# Sync This example shows how to synchronize two video streams, each coming from a different camera. This example requires the DepthAI v3 API, see [installation instructions](https://docs.luxonis.com/software-v3/depthai.md). ## Pipeline ### examples/sync.pipeline.json ```json {"pipeline": {"connections": [{"node1Id": 1, "node1Output": "0", "node1OutputGroup": "dynamicOutputs", "node2Id": 3, "node2Input": "in", "node2InputGroup": ""}, {"node1Id": 0, "node1Output": "0", "node1OutputGroup": "dynamicOutputs", "node2Id": 5, "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": [[5, {"alias": "", "id": 5, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 9, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_0_dynamicOutputs_0"}}], [3, {"alias": "", "id": 3, "ioInfo": [[["", "in"], {"blocking": true, "group": "", "id": 8, "name": "in", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "XLinkOut", "parentId": -1, "properties": {"maxFpsLimit": -1.0, "metadataOnly": false, "streamName": "__x_1_dynamicOutputs_0"}}], [1, {"alias": "", "id": 1, "ioInfo": [[["dynamicOutputs", "0"], {"blocking": false, "group": "dynamicOutputs", "id": 7, "name": "0", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "raw"], {"blocking": false, "group": "", "id": 6, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "mockIsp"], {"blocking": true, "group": "", "id": 5, "name": "mockIsp", "queueSize": 8, "type": 3, "waitForMessage": false}], [["", "inputControl"], {"blocking": true, "group": "", "id": 4, "name": "inputControl", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Camera", "parentId": -1, "properties": {"boardSocket": 2, "cameraName": "", "fps": -1.0, "imageOrientation": -1, "initialControl": {"aeLockMode": false, "aeMaxExposureTimeUs": 0, "aeRegion": {"height": 0, "priority": 902345568, "width": 0, "x": 65, "y": 0}, "afRegion": {"height": 13768, "priority": 24930, "width": 3824, "x": 24930, "y": 0}, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 0, "cmdMask": 0, "contrast": -128, "controlMode": 0, "effectMode": 0, "enableHdr": false, "expCompensation": 0, "expManual": {"exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 400}, "frameSyncMode": 0, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 96, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "miscControls": [], "saturation": 2, "sceneMode": 0, "sharpness": 0, "strobeConfig": {"activeLevel": 184, "enable": 0, "gpioNumber": 122}, "strobeTimings": {"durationUs": 24930, "exposureBeginOffsetUs": 24930, "exposureEndOffsetUs": 902265528}, "wbColorTemp": 0}, "isp3aFps": 0, "mockIspHeight": -1, "mockIspWidth": -1, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "outputRequests": [{"enableUndistortion": null, "fps": {"value": null}, "resizeMode": 0, "size": {"value": {"index": 0, "value": [1280, 800]}}, "type": null}], "resolutionHeight": -1, "resolutionWidth": -1}}], [0, {"alias": "", "id": 0, "ioInfo": [[["dynamicOutputs", "0"], {"blocking": false, "group": "dynamicOutputs", "id": 3, "name": "0", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "raw"], {"blocking": false, "group": "", "id": 2, "name": "raw", "queueSize": 8, "type": 0, "waitForMessage": false}], [["", "mockIsp"], {"blocking": true, "group": "", "id": 1, "name": "mockIsp", "queueSize": 8, "type": 3, "waitForMessage": false}], [["", "inputControl"], {"blocking": true, "group": "", "id": 0, "name": "inputControl", "queueSize": 3, "type": 3, "waitForMessage": false}]], "logLevel": 3, "name": "Camera", "parentId": -1, "properties": {"boardSocket": 1, "cameraName": "", "fps": -1.0, "imageOrientation": -1, "initialControl": {"aeLockMode": false, "aeMaxExposureTimeUs": 