# Encoding Max Limit This example shows how to set up the encoder node to encode the RGB camera and both grayscale cameras (of DepthAI/OAK-D) at the same time, having all encoder parameters set to maximum quality and FPS. The RGB is set to 4K (3840x2160) and the grayscale are set to 1280x720 each, all at 25FPS. Each encoded video stream is transferred over XLINK and saved to a respective file. Pressing Ctrl+C will stop the recording and then convert it using ffmpeg into an mp4 to make it playable. Note that ffmpeg will need to be installed and runnable for the conversion to mp4 to succeed. Be careful, this example saves encoded video to your host storage. So if you leave it running, you could fill up your storage on your host. It's a variation of [RGB Encoding](https://docs.luxonis.com/software-v3/depthai/examples/rgb_encoding.md) and [RGB & Mono Encoding](https://docs.luxonis.com/software-v3/depthai/examples/rgb_mono_encoding.md). ### Similar samples: * [RGB Encoding](https://docs.luxonis.com/software-v3/depthai/examples/rgb_encoding.md) * [RGB & Mono Encoding](https://docs.luxonis.com/software-v3/depthai/examples/rgb_mono_encoding.md) * [RGB Encoding & YOLO](https://docs.luxonis.com/software-v3/depthai/examples/detection_network/detection_network.md) ## Demo This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md). ## Source code #### Python ```python #!/usr/bin/env python3 import depthai as dai # Create pipeline pipeline = dai.Pipeline() # Define sources and outputs camRgb = pipeline.create(dai.node.ColorCamera) monoLeft = pipeline.create(dai.node.MonoCamera) monoRight = pipeline.create(dai.node.MonoCamera) ve1 = pipeline.create(dai.node.VideoEncoder) ve2 = pipeline.create(dai.node.VideoEncoder) ve3 = pipeline.create(dai.node.VideoEncoder) ve1Out = pipeline.create(dai.node.XLinkOut) ve2Out = pipeline.create(dai.node.XLinkOut) ve3Out = pipeline.create(dai.node.XLinkOut) ve1Out.setStreamName('ve1Out') ve2Out.setStreamName('ve2Out') ve3Out.setStreamName('ve3Out') # Properties camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A) camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K) monoLeft.setCamera("left") monoRight.setCamera("right") # Setting to 26fps will trigger error ve1.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H264_MAIN) ve2.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H265_MAIN) ve3.setDefaultProfilePreset(25, dai.VideoEncoderProperties.Profile.H264_MAIN) # Linking monoLeft.out.link(ve1.input) camRgb.video.link(ve2.input) monoRight.out.link(ve3.input) ve1.bitstream.link(ve1Out.input) ve2.bitstream.link(ve2Out.input) ve3.bitstream.link(ve3Out.input) # Connect to device and start pipeline with dai.Device(pipeline) as dev: # Output queues will be used to get the encoded data from the output defined above outQ1 = dev.getOutputQueue('ve1Out', maxSize=30, blocking=True) outQ2 = dev.getOutputQueue('ve2Out', maxSize=30, blocking=True) outQ3 = dev.getOutputQueue('ve3Out', maxSize=30, blocking=True) # Processing loop with open('mono1.h264', 'wb') as fileMono1H264, open('color.h265', 'wb') as fileColorH265, open('mono2.h264', 'wb') as fileMono2H264: print("Press Ctrl+C to stop encoding...") while True: try: # Empty each queue while outQ1.has(): outQ1.get().getData().tofile(fileMono1H264) while outQ2.has(): outQ2.get().getData().tofile(fileColorH265) while outQ3.has(): outQ3.get().getData().tofile(fileMono2H264) except KeyboardInterrupt: break print("To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using commands below:") cmd = "ffmpeg -framerate 25 -i {} -c copy {}" print(cmd.format("mono1.h264", "mono1.mp4")) print(cmd.format("mono2.h264", "mono2.mp4")) print(cmd.format("color.h265", "color.mp4")) ``` #### C++ ```cpp #include #include // Includes common necessary includes for development using depthai library #include "depthai/depthai.hpp" // Keyboard interrupt (Ctrl + C) detected static std::atomic alive{true}; static void sigintHandler(int signum) { alive = false; } int main() { using namespace std; using namespace std::chrono; std::signal(SIGINT, &sigintHandler); // Create pipeline dai::Pipeline pipeline; // Define sources and outputs auto camRgb = pipeline.create(); auto monoLeft = pipeline.create(); auto monoRight = pipeline.create(); auto ve1 = pipeline.create(); auto ve2 = pipeline.create(); auto ve3 = pipeline.create(); auto ve1Out = pipeline.create(); auto ve2Out = pipeline.create(); auto ve3Out = pipeline.create(); ve1Out->setStreamName("ve1Out"); ve2Out->setStreamName("ve2Out"); ve3Out->setStreamName("ve3Out"); // Properties camRgb->setBoardSocket(dai::CameraBoardSocket::CAM_A); camRgb->setResolution(dai::ColorCameraProperties::SensorResolution::THE_4_K); monoLeft->setCamera("left"); monoRight->setCamera("right"); // Setting to 26fps will trigger error ve1->setDefaultProfilePreset(25, dai::VideoEncoderProperties::Profile::H264_MAIN); ve2->setDefaultProfilePreset(25, dai::VideoEncoderProperties::Profile::H265_MAIN); ve3->setDefaultProfilePreset(25, dai::VideoEncoderProperties::Profile::H264_MAIN); // Linking monoLeft->out.link(ve1->input); camRgb->video.link(ve2->input); monoRight->out.link(ve3->input); ve1->bitstream.link(ve1Out->input); ve2->bitstream.link(ve2Out->input); ve3->bitstream.link(ve3Out->input); // Connect to device and start pipeline dai::Device device(pipeline); // Output queues will be used to get the encoded data from the output defined above auto outQ1 = device.getOutputQueue("ve1Out", 30, true); auto outQ2 = device.getOutputQueue("ve2Out", 30, true); auto outQ3 = device.getOutputQueue("ve3Out", 30, true); // The .h264 / .h265 files are raw stream files (not playable yet) auto videoFile1 = ofstream("mono1.h264", ios::binary); auto videoFile2 = ofstream("color.h265", ios::binary); auto videoFile3 = ofstream("mono2.h264", ios::binary); cout << "Press Ctrl+C to stop encoding..." << endl; while(alive) { auto out1 = outQ1->get(); videoFile1.write((char*)out1->getData().data(), out1->getData().size()); auto out2 = outQ2->get(); videoFile2.write((char*)out2->getData().data(), out2->getData().size()); auto out3 = outQ3->get(); videoFile3.write((char*)out3->getData().data(), out3->getData().size()); } cout << "To view the encoded data, convert the stream file (.h264/.h265) into a video file (.mp4), using a command below:" << endl; cout << "ffmpeg -framerate 25 -i mono1.h264 -c copy mono1.mp4" << endl; cout << "ffmpeg -framerate 25 -i mono2.h264 -c copy mono2.mp4" << endl; cout << "ffmpeg -framerate 25 -i color.h265 -c copy color.mp4" << endl; return 0; } ``` ## Pipeline ### examples/encoding_max_limit.pipeline.json ```json { "pipeline": { "connections": [ { "node1Id": 1, "node1Output": "out", "node1OutputGroup": "", "node2Id": 3, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 0, "node1Output": "video", "node1OutputGroup": "", "node2Id": 4, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 2, "node1Output": "out", "node1OutputGroup": "", "node2Id": 5, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 3, "node1Output": "bitstream", "node1OutputGroup": "", "node2Id": 6, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 4, "node1Output": "bitstream", "node1OutputGroup": "", "node2Id": 7, "node2Input": "in", "node2InputGroup": "" }, { "node1Id": 5, "node1Output": "bitstream", "node1OutputGroup": "", "node2Id": 8, "node2Input": "in", "node2InputGroup": "" } ], "globalProperties": { "calibData": null, "cameraTuningBlobSize": null, "cameraTuningBlobUri": "", "leonCssFrequencyHz": 700000000.0, "leonMssFrequencyHz": 700000000.0, "pipelineName": null, "pipelineVersion": null, "sippBufferSize": 18432, "sippDmaBufferSize": 16384, "xlinkChunkSize": -1 }, "nodes": [ [ 0, { "id": 0, "ioInfo": [ [ [ "", "inputConfig" ], { "blocking": false, "group": "", "id": 1, "name": "inputConfig", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "still" ], { "blocking": false, "group": "", "id": 7, "name": "still", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 2, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "video" ], { "blocking": false, "group": "", "id": 3, "name": "video", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "isp" ], { "blocking": false, "group": "", "id": 4, "name": "isp", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "preview" ], { "blocking": false, "group": "", "id": 5, "name": "preview", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 8, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "ColorCamera", "properties": { "boardSocket": 0, "cameraName": "", "colorOrder": 0, "fp16": false, "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "interleaved": true, "isp3aFps": 0, "ispScale": { "horizDenominator": 0, "horizNumerator": 0, "vertDenominator": 0, "vertNumerator": 0 }, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "previewHeight": 