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ffmpeg-libav-tutorial
FFmpeg libav tutorial - learn how media works from basic to transmuxing, transcoding and more
Btw, if you want to encode anything higher than 1080p60 using the Videocore VI, you'll need to use an external library like ffmpeg. There is a good tutorial for ffmpeg too - https://github.com/leandromoreira/ffmpeg-libav-tutorial . This should teach you how to encode the raw video stream you get from the camera into a codec of your choice.
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Next, I looked at the code for Raspicam group of tools. That's when other things in life distracted me :)
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Scout APM
Less time debugging, more time building. Scout APM allows you to find and fix performance issues with no hassle. Now with error monitoring and external services monitoring, Scout is a developer's best friend when it comes to application development.