Camera.cpp

class DepthAiCamera : public  Camera{
private:
   std::shared_ptr<dai::node::ColorCamera> color_camera;
   std::shared_ptr<dai::node::VideoEncoder> encoder;
   std::shared_ptr<dai::node::XLinkOut> video_out;
   std::shared_ptr<dai::node::XLinkIn> control;

   std::shared_ptr<dai::DataInputQueue> control_queue_in;
   std::shared_ptr<dai::DataOutputQueue> queue_out;
   std::unique_ptr<dai::Device> device;
   std::unique_ptr<dai::Pipeline> pipeline;
   std::string device_id;
   bool opened = false;
public:

   virtual bool start(){
      if(opened){
         gst_print("already opened\n");
         return true;
      }
      gst_print("starting\n");
      if(width > 3840 || height > 2160){
         return false;
      }
      opened = true;
      device_id = std::string();
      get_deviceid(); // force to load device id
      pipeline = std::make_unique<dai::Pipeline>();
      color_camera = pipeline->create<dai::node::ColorCamera>();
      encoder = pipeline->create<dai::node::VideoEncoder>();
      video_out = pipeline->create<dai::node::XLinkOut>();
      control = pipeline->create<dai::node::XLinkIn>();

      control->setStreamName("ctrl");
      video_out->setStreamName("h264");

      color_camera->setInterleaved(true);
      color_camera->setImageOrientation(dai::CameraImageOrientation::ROTATE_180_DEG);
      color_camera->setBoardSocket(dai::CameraBoardSocket::RGB);
      if(width > 1920 || height > 1080){
         color_camera->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K);
      }else{
         color_camera->setResolution(dai::ColorCameraProperties::SensorResolution::THE_1080_P);
      }
      color_camera->setVideoSize(width, height);
      color_camera->setFps(fps);
      // color_camera->initialControl.setAutoWhiteBalanceMode(dai::CameraControl::AutoWhiteBalanceMode::SHADE);
      color_camera->initialControl.setAutoFocusMode(dai::CameraControl::AutoFocusMode::OFF);
      encoder->setDefaultProfilePreset(width, height, fps, dai::VideoEncoderProperties::Profile::H264_MAIN);
      
      color_camera->video.link(encoder->input);         
      control->out.link(color_camera->inputControl);
      encoder->bitstream.link(video_out->input);

     
      device = std::make_unique<dai::Device>(*pipeline);
      device->setLogOutputLevel(dai::LogLevel::TRACE);
      device->setLogLevel(dai::LogLevel::TRACE);
      queue_out = device->getOutputQueue("h264");
      control_queue_in = device->getInputQueue("ctrl");
      
      try{
         device->startPipeline();     
      }catch (std::exception& e) {
         cout << "An exception occurred. Exception Nr. " << e.what() << '\n';
         return false;
      }
      
      return true;
   }

   virtual void stop(){
      opened = false;
      gst_print("stopping\n");
      if(device){
         device->close();
         device = nullptr;
      }
   }
   ...
};