class MyCamera(object):
def __init__(self):
pass
def open_camera(self, device=0, width=-1, height=-1):
self.cap = cv2.VideoCapture(device, cv2.CAP_V4L2)
self.arducam_utils = ArducamUtils(device)
# turn off RGB conversion
if self.arducam_utils.convert2rgb == 0:
self.cap.set(cv2.CAP_PROP_CONVERT_RGB,
self.arducam_utils.convert2rgb)
# set width
if width != -1:
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
# set height
if height != -1:
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
self.fix_orientation()
def fix_orientation(self):
_, sensor_id = self.arducam_utils.read_dev(
ArducamUtils.FIRMWARE_SENSOR_ID_REG)
print("0x{:X}".format(sensor_id))
if sensor_id == 0x5647:
self.arducam_utils.cvt_code = cv2.COLOR_BAYER_GB2BGR
self.cap.grab()
self.arducam_utils.write_sensor(0x3820, 0x42)
self.arducam_utils.write_sensor(0x3821, 0x00)
elif sensor_id == 0x0219:
self.arducam_utils.cvt_code = cv2.COLOR_BAYER_RG2BGR
self.cap.grab()
self.arducam_utils.write_sensor(0x0172, 0x03)
def get_framesize(self):
width = self.cap.get(cv2.CAP_PROP_FRAME_WIDTH)
height = self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
return (width, height)
def close_camera(self):
self.cap.release()
self.cap = None
def get_frame(self):
ret, frame = self.cap.read()
if not ret:
return None
return self.arducam_utils.convert(frame)
def resize(frame, dst_width):
width = frame.shape[1]
height = frame.shape[0]
scale = dst_width * 1.0 / width
return cv2.resize(frame, (int(scale * width), int(scale * height)))
cap = cv2.VideoCapture(0, cv2.CAP_V4L2)
arducam_utils = ArducamUtils(0)
cap.set(cv2.CAP_PROP_CONVERT_RGB, arducam_utils.convert2rgb)
cv2.namedWindow("window")
while cap.isOpened():
ret, frame = cap.read()
frame = arducam_utils.convert(frame)
resizedImg = resize(frame, 1280.0)
#dimensions = resizedImg.shape
image_height = resizedImg.shape[0]
image_width = resizedImg.shape[1]
left_img = frame[0:image_height, 0:(image_width // 2)]
right_img = frame[0:image_height, (image_width // 2):image_width]
stereo = cv2.StereoBM_create(numDisparities=16, blockSize=15)
#disparity = stereo.compute(left_img, right_img)
#cv2.imshow('gray', disparity)
cv2.imshow("left", left_img)
cv2.imshow("right", right_img)