1_test.py

# Copyright (C) 2019 Eugene a.k.a. Realizator, stereopi.com, virt2real team
#
# This file is part of StereoPi tutorial scripts.
#
# StereoPi tutorial is free software: you can redistribute it
# and/or modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any later version.
#
# StereoPi tutorial is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with StereoPi tutorial.
# If not, see <http://www.gnu.org/licenses/>.
#
#          <><><> SPECIAL THANKS: <><><>
#
# Thanks to Adrian and http://pyimagesearch.com, as a lot of
# code in this tutorial was taken from his lessons.
#
# Thanks to RPi-tankbot project: https://github.com/Kheiden/RPi-tankbot
#
# Thanks to rakali project: https://github.com/sthysel/rakali


# this command should be run in the docker command prompt before anything
# export LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1


from __future__ import print_function
from threading import Thread
import time
import argparse
import sys
import glob
import os


import jetson.inference
import jetson.utils
import numpy as np
import cv2 as cv

class VideoStreamWidget(object):
	def __init__(self,src):
		self.capture = cv.VideoCapture(src)
		self.thread=Thread(target=self.update,args=())
		self.thread.daemon=True
		self.thread.start()

	def update(self):
		while True:
			if self.capture.isOpened():
				_=self.capture.grab()
			time.sleep(.01)

	def get_frame(self):
		_,self.frame=self.capture.retrieve()
		return self.frame

	def rel_frame(self):
		self.capture.release()


if __name__=='__main__':
	# File for captured image
	filename = './scenes/photo.png'

	# Camera settings
	cam_width = 640
	cam_height = 480

	# Final image capture settings
	scale_ratio = 1

	# Camera resolution height must be dividable by 16, and width by 32
	cam_width = int((cam_width+31)/32)*32
	cam_height = int((cam_height+15)/16)*16
	print ("Used camera resolution: "+str(cam_width)+" x "+str(cam_height))

	# Initialize the camera
	video_stream_widgetI = VideoStreamWidget('/dev/video0')
	video_stream_widgetD = VideoStreamWidget('/dev/video1')

	while True:
		frameIzq = video_stream_widgetI.get_frame()
		frameDer = video_stream_widgetD.get_frame()
		frameStereo = np.concatenate((frameIzq, frameDer), axis=1)

		cv.imshow('Izq',frameIzq)
		cv.imshow('Der',frameDer)
		cv.imshow('Stereo',frameStereo)

		key = cv.waitKey(1)

		if key == ord('q'):
			if (os.path.isdir("./scenes")==False):
 				os.makedirs("./scenes")
			cv.imwrite(filename, frameStereo)
			break

	video_stream_widgetI.rel_frame()
	video_stream_widgetD.rel_frame()
	cv.destroyAllWindows()
	exit(1)