rgb_mono_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() {
    using namespace std;
    std::signal(SIGINT, &sigintHandler);
 
    // Create pipeline
    dai::Pipeline pipeline;
 
    // Define sources and outputs
    auto camRgb = pipeline.create<dai::node::ColorCamera>();
    auto monoLeft = pipeline.create<dai::node::MonoCamera>();
    auto monoRight = pipeline.create<dai::node::MonoCamera>();
    auto ve1 = pipeline.create<dai::node::VideoEncoder>();
    auto ve2 = pipeline.create<dai::node::VideoEncoder>();
    auto ve3 = pipeline.create<dai::node::VideoEncoder>();
 
    auto ve1Out = pipeline.create<dai::node::XLinkOut>();
    auto ve2Out = pipeline.create<dai::node::XLinkOut>();
    auto ve3Out = pipeline.create<dai::node::XLinkOut>();
 
    ve1Out->setStreamName("ve1Out");
    ve2Out->setStreamName("ve2Out");
    ve3Out->setStreamName("ve3Out");
 
    // Properties
    camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A);
    monoLeft->setCamera("left");
    monoRight->setCamera("right");
    // Create encoders, one for each camera, consuming the frames and encoding them using H.264 / H.265 encoding
    ve1->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::H264_MAIN);
    ve2->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::H265_MAIN);
    ve3->setDefaultProfilePreset(30, dai::VideoEncoderProperties::Profile::H264_MAIN);
 
    // Linking
    monoLeft->out.link(ve1->input);
    camRgb->video.link(ve2->input);
    monoRight->out.link(ve3->input);
    ve1->bitstream.link(ve1Out->input);
    ve2->bitstream.link(ve2Out->input);
    ve3->bitstream.link(ve3Out->input);
 
    // Connect to device and start pipeline
    dai::Device device(pipeline);
 
    // Output queues will be used to get the encoded data from the output defined above
    auto outQ1 = device.getOutputQueue("ve1Out", 30, true);
    auto outQ2 = device.getOutputQueue("ve2Out", 30, true);
    auto outQ3 = device.getOutputQueue("ve3Out", 30, true);
 
    // The .h264 / .h265 files are raw stream files (not playable yet)
    auto videoFile1 = std::ofstream("mono1.h264", std::ios::binary);
    auto videoFile2 = std::ofstream("color.h265", std::ios::binary);
    auto videoFile3 = std::ofstream("mono2.h264", std::ios::binary);
    cout << "Press Ctrl+C to stop encoding..." << endl;
 
    while(alive) {
        auto out1 = outQ1->get<dai::ImgFrame>();
        videoFile1.write((char*)out1->getData().data(), out1->getData().size());
        auto out2 = outQ2->get<dai::ImgFrame>();
        videoFile2.write((char*)out2->getData().data(), out2->getData().size());
        auto out3 = outQ3->get<dai::ImgFrame>();
        videoFile3.write((char*)out3->getData().data(), out3->getData().size());
    }
 
    cout << "To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using a command below:" << endl;
    cout << "ffmpeg -framerate 30 -i mono1.h264 -c copy mono1.mp4" << endl;
    cout << "ffmpeg -framerate 30 -i mono2.h264 -c copy mono2.mp4" << endl;
    cout << "ffmpeg -framerate 30 -i color.h265 -c copy color.mp4" << endl;
 
    return 0;
}