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Merge pull request #905 from luxonis/video_encoder_frame
Video encoder frame
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,144 @@ | ||
| #pragma once | ||
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| #include <chrono> | ||
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| #include "depthai/pipeline/datatype/Buffer.hpp" | ||
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| // shared | ||
| #include "depthai-shared/datatype/RawEncodedFrame.hpp" | ||
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| // optional | ||
| #ifdef DEPTHAI_HAVE_OPENCV_SUPPORT | ||
| #include <opencv2/opencv.hpp> | ||
| #endif | ||
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| namespace dai { | ||
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| class EncodedFrame : public Buffer { | ||
| std::shared_ptr<RawBuffer> serialize() const override; | ||
| RawEncodedFrame& frame; | ||
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| public: | ||
| // Raw* mirror | ||
| using Profile = RawEncodedFrame::Profile; | ||
| using FrameType = RawEncodedFrame::FrameType; | ||
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| /** | ||
| * Construct EncodedFrame message. | ||
| * Timestamp is set to now | ||
| */ | ||
| EncodedFrame(); | ||
| explicit EncodedFrame(std::shared_ptr<RawEncodedFrame> ptr); | ||
| virtual ~EncodedFrame() = default; | ||
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| // getters | ||
| /** | ||
| * Retrieves instance number | ||
| */ | ||
| unsigned int getInstanceNum() const; | ||
| /** | ||
| * Retrieves exposure time | ||
| */ | ||
| std::chrono::microseconds getExposureTime() const; | ||
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| /** | ||
| * Retrieves sensitivity, as an ISO value | ||
| */ | ||
| int getSensitivity() const; | ||
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| /** | ||
| * Retrieves white-balance color temperature of the light source, in kelvins | ||
| */ | ||
| int getColorTemperature() const; | ||
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| /** | ||
| * Retrieves lens position, range 0..255. Returns -1 if not available | ||
| */ | ||
| int getLensPosition() const; | ||
| /** | ||
| * Retrieves the encoding quality | ||
| */ | ||
| unsigned int getQuality() const; | ||
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| /** | ||
| * Retrieves the encoding bitrate | ||
| */ | ||
| unsigned int getBitrate() const; | ||
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| /** | ||
| * Returns true if encoding is lossless (JPEG only) | ||
| */ | ||
| bool getLossless() const; | ||
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| /** | ||
| * Retrieves frame type (H26x only) | ||
| */ | ||
| FrameType getFrameType() const; | ||
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| /** | ||
| * Retrieves the encoding profile (JPEG, AVC or HEVC) | ||
| */ | ||
| Profile getProfile() const; | ||
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| // setters | ||
| /** | ||
| * Retrieves image timestamp related to dai::Clock::now() | ||
| */ | ||
| EncodedFrame& setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp); | ||
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| /** | ||
| * Sets image timestamp related to dai::Clock::now() | ||
| */ | ||
| EncodedFrame& setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp); | ||
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| /** | ||
| * Specifies sequence number | ||
| * | ||
| * @param seq Sequence number | ||
| */ | ||
| EncodedFrame& setSequenceNum(int64_t seq); | ||
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| /** | ||
| * Instance number relates to the origin of the frame (which camera) | ||
| * | ||
| * @param instance Instance number | ||
| */ | ||
| EncodedFrame& setInstanceNum(unsigned int instance); | ||
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| /** | ||
| * Specifies the encoding quality | ||
| * | ||
| * @param quality Encoding quality | ||
| */ | ||
| EncodedFrame& setQuality(unsigned int quality); | ||
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| /** | ||
| * Specifies the encoding quality | ||
| * | ||
| * @param quality Encoding quality | ||
| */ | ||
| EncodedFrame& setBitrate(unsigned int bitrate); | ||
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| /** | ||
| * Specifies if encoding is lossless (JPEG only) | ||
| * | ||
| * @param lossless True if lossless | ||
| */ | ||
| EncodedFrame& setLossless(bool lossless); | ||
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| /** | ||
| * Specifies the frame type (H26x only) | ||
| * | ||
| * @param type Type of h26x frame (I, P, B) | ||
| */ | ||
| EncodedFrame& setFrameType(FrameType type); | ||
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| /** | ||
| * Specifies the encoding profile | ||
| * | ||
| * @param profile Encoding profile | ||
| */ | ||
| EncodedFrame& setProfile(Profile profile); | ||
| }; | ||
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| } // namespace dai |
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Submodule depthai-shared
updated
3 files
| +1 −0 | include/depthai-shared/datatype/DatatypeEnum.hpp | |
| +55 −0 | include/depthai-shared/datatype/RawEncodedFrame.hpp | |
| +2 −0 | src/datatype/DatatypeEnum.cpp |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,121 @@ | ||
| #include "depthai/pipeline/datatype/EncodedFrame.hpp" | ||
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| #include "utility/H26xParsers.hpp" | ||
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| namespace dai { | ||
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| std::shared_ptr<RawBuffer> EncodedFrame::serialize() const { | ||
| return raw; | ||
| } | ||
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| EncodedFrame::EncodedFrame() : Buffer(std::make_shared<RawEncodedFrame>()), frame(*dynamic_cast<RawEncodedFrame*>(raw.get())) { | ||
| // set timestamp to now | ||
| setTimestamp(std::chrono::steady_clock::now()); | ||
| } | ||
| EncodedFrame::EncodedFrame(std::shared_ptr<RawEncodedFrame> ptr) : Buffer(std::move(ptr)), frame(*dynamic_cast<RawEncodedFrame*>(raw.get())) {} | ||
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| // getters | ||
| unsigned int EncodedFrame::getInstanceNum() const { | ||
| return frame.instanceNum; | ||
| } | ||
| std::chrono::microseconds EncodedFrame::getExposureTime() const { | ||
| return std::chrono::microseconds(frame.cam.exposureTimeUs); | ||
| } | ||
| int EncodedFrame::getSensitivity() const { | ||
| return frame.cam.sensitivityIso; | ||
| } | ||
| int EncodedFrame::getColorTemperature() const { | ||
| return frame.cam.wbColorTemp; | ||
| } | ||
| int EncodedFrame::getLensPosition() const { | ||
| return frame.cam.lensPosition; | ||
| } | ||
| unsigned int EncodedFrame::getQuality() const { | ||
| return frame.quality; | ||
| } | ||
| unsigned int EncodedFrame::getBitrate() const { | ||
| return frame.bitrate; | ||
| } | ||
| bool EncodedFrame::getLossless() const { | ||
| return frame.lossless; | ||
| } | ||
| EncodedFrame::FrameType EncodedFrame::getFrameType() const { | ||
| if(frame.type == FrameType::Unknown) { | ||
| utility::SliceType frameType; | ||
| switch(frame.profile) { | ||
| case RawEncodedFrame::Profile::JPEG: | ||
| frameType = utility::SliceType::I; | ||
| break; | ||
| case RawEncodedFrame::Profile::AVC: | ||
| frameType = utility::getTypesH264(frame.data, true)[0]; | ||
| break; | ||
| case RawEncodedFrame::Profile::HEVC: | ||
| frameType = utility::getTypesH265(frame.data, true)[0]; | ||
| break; | ||
| } | ||
| switch(frameType) { | ||
| case utility::SliceType::P: | ||
| frame.type = FrameType::P; | ||
| break; | ||
| case utility::SliceType::B: | ||
| frame.type = FrameType::B; | ||
| break; | ||
| case utility::SliceType::I: | ||
| frame.type = FrameType::I; | ||
| break; | ||
| case utility::SliceType::SP: | ||
| frame.type = FrameType::P; | ||
| break; | ||
| case utility::SliceType::SI: | ||
| frame.type = FrameType::I; | ||
| break; | ||
| case utility::SliceType::Unknown: | ||
| frame.type = FrameType::Unknown; | ||
| break; | ||
| } | ||
| } | ||
| return frame.type; | ||
| } | ||
| EncodedFrame::Profile EncodedFrame::getProfile() const { | ||
| return frame.profile; | ||
| } | ||
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| // setters | ||
| EncodedFrame& EncodedFrame::setTimestamp(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) { | ||
| // Set timestamp from timepoint | ||
| return static_cast<EncodedFrame&>(Buffer::setTimestamp(tp)); | ||
| } | ||
| EncodedFrame& EncodedFrame::setTimestampDevice(std::chrono::time_point<std::chrono::steady_clock, std::chrono::steady_clock::duration> tp) { | ||
| // Set timestamp from timepoint | ||
| return static_cast<EncodedFrame&>(Buffer::setTimestampDevice(tp)); | ||
| } | ||
| EncodedFrame& EncodedFrame::setSequenceNum(int64_t sequenceNum) { | ||
| return static_cast<EncodedFrame&>(Buffer::setSequenceNum(sequenceNum)); | ||
| } | ||
| EncodedFrame& EncodedFrame::setInstanceNum(unsigned int instanceNum) { | ||
| frame.instanceNum = instanceNum; | ||
| return *this; | ||
| } | ||
| EncodedFrame& EncodedFrame::setQuality(unsigned int quality) { | ||
| frame.quality = quality; | ||
| return *this; | ||
| } | ||
| EncodedFrame& EncodedFrame::setBitrate(unsigned int bitrate) { | ||
| frame.bitrate = bitrate; | ||
| return *this; | ||
| } | ||
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| EncodedFrame& EncodedFrame::setLossless(bool lossless) { | ||
| frame.lossless = lossless; | ||
| return *this; | ||
| } | ||
| EncodedFrame& EncodedFrame::setFrameType(FrameType frameType) { | ||
| frame.type = frameType; | ||
| return *this; | ||
| } | ||
| EncodedFrame& EncodedFrame::setProfile(Profile profile) { | ||
| frame.profile = profile; | ||
| return *this; | ||
| } | ||
|
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| } // namespace dai |
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