mjpeg_encoding_example.cpp

Go to the documentation of this file.

#include <iostream>
 
// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
 
int main() {
    using namespace std::chrono;
 
    // Create pipeline
    dai::Pipeline pipeline;
 
    // Define sources and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto xout = pipeline.create<dai::node::XLinkOut>();
    auto xout2 = pipeline.create<dai::node::XLinkOut>();
    auto videnc = pipeline.create<dai::node::VideoEncoder>();
 
    xout->setStreamName("mjpeg");
    xout2->setStreamName("preview");
 
    // ColorCamera
    camRgb->setPreviewSize(300, 300);
    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
    // camRgb->setFps(5.0);
    camRgb->setInterleaved(true);
 
    // VideoEncoder
    videnc->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::MJPEG);
 
    // Linking
    camRgb->video.link(videnc->input);
    camRgb->preview.link(xout2->input);
    videnc->bitstream.link(xout->input);
 
    // Connect to device and start pipeline
    dai::Device device(pipeline);
 
    auto mjpegQueue = device.getOutputQueue("mjpeg", 8, false);
    auto previewQueue = device.getOutputQueue("preview", 8, false);
    while(true) {
        auto t1 = steady_clock::now();
        auto preview = previewQueue->get<dai::ImgFrame>();
        auto t2 = steady_clock::now();
        cv::imshow("preview", cv::Mat(preview->getHeight(), preview->getWidth(), CV_8UC3, preview->getData().data()));
        auto t3 = steady_clock::now();
        auto mjpeg = mjpegQueue->get<dai::ImgFrame>();
        auto t4 = steady_clock::now();
        cv::Mat decodedFrame = cv::imdecode(cv::Mat(mjpeg->getData()), cv::IMREAD_COLOR);
        auto t5 = steady_clock::now();
        cv::imshow("mjpeg", decodedFrame);
 
        int previewLatency = duration_cast<milliseconds>(steady_clock::now() - preview->getTimestamp()).count();
        int mjpegLatency = duration_cast<milliseconds>(steady_clock::now() - preview->getTimestamp()).count();
 
        int ms1 = duration_cast<milliseconds>(t2 - t1).count();
        int ms2 = duration_cast<milliseconds>(t3 - t2).count();
        int ms3 = duration_cast<milliseconds>(t4 - t3).count();
        int ms4 = duration_cast<milliseconds>(t5 - t4).count();
        int loop = duration_cast<milliseconds>(t5 - t1).count();
 
        std::cout << ms1 << " " << ms2 << " " << ms3 << " " << ms4 << " loop: " << loop << " | Latencies - preview : " << previewLatency
                  << " mjpeg: " << mjpegLatency << std::endl;
        int key = cv::waitKey(1);
        if(key == 'q') {
            return 0;
        }
    }
    return 0;
}