLinkOut()

xoutJpeg.setStreamName("jpeg")
xoutRgb.setStreamName("rgb")

# Properties
camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
videoEnc.setDefaultProfilePreset(camRgb.getVideoSize(), camRgb.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)

# Linking
camRgb.video.link(xoutRgb.input)
camRgb.video.link(videoEnc.input)
videoEnc.bitstream.link(xoutJpeg.input)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:

    # Output queue will be used to get the rgb frames from the output defined above
    qRgb = device.getOutputQueue(name="rgb", maxSize=30, blocking=False)
    qJpeg = device.getOutputQueue(name="jpeg", maxSize=30, blocking=True)

    # Make sure the destination path is present before starting to store the examples
    dirName = "rgb_data"
    Path(dirName).mkdir(parents=True, exist_ok=True)

    while True:
        inRgb = qRgb.tryGet()  # Non-blocking call, will return a new data that has arrived or None otherwise

        if inRgb is not None:
            cv2.imshow("rgb", inRgb.getCvFrame())

        for encFrame in qJpeg.tryGetAll():
            with open(f"{dirName}/{int(time.time() * 1000)}.jpeg", "wb") as f:
                f.write(bytearray(encFrame.getData()))

        if cv2.waitKey(1) == ord('q'):
            break

Also available on GitHub

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#include <chrono>
#include <iostream>

// Inludes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
#include "utility.hpp"

int main() {
    using namespace std::chrono;

    // Create pipeline
    dai::Pipeline pipeline;

    // Define source and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto videoEnc = pipeline.create<dai::node::VideoEncoder>();
    auto xoutJpeg = pipeline.create<dai::node::XLinkOut>();
    auto xoutRgb = pipeline.create<dai::node::XLinkOut>();

    xoutJpeg->setStreamName("jpeg");
    xoutRgb->setStreamName("rgb");

    // Properties
    camRgb->setBoardSocket(dai::CameraBoardSocket::RGB);
    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
    videoEnc->setDefaultProfilePreset(camRgb->getVideoSize(), camRgb->getFps(), dai::VideoEncoderProperties::Profile::MJPEG);

    // Linking
    camRgb->video.link(xoutRgb->input);
    camRgb->video.link(videoEnc->input);
    videoEnc->bitstream.link(xoutJpeg->input);

    // Connect to device and start pipeline
    dai::Device device(pipeline);

    // Queues
    auto qRgb = device.getOutputQueue("rgb", 30, false);
    auto qJpeg = device.getOutputQueue("jpeg", 30, true);

    std::string dirName = "rgb_data";
    createDirectory(dirName);

    while(true) {
        auto inRgb = qRgb->tryGet<dai::ImgFrame>();
        if(inRgb != NULL) {
            cv::imshow("rgb", inRgb->getCvFrame());
        }

        auto encFrames = qJpeg->tryGetAll<dai::ImgFrame>();
        for(const auto& encFrame : encFrames) {
            uint64_t time = duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
            std::stringstream videoStr;
            videoStr << dirName << "/" << time << ".jpeg";
            auto videoFile = std::ofstream(videoStr.str(), std::ios::binary);
            videoFile.write((char*)encFrame->getData().data(), encFrame->getData().size());
        }

        int key = cv::waitKey(1);
        if(key == 'q' || key == 'Q') {
            return 0;
        }
    }
    return 0;
}

Got questions?

We’re always happy to help with code or other questions you might have.