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Add support for recording encoded color stereo #10

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Jan 9, 2024
Merged

Add support for recording encoded color stereo #10

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22 changes: 19 additions & 3 deletions python/cli/record/oak.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,13 +50,17 @@ def define_args(p):
# for options that might be available. On Raspberry Pi or Jetson, try "h264_v4l2m2m",
# and on Linux machines with Nvidia GPUs, try "h264_nvenc".
p.add_argument('--ffmpeg_codec', help="FFMpeg codec for host", default=None)
p.add_argument('--ffmpeg_preview', help="Save PNG previews while recording with ffmpeg every Nth frame", type=int)
p.add_argument('--ffmpeg_preview_scale', help="Scale of the ffmpeg PNG previews 0.5 half, 1.0 full resolution etc.", type=float)
p.add_argument("--use_encoded_video", help="Encodes video on OAK-D, works only in recording only mode", action="store_true")
p.add_argument("--color_stereo", help="Use this flag with devices that have color stereo cameras", action="store_true")
p.add_argument('--map', help='Record SLAM map', action="store_true")
p.add_argument('--no_feature_tracker', help='Disable on-device feature tracking', action="store_true")
p.add_argument('--vio_auto_exposure', help='Enable SpectacularAI auto exposure which optimizes exposure parameters for VIO performance (BETA)', action="store_true")
p.add_argument('--ir_dot_brightness', help='OAK-D Pro (W) IR laser projector brightness (mA), 0 - 1200', type=float, default=0)
p.add_argument("--resolution", help="Gray input resolution (gray)",
default='400p',
choices=['400p', '800p'])
choices=['400p', '800p', '1200p'])

return p

Expand Down Expand Up @@ -89,6 +93,8 @@ def record(args):
autoFolderName = datetime.datetime.now().strftime("%Y%m%dT%H%M%S")
outputFolder = os.path.join(outputFolder, autoFolderName)

internalParameters = {}

if not args.no_inputs:
config.recordingFolder = outputFolder
if args.map:
Expand All @@ -111,10 +117,20 @@ def record(args):
if args.disable_cameras:
config.disableCameras = True
if args.ffmpeg_codec is not None:
config.internalParameters = { 'ffmpegVideoCodec': args.ffmpeg_codec + ' -b:v 8M' }
print(config.internalParameters)
internalParameters["ffmpegVideoCodec"] = args.ffmpeg_codec + ' -b:v 8M'
if args.no_usb_speed_check:
config.ensureSufficientUsbSpeed = False
if args.color_stereo:
config.useColorStereoCameras = True
if args.use_encoded_video:
config.forceUnrectified = True
config.useEncodedVideo = True
if args.ffmpeg_preview:
internalParameters["ffmpegPngPreviewNthFrame"] = str(args.ffmpeg_preview)
if args.ffmpeg_preview_scale:
internalParameters["ffmpegPngPreviewScale"] = str(args.ffmpeg_preview_scale).replace(",", ".")

config.internalParameters = internalParameters

# Enable recoding by setting recordingFolder option
vio_pipeline = spectacularAI.depthai.Pipeline(pipeline, config)
Expand Down