#!/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.RGB)

camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)

monoLeft.setBoardSocket(dai.CameraBoardSocket.LEFT)

monoRight.setBoardSocket(dai.CameraBoardSocket.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"))