RGB & Mono Encoding

1#!/usr/bin/env python3
2
3import depthai as dai
4
5# Create pipeline
6pipeline = dai.Pipeline()
7
8# Define sources and outputs
9camRgb = pipeline.create(dai.node.ColorCamera)
10monoLeft = pipeline.create(dai.node.MonoCamera)
11monoRight = pipeline.create(dai.node.MonoCamera)
12ve1 = pipeline.create(dai.node.VideoEncoder)
13ve2 = pipeline.create(dai.node.VideoEncoder)
14ve3 = pipeline.create(dai.node.VideoEncoder)
15
16ve1Out = pipeline.create(dai.node.XLinkOut)
17ve2Out = pipeline.create(dai.node.XLinkOut)
18ve3Out = pipeline.create(dai.node.XLinkOut)
19
20ve1Out.setStreamName('ve1Out')
21ve2Out.setStreamName('ve2Out')
22ve3Out.setStreamName('ve3Out')
23
24# Properties
25camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
26monoLeft.setCamera("left")
27monoRight.setCamera("right")
28# Create encoders, one for each camera, consuming the frames and encoding them using H.264 / H.265 encoding
29ve1.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H264_MAIN)
30ve2.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H265_MAIN)
31ve3.setDefaultProfilePreset(30, dai.VideoEncoderProperties.Profile.H264_MAIN)
32
33# Linking
34monoLeft.out.link(ve1.input)
35camRgb.video.link(ve2.input)
36monoRight.out.link(ve3.input)
37ve1.bitstream.link(ve1Out.input)
38ve2.bitstream.link(ve2Out.input)
39ve3.bitstream.link(ve3Out.input)
40
41# Connect to device and start pipeline
42with dai.Device(pipeline) as dev:
43
44    # Output queues will be used to get the encoded data from the outputs defined above
45    outQ1 = dev.getOutputQueue(name='ve1Out', maxSize=30, blocking=True)
46    outQ2 = dev.getOutputQueue(name='ve2Out', maxSize=30, blocking=True)
47    outQ3 = dev.getOutputQueue(name='ve3Out', maxSize=30, blocking=True)
48
49    # The .h264 / .h265 files are raw stream files (not playable yet)
50    with open('mono1.h264', 'wb') as fileMono1H264, open('color.h265', 'wb') as fileColorH265, open('mono2.h264', 'wb') as fileMono2H264:
51        print("Press Ctrl+C to stop encoding...")
52        while True:
53            try:
54                # Empty each queue
55                while outQ1.has():
56                    outQ1.get().getData().tofile(fileMono1H264)
57
58                while outQ2.has():
59                    outQ2.get().getData().tofile(fileColorH265)
60
61                while outQ3.has():
62                    outQ3.get().getData().tofile(fileMono2H264)
63            except KeyboardInterrupt:
64                # Keyboard interrupt (Ctrl + C) detected
65                break
66
67    print("To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using commands below:")
68    cmd = "ffmpeg -framerate 30 -i {} -c copy {}"
69    print(cmd.format("mono1.h264", "mono1.mp4"))
70    print(cmd.format("mono2.h264", "mono2.mp4"))
71    print(cmd.format("color.h265", "color.mp4"))

1#include <csignal>
2#include <iostream>
3
4// Includes common necessary includes for development using depthai library
5#include "depthai/depthai.hpp"
6
7// Keyboard interrupt (Ctrl + C) detected
8static std::atomic<bool> alive{true};
9static void sigintHandler(int signum) {
10    alive = false;
11}
12
13int main() {
14    using namespace std;
15    std::signal(SIGINT, &sigintHandler);
16
17    // Create pipeline
18    dai::Pipeline pipeline;
19
20    // Define sources and outputs
21    auto camRgb = pipeline.create<dai::node::ColorCamera>();
22    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
23    auto monoRight = pipeline.create<dai::node::MonoCamera>();
24    auto ve1 = pipeline.create<dai::node::VideoEncoder>();
25    auto ve2 = pipeline.create<dai::node::VideoEncoder>();
26    auto ve3 = pipeline.create<dai::node::VideoEncoder>();
27
28    auto ve1Out = pipeline.create<dai::node::XLinkOut>();
29    auto ve2Out = pipeline.create<dai::node::XLinkOut>();
30    auto ve3Out = pipeline.create<dai::node::XLinkOut>();
31
32    ve1Out->setStreamName("ve1Out");
33    ve2Out->setStreamName("ve2Out");
34    ve3Out->setStreamName("ve3Out");
35
36    // Properties
37    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
38    monoLeft->setCamera("left");
39    monoRight->setCamera("right");
40    // Create encoders, one for each camera, consuming the frames and encoding them using H.264 / H.265 encoding
41    ve1->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::H264_MAIN);
42    ve2->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::H265_MAIN);
43    ve3->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::H264_MAIN);
44
45    // Linking
46    monoLeft->out.link(ve1->input);
47    camRgb->video.link(ve2->input);
48    monoRight->out.link(ve3->input);
49    ve1->bitstream.link(ve1Out->input);
50    ve2->bitstream.link(ve2Out->input);
51    ve3->bitstream.link(ve3Out->input);
52
53    // Connect to device and start pipeline
54    dai::Device device(pipeline);
55
56    // Output queues will be used to get the encoded data from the output defined above
57    auto outQ1 = device.getOutputQueue("ve1Out", 30, true);
58    auto outQ2 = device.getOutputQueue("ve2Out", 30, true);
59    auto outQ3 = device.getOutputQueue("ve3Out", 30, true);
60
61    // The .h264 / .h265 files are raw stream files (not playable yet)
62    auto videoFile1 = std::ofstream("mono1.h264", std::ios::binary);
63    auto videoFile2 = std::ofstream("color.h265", std::ios::binary);
64    auto videoFile3 = std::ofstream("mono2.h264", std::ios::binary);
65    cout << "Press Ctrl+C to stop encoding..." << endl;
66
67    while(alive) {
68        auto out1 = outQ1->get<dai::ImgFrame>();
69        videoFile1.write((char*)out1->getData().data(), out1->getData().size());
70        auto out2 = outQ2->get<dai::ImgFrame>();
71        videoFile2.write((char*)out2->getData().data(), out2->getData().size());
72        auto out3 = outQ3->get<dai::ImgFrame>();
73        videoFile3.write((char*)out3->getData().data(), out3->getData().size());
74    }
75
76    cout << "To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using a command below:" << endl;
77    cout << "ffmpeg -framerate 30 -i mono1.h264 -c copy mono1.mp4" << endl;
78    cout << "ffmpeg -framerate 30 -i mono2.h264 -c copy mono2.mp4" << endl;
79    cout << "ffmpeg -framerate 30 -i color.h265 -c copy color.mp4" << endl;
80
81    return 0;
82}