300, "previewKeepAspectRatio": true, "previewWidth": 300, "rawPacked": null, "resolution": 1, "sensorCropX": -1.0, "sensorCropY": -1.0, "stillHeight": -1, "stillWidth": -1, "videoHeight": -1, "videoWidth": -1 } } ], [ 1, { "id": 1, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 9, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 10, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 11, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 12, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "left", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 2, { "id": 2, "ioInfo": [ [ [ "", "inputControl" ], { "blocking": true, "group": "", "id": 13, "name": "inputControl", "queueSize": 8, "type": 3, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 14, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "raw" ], { "blocking": false, "group": "", "id": 15, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "frameEvent" ], { "blocking": false, "group": "", "id": 16, "name": "frameEvent", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "MonoCamera", "properties": { "boardSocket": -1, "cameraName": "right", "fps": 30.0, "imageOrientation": -1, "initialControl": { "aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "afRegion": { "height": 0, "priority": 0, "width": 0, "x": 0, "y": 0 }, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": 0, "controlMode": 0, "effectMode": 0, "expCompensation": 0, "expManual": { "exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0 }, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 0, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "saturation": 0, "sceneMode": 0, "sharpness": 0, "strobeConfig": { "activeLevel": 0, "enable": 0, "gpioNumber": 0 }, "strobeTimings": { "durationUs": 0, "exposureBeginOffsetUs": 0, "exposureEndOffsetUs": 0 }, "wbColorTemp": 0 }, "isp3aFps": 0, "numFramesPool": 3, "numFramesPoolRaw": 3, "rawPacked": null, "resolution": 0 } } ], [ 3, { "id": 3, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 17, "name": "in", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "bitstream" ], { "blocking": false, "group": "", "id": 18, "name": "bitstream", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 19, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "VideoEncoder", "properties": { "bitrate": 0, "frameRate": 25.0, "keyframeFrequency": 25, "lossless": false, "maxBitrate": 0, "numBFrames": 0, "numFramesPool": 0, "outputFrameSize": 0, "profile": 2, "quality": 80, "rateCtrlMode": 0 } } ], [ 4, { "id": 4, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 20, "name": "in", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "bitstream" ], { "blocking": false, "group": "", "id": 21, "name": "bitstream", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 22, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "VideoEncoder", "properties": { "bitrate": 0, "frameRate": 25.0, "keyframeFrequency": 25, "lossless": false, "maxBitrate": 0, "numBFrames": 0, "numFramesPool": 0, "outputFrameSize": 0, "profile": 3, "quality": 80, "rateCtrlMode": 0 } } ], [ 5, { "id": 5, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 23, "name": "in", "queueSize": 4, "type": 3, "waitForMessage": true } ], [ [ "", "bitstream" ], { "blocking": false, "group": "", "id": 24, "name": "bitstream", "queueSize": 8, "type": 0, "waitForMessage": false } ], [ [ "", "out" ], { "blocking": false, "group": "", "id": 25, "name": "out", "queueSize": 8, "type": 0, "waitForMessage": false } ] ], "name": "VideoEncoder", "properties": { "bitrate": 0, "frameRate": 25.0, "keyframeFrequency": 25, "lossless": false, "maxBitrate": 0, "numBFrames": 0, "numFramesPool": 0, "outputFrameSize": 0, "profile": 2, "quality": 80, "rateCtrlMode": 0 } } ], [ 6, { "id": 6, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 26, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "ve1Out" } } ], [ 7, { "id": 7, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 27, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "ve2Out" } } ], [ 8, { "id": 8, "ioInfo": [ [ [ "", "in" ], { "blocking": true, "group": "", "id": 28, "name": "in", "queueSize": 8, "type": 3, "waitForMessage": true } ] ], "name": "XLinkOut", "properties": { "maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "ve3Out" } } ] ] } } ``` ### Need assistance? 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