capture = cv2.VideoCapture(0)
# Check if succeeded to connect to the camera
if capture.isOpened() == None:
cv2.CV_Assert("Cam open failed")
capture.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
capture.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
controller = Controller()
link = Link()
while (1):
retVal, image = capture.read()
if retVal:
# Initialize filtered and processed Frame
frame = Frame(image)
turnAngle = controller.pid(frame.calculateVariation())
cv2.imshow("Processed Frame", frame.processedFrame)
link.connect()
link.transmit(turnAngle)
if (cv2.waitKey(1) & 0xFF == ord('q')):
break
# When everything done, release the capture
capture.release()
cv2.destroyAllWindows()
