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Vorbis

Codecs

Quality from high to low:

libopus > libvorbis >= libfdk_aac > libmp3lame >= eac3/ac3 > aac > libtwolame > vorbis > mp2 > wmav2/wmav1

libvorbis

If output extension is .ogg, codec libvorbis is automatically selected.

shell
ffmpeg -i input.wav output.ogg