# RGB Full Resolution Saver This example saves full-resolution 3840x2160 .jpeg images when c key is pressed. It serves as an example of recording high resolution frames to disk for the purposes of high-resolution ground-truth data. Note that each frame consumes above 2MB of storage, so "spamming" capture key could fill up your storage. ### Similar samples: * [Mono Full Resolution Saver](https://docs.luxonis.com/software/depthai/examples/mono_full_resolution_saver.md) ## Demo ## Setup Please run the [install script](https://github.com/luxonis/depthai-python/blob/main/examples/install_requirements.py) to download all required dependencies. Please note that this script must be ran from git context, so you have to download the [depthai-python](https://github.com/luxonis/depthai-python) repository first and then run the script ```bash git clone https://github.com/luxonis/depthai-python.git cd depthai-python/examples python3 install_requirements.py ``` For additional information, please follow the [installation guide](https://docs.luxonis.com/software/depthai/manual-install.md). ## Source code #### Python ```python #!/usr/bin/env python3 import time from pathlib import Path import cv2 import depthai as dai # Create pipeline pipeline = dai.Pipeline() camRgb = pipeline.create(dai.node.ColorCamera) camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A) camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K) xoutRgb = pipeline.create(dai.node.XLinkOut) xoutRgb.setStreamName("rgb") camRgb.video.link(xoutRgb.input) xin = pipeline.create(dai.node.XLinkIn) xin.setStreamName("control") xin.out.link(camRgb.inputControl) # Properties videoEnc = pipeline.create(dai.node.VideoEncoder) videoEnc.setDefaultProfilePreset(1, dai.VideoEncoderProperties.Profile.MJPEG) camRgb.still.link(videoEnc.input) # Linking xoutStill = pipeline.create(dai.node.XLinkOut) xoutStill.setStreamName("still") videoEnc.bitstream.link(xoutStill.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) qStill = device.getOutputQueue(name="still", maxSize=30, blocking=True) qControl = device.getInputQueue(name="control") # 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: frame = inRgb.getCvFrame() # 4k / 4 frame = cv2.pyrDown(frame) frame = cv2.pyrDown(frame) cv2.imshow("rgb", frame) if qStill.has(): fName = f"{dirName}/{int(time.time() * 1000)}.jpeg" with open(fName, "wb") as f: f.write(qStill.get().getData()) print('Image saved to', fName) key = cv2.waitKey(1) if key == ord('q'): break elif key == ord('c'): ctrl = dai.CameraControl() ctrl.setCaptureStill(True) qControl.send(ctrl) print("Sent 'still' event to the camera!") ``` #### C++ ```cpp #include #include // Includes 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(); auto videoEnc = pipeline.create(); auto xoutJpeg = pipeline.create(); auto xoutRgb = pipeline.create(); xoutJpeg->setStreamName("jpeg"); xoutRgb->setStreamName("rgb"); // Properties camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A); camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K); videoEnc->setDefaultProfilePreset(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(); if(inRgb != NULL) { cv::imshow("rgb", inRgb->getCvFrame()); } auto encFrames = qJpeg->tryGetAll(); for(const auto& encFrame : encFrames) { uint64_t time = duration_cast(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; } ``` ## Pipeline ### examples/rgb_full_resolution_saver.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 0, "node1Output": "video", "node1OutputGroup": "", "node2Id": 1, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 0, "node2Input": "inputControl", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "still", "node1OutputGroup": "", "node2Id": 3, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "bitstream", "node1OutputGroup": "", "node2Id": 4, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 7, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 2, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 3, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, "group": "", "id": 4, "name": "isp", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "preview" ], { "blocking": false, "group": "", "id": 5, "name": "preview", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ColorCamera", "properties": { "boardSocket": 0, "cameraName": "", "colorOrder": 0, "fp16": false, "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "interleaved": true, "isp3aFps": 0, "ispScale": { "horizDenominator": 0, "horizNumerator": 0, "vertDenominator": 0, "vertNumerator": 0 }, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "previewHeight": 300, "previewKeepAspectRatio": true, "previewWidth": 300, "rawPacked": null, "resolution": 1, "sensorCropX": -1.0, "sensorCropY": -1.0, "stillHeight": -1, "stillWidth": -1, "videoHeight": -1, "videoWidth": -1 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 9, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "rgb" } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "out" ], { "blocking": false, "group": "", "id": 10, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "XLinkIn", "properties": { "maxDataSize": 5242880, "numFrames": 8, "streamName": "control" } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 11, "name": "in", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "bitstream" ], { "blocking": false, "group": "", "id": 12, "name": "bitstream", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 13, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "VideoEncoder", "properties": { "bitrate": 0, "frameRate": 1.0, "keyframeFrequency": 30, "lossless": false, "maxBitrate": 0, "numBFrames": 0, "numFramesPool": 0, "outputFrameSize": 0, "profile": 4, "quality": 95, "rateCtrlMode": 0 } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 14, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "still" } } ] ] } } ``` ### Need assistance? 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