65544, "aeRegion": {"height": 0, "priority": 0, "width": 0, "x": 0, "y": 0}, "afRegion": {"height": 43, "priority": 131077, "width": 12, "x": 0, "y": 0}, "antiBandingMode": 0, "autoFocusMode": 3, "awbLockMode": false, "awbMode": 0, "brightness": 0, "captureIntent": 0, "chromaDenoise": 136, "cmdMask": 0, "contrast": -116, "controlMode": 12, "effectMode": 0, "enableHdr": false, "expCompensation": 0, "expManual": {"exposureTimeUs": 0, "frameDurationUs": 0, "sensitivityIso": 0}, "frameSyncMode": 6, "lensPosAutoInfinity": 0, "lensPosAutoMacro": 0, "lensPosition": 0, "lensPositionRaw": 0.0, "lowPowerNumFramesBurst": 1, "lowPowerNumFramesDiscard": 0, "lumaDenoise": 0, "miscControls": [], "saturation": 0, "sceneMode": 0, "sharpness": 2, "strobeConfig": {"activeLevel": 110, "enable": 0, "gpioNumber": 111}, "strobeTimings": {"durationUs": 2949132, "exposureBeginOffsetUs": 6649189, "exposureEndOffsetUs": 1704760}, "wbColorTemp": 1}, "isp3aFps": 0, "mockIspHeight": -1, "mockIspWidth": -1, "numFramesPoolIsp": 3, "numFramesPoolPreview": 4, "numFramesPoolRaw": 3, "numFramesPoolStill": 4, "numFramesPoolVideo": 4, "outputRequests": [{"enableUndistortion": null, "fps": {"value": null}, "resizeMode": 0, "size": {"value": {"index": 0, "value": [1280, 800]}}, "type": null}], "resolutionHeight": -1, "resolutionWidth": -1}}]]}} ``` ## Source code #### Python ```python import depthai as dai pipeline = dai.Pipeline() left = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_B) right = pipeline.create(dai.node.Camera).build(dai.CameraBoardSocket.CAM_C) sync = pipeline.create(dai.node.Sync) sync.setRunOnHost(True) # Can also run on device left.requestFullResolutionOutput().link(sync.inputs["left"]) right.requestFullResolutionOutput().link(sync.inputs["right"]) outQueue = sync.out.createOutputQueue() pipeline.start() while pipeline.isRunning(): messageGroup : dai.MessageGroup = outQueue.get() left = messageGroup["left"] right = messageGroup["right"] print(f"Timestamps, message group {messageGroup.getTimestamp()}, left {left.getTimestamp()}, right {right.getTimestamp()}") ``` #### C++ ```cpp #include #include #include #include "depthai/depthai.hpp" std::atomic quitEvent(false); void signalHandler(int) { quitEvent = true; } int main() { signal(SIGTERM, signalHandler); signal(SIGINT, signalHandler); // Create pipeline dai::Pipeline pipeline; // Create and configure camera nodes auto left = pipeline.create(); left->build(dai::CameraBoardSocket::CAM_B); auto right = pipeline.create(); right->build(dai::CameraBoardSocket::CAM_C); // Create and configure sync node auto sync = pipeline.create(); sync->setRunOnHost(true); // Can also run on device // Link cameras to sync inputs left->requestFullResolutionOutput()->link(sync->inputs["left"]); right->requestFullResolutionOutput()->link(sync->inputs["right"]); // Create output queue auto outQueue = sync->out.createOutputQueue(); pipeline.start(); while(pipeline.isRunning() && !quitEvent) { auto messageGroup = outQueue->get(); if(messageGroup == nullptr) continue; auto leftMsg = messageGroup->get("left"); auto rightMsg = messageGroup->get("right"); std::cout << "Timestamps, message group " << messageGroup->getTimestamp().time_since_epoch().count() << std::endl; std::cout << "left " << leftMsg->getTimestamp().time_since_epoch().count() << std::endl; std::cout << "right " << rightMsg->getTimestamp().time_since_epoch().count() << std::endl; if(cv::waitKey(1) == 'q') { break; } } pipeline.stop(); pipeline.wait(); return 0; } ``` ### Need assistance? 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