def open_camera(self, camera, x_res, y_res):
if camera == "left":
cam = CameraController("left_hand_camera")
elif camera == "right":
cam = CameraController("right_hand_camera")
elif camera == "head":
cam = CameraController("head_camera")
else:
sys.exit("ERROR - open_camera - Invalid camera")
# set camera parameters
cam.resolution = (int(x_res), int(y_res))
cam.exposure = -1 # range, 0-100 auto = -1
cam.gain = -1 # range, 0-79 auto = -1
cam.white_balance_blue = -1 # range 0-4095, auto = -1
cam.white_balance_green = -1 # range 0-4095, auto = -1
cam.white_balance_red = -1 # range 0-4095, auto = -1
cam.open()
