def run():
capL = cv2.VideoCapture(1)
capL.set(cv2.CAP_PROP_FRAME_WIDTH, BINCAP_W)
capL.set(cv2.CAP_PROP_FRAME_HEIGHT, BINCAP_H)
capR = cv2.VideoCapture(0)
capR.set(cv2.CAP_PROP_FRAME_WIDTH, BINCAP_W)
capR.set(cv2.CAP_PROP_FRAME_HEIGHT, BINCAP_H)
while True:
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
if orient == 2:
print 'forward'
continue
while orient == 0:
print 'backward'
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
while orient == 1:
turn = turnTo(disparity)
# turn left
if turn == 3:
while orient != 2:
print 'turn left'
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
# turn right
elif turn == 4:
while orient != 2:
print 'turn right'
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
# end
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap0.release()
cap1.release()
cv2.destroyAllWindows()
def run():
capL = cv2.VideoCapture(1)
capL.set(cv2.CAP_PROP_FRAME_WIDTH, BINCAP_W)
capL.set(cv2.CAP_PROP_FRAME_HEIGHT, BINCAP_H)
capR = cv2.VideoCapture(0)
capR.set(cv2.CAP_PROP_FRAME_WIDTH, BINCAP_W)
capR.set(cv2.CAP_PROP_FRAME_HEIGHT, BINCAP_H)
while True:
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
if orient == 2:
print 'forward'
continue
while orient == 0:
print 'backward'
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
while orient==1:
turn = turnTo(disparity)
# turn left
if turn==3:
while orient!=2:
print 'turn left'
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
# turn right
elif turn==4:
while orient!=2:
print 'turn right'
disparity = util.getDisparity(capL.read(), capR.read())
cv2.imshow('disparity', disparity)
orient = util.getOriention(disparity)
# end
if cv2.waitKey(1) & 0xFF==ord('q'):
break
cap0.release()
cap1.release()
cv2.destroyAllWindows()
def handle(self):
print 'get connection from :',self.client_address
imgL = np.zeros((BINCAP_H, BINCAP_W, 3), np.uint8)
imgR = np.zeros((BINCAP_H, BINCAP_W, 3), np.uint8)
while True:
try:
data = self.request.recv(16)
print 'receive data:',data
if not data:
print 'break connection!'
break
else:
action = str(data).strip()
if action == 'put':
self.request.send('ready')
stringDataL = self.recvdata()
stringDataR = self.recvdata()
else:
print 'receive error!'
continue
imgL[50:100] = cv2.imdecode(np.fromstring(stringDataL, dtype='uint8'), 1)
imgL_640_480 = cv2.resize(imgL, (BINIMG_W, BINIMG_H), interpolation=cv2.INTER_CUBIC)
# cv2.imshow('L', imgL_640_480)
#
imgR[50:100] = cv2.imdecode(np.fromstring(stringDataR, dtype='uint8'), 1)
imgR_640_480 = cv2.resize(imgR, (BINIMG_W, BINIMG_H), interpolation=cv2.INTER_CUBIC)
# cv2.imshow('R', imgR_640_480)
disparity = util.getDisparity(imgL_640_480, imgR_640_480)
# cv2.imshow('disparity',np.uint8(disparity))
orient = util.getOriention(disparity)
self.request.send(str(orient))
if cv2.waitKey(1) & 0xff==ord('q'):
self.request.send('end')
cv2.destroyAllWindows()
break
except Exception,e:
print 'error:',e
break
