Encoding Max Limit

1#!/usr/bin/env python3
2
3import depthai as dai
4
5# Create pipeline
6pipeline = dai.Pipeline()
7
8# Define sources and outputs
9camRgb = pipeline.create(dai.node.ColorCamera)
10monoLeft = pipeline.create(dai.node.MonoCamera)
11monoRight = pipeline.create(dai.node.MonoCamera)
12ve1 = pipeline.create(dai.node.VideoEncoder)
13ve2 = pipeline.create(dai.node.VideoEncoder)
14ve3 = pipeline.create(dai.node.VideoEncoder)
15
16ve1Out = pipeline.create(dai.node.XLinkOut)
17ve2Out = pipeline.create(dai.node.XLinkOut)
18ve3Out = pipeline.create(dai.node.XLinkOut)
19
20ve1Out.setStreamName('ve1Out')
21ve2Out.setStreamName('ve2Out')
22ve3Out.setStreamName('ve3Out')
23
24# Properties
25camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
26camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
27monoLeft.setCamera("left")
28monoRight.setCamera("right")
29
30# Setting to 26fps will trigger error
31ve1.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H264_MAIN)
32ve2.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H265_MAIN)
33ve3.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H264_MAIN)
34
35# Linking
36monoLeft.out.link(ve1.input)
37camRgb.video.link(ve2.input)
38monoRight.out.link(ve3.input)
39
40ve1.bitstream.link(ve1Out.input)
41ve2.bitstream.link(ve2Out.input)
42ve3.bitstream.link(ve3Out.input)
43
44# Connect to device and start pipeline
45with dai.Device(pipeline) as dev:
46
47    # Output queues will be used to get the encoded data from the output defined above
48    outQ1 = dev.getOutputQueue('ve1Out', maxSize=30, blocking=True)
49    outQ2 = dev.getOutputQueue('ve2Out', maxSize=30, blocking=True)
50    outQ3 = dev.getOutputQueue('ve3Out', maxSize=30, blocking=True)
51
52    # Processing loop
53    with open('mono1.h264', 'wb') as fileMono1H264, open('color.h265', 'wb') as fileColorH265, open('mono2.h264', 'wb') as fileMono2H264:
54        print("Press Ctrl+C to stop encoding...")
55        while True:
56            try:
57                # Empty each queue
58                while outQ1.has():
59                    outQ1.get().getData().tofile(fileMono1H264)
60
61                while outQ2.has():
62                    outQ2.get().getData().tofile(fileColorH265)
63
64                while outQ3.has():
65                    outQ3.get().getData().tofile(fileMono2H264)
66            except KeyboardInterrupt:
67                break
68
69    print("To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using commands below:")
70    cmd = "ffmpeg -framerate 25 -i {} -c copy {}"
71    print(cmd.format("mono1.h264", "mono1.mp4"))
72    print(cmd.format("mono2.h264", "mono2.mp4"))
73    print(cmd.format("color.h265", "color.mp4"))