rgb_encoding.cpp

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#include <csignal>
#include <iostream>
 
// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
 
// Keyboard interrupt (Ctrl + C) detected
static std::atomic<bool> alive{true};
static void sigintHandler(int signum) {
    alive = false;
}
 
int main(int argc, char** argv) {
    using namespace std;
    std::signal(SIGINT, &sigintHandler);
 
    // Create pipeline
    dai::Pipeline pipeline;
 
    // Define sources and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto videoEnc = pipeline.create<dai::node::VideoEncoder>();
    auto xout = pipeline.create<dai::node::XLinkOut>();
 
    xout->setStreamName("h265");
 
    // Properties
    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
    camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
    videoEnc->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::H265_MAIN);
 
    // Linking
    camRgb->video.link(videoEnc->input);
    videoEnc->bitstream.link(xout->input);
 
    // Connect to device and start pipeline
    dai::Device device(pipeline);
 
    // Output queue will be used to get the encoded data from the output defined above
    auto q = device.getOutputQueue("h265", 30, true);
 
    // The .h265 file is a raw stream file (not playable yet)
    auto videoFile = std::ofstream("video.h265", std::ios::binary);
    cout << "Press Ctrl+C to stop encoding..." << endl;
 
    while(alive) {
        auto h265Packet = q->get<dai::ImgFrame>();
        videoFile.write((char*)(h265Packet->getData().data()), h265Packet->getData().size());
    }
 
    cout << "To view the encoded data, convert the stream file (.h265) into a video file (.mp4) using a command below:" << endl;
    cout << "ffmpeg -framerate 30 -i video.h265 -c copy video.mp4" << endl;
 
    return 0;
}