import numpy as np import cv2 ############# Go 1 Camera list ################ # used # cam_id nano_id dev_id port_id 位置 # 0 13 1 9201 前方 # 1 13 0 9202 下巴 # 2 14 0 9203 左方 # 3 14 1 9204 右方 # 4 15 0 9205 腹部（默认） ############################################### class Stereo_Camera: def __init__(self, camera_id=None, camera_width=640, camera_height=640): self.camera_width = camera_width self.camera_height = camera_height self.camera_id = camera_id self.cap_dict = {} def camera_init(self): ''' 摄像头初始化 ''' IpLastSegment = 15 udpPORT = [9201, 9202, 9203, 9204, 9205] # 端口：下巴，前方，左，右，腹部 udpstrPrevData = "udpsrc address=192.168.123."+ str(IpLastSegment) + " port=" udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! appsink"; if self.camera_id == None: for port, id in enumerate(udpPORT): udpSendIntegratedPipe = udpstrPrevData + str(port) + udpstrBehindData cap = cv2.VideoCapture(udpSendIntegratedPipe) self.cap_dict.update({id: cap}) elif type(self.camera_id) == list: for cam_id, id in enumerate(self.camera_id): udpSendIntegratedPipe = udpstrPrevData + str(udpPORT[cam_id]) + udpstrBehindData cap = cv2.VideoCapture(udpSendIntegratedPipe) self.cap_dict.update({cam_id: cap}) print("camera {} has been started sucessfully!".format(cam_id)) elif type(self.camera_id) == int: udpSendIntegratedPipe = udpstrPrