video.py

import depthai as dai
from time import monotonic, sleep
from datetime import datetime
import paho.mqtt.client as mqtt
import json
from setup import unit
import cv2

try:
    focus = unit["camSettings"]["photo"]["oakcamera"]["focus"]
    rotation = unit["camSettings"]["photo"]["oakcamera"]["rotation"]
    duration = unit["camSettings"]["video"]["duration"]
    quality = unit["camSettings"]["photo"]["oakcamera"]["quality"]
except Exception as error:
    focus = 123
    rotation = 180
    duration = 30
    quality = 50
doCapture = record = False
outputPath = '/home/pi/Videos/temp/'

def on_connect(mosq, obj, rc, properties=None):
    mqttc.subscribe("oak", 0)

def on_subscribe(mosq, obj, mid, granted_qos):
    print("Subscribed to MQTT Topic OAK")

def on_message(mosq, obj, msg):
    global record, doCapture
    msg = json.loads(msg.payload.decode("utf-8"))
    print('message', msg, datetime.now().strftime("%Y%m%d_%H%M%S"))
    if msg['mode'] == 'video':
        record = True
    elif msg['mode'] == 'photo':
        doCapture = True


pipeline = dai.Pipeline()

camRgb = pipeline.createColorCamera()
videoEnc = pipeline.createVideoEncoder()
xout = pipeline.createXLinkOut()

xout.setStreamName('h264')

camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
camRgb.setStillSize(1920,1080)
camRgb.initialControl.setManualFocus(focus)
camRgb.initialControl.setAutoFocusMode(dai.RawCameraControl.AutoFocusMode.OFF)

jpgEncoder = pipeline.createVideoEncoder()
jpgEncoder.setDefaultProfilePreset( 1920, 1080, 1, dai.VideoEncoderProperties.Profile.MJPEG )
jpgEncoderXLinkOut = pipeline.createXLinkOut()
jpgEncoderXLinkOut.setStreamName("jpg")
jpgEncoder.setNumFramesPool(1)

if rotation == 180:
    camRgb.setImageOrientation(dai.CameraImageOrientation.ROTATE_180_DEG)
videoEnc.setDefaultProfilePreset(1920, 1080, 30, dai.VideoEncoderProperties.Profile.H264_MAIN)
camRgb.setIspScale(1,2)
camRgb.video.link(videoEnc.input)
videoEnc.bitstream.link(xout.input)

camControl = pipeline.createXLinkIn()
camControl.setStreamName("camControl")
camControl.setMaxDataSize(500000)
camControl.out.link(camRgb.inputControl)

camRgb.still.link(jpgEncoder.input)
jpgEncoder.bitstream.link(jpgEncoderXLinkOut.input)


mqttc = mqtt.Client('oak')
mqttc.on_message = on_message
mqttc.on_connect = on_connect
mqttc.on_subscribe = on_subscribe
mqttc.connect_async("localhost", 1883)
mqttc.loop_start()


with dai.Device(pipeline) as device:
    videoQ = device.getOutputQueue(name="h264", maxSize=1, blocking=False)
    camControlQ = device.getInputQueue("camControl", maxSize=1, blocking=False)
    jpgQ = device.getOutputQueue("jpg", maxSize=1, blocking=False)
    ctrl = dai.CameraControl()
    while True:
        if record:
            ts = monotonic()
            now = datetime.now().strftime("%Y%m%d_%H%M%S")
            with open(outputPath + now + '.h264', 'wb') as videoFile:
                print(now, 'started recording 1080 h264', camRgb.getIspSize(), videoEnc.getProfile())
                while record:
                    h264Packet = videoQ.get() 
                    h264Packet.getData().tofile(videoFile)  
                    if (monotonic() - ts) > duration:
                        print(datetime.now().strftime("%Y%m%d_%H%M%S"), 'finished recording 1080 h264 file')
                        record = False
        if doCapture:
            now = datetime.now().strftime("%Y%m%d_%H%M%S")
            ctrl.setCaptureStill(True)
            camControlQ.send(ctrl)
            print(now, 'taking photo', camRgb.getIspSize(), jpgEncoder.getProfile())
            f = jpgQ.get()
            frame = cv2.imdecode(f.getData(), cv2.IMREAD_UNCHANGED)
            cv2.imwrite(outputPath + now + ".jpg",frame,[int(cv2.IMWRITE_JPEG_QUALITY), quality])
            doCapture = False