define_boolean_argument(parser, *var2opt('disparity'),
'capture disparity instead of left/right streams',
False)
define_boolean_argument(
parser, *var2opt('wls_disparity'),
'capture wls disparity instead of left/right or normal disparity streams',
True)
define_boolean_argument(parser, *var2opt('show_wls_preview'),
'show host-side WLS filtering made with OpenCV', False)
args = parser.parse_args()
if args.prefix is None:
print(f'Please specify a valid prefix for video files. Exiting...')
sys.exit(0)
wlsFilter = wlsFilter(args, _lambda=8000, _sigma=1.5)
baseline = 75 #mm
disp_levels = 96
fov = 71.86
depth_cap = cv2.VideoCapture(f'depth-{args.prefix}.h265')
depth_len = int(depth_cap.get(cv2.CAP_PROP_FRAME_COUNT))
rright_cap = cv2.VideoCapture(f'rectright-{args.prefix}.h265')
rright_len = int(rright_cap.get(cv2.CAP_PROP_FRAME_COUNT))
print(f'{rright_len = } - {depth_len = }')
#small_size = (1280, 720)
small_size = (640, 400)
# Closer-in minimum depth, disparity range is doubled:
depth.setExtendedDisparity(False)
# Better accuracy for longer distance, fractional disparity 32-levels:
depth.setSubpixel(False)
'''
left.out.link(depth.left)
right.out.link(depth.right)
baseline = 75 #mm
disp_levels = 96
fov = 71.86
wlsFilter = wlsFilter(args,
_lambda=8000,
_sigma=1.5,
baseline=baseline,
fov=fov,
disp_levels=disp_levels)
wls_queue = multiprocessing.Queue()
wls_data = [
] # filtered_disp, colored_disp = pool.map(apply_wls_filter, (disp_imgs, rr_imgs))
wls_results = []
wls_counter = 0
def wls_worker(queue, wlsFilter):
print(f'Thread {os.getpid()} starting...')
while True:
print(f'Thread {os.getpid()} dequeuing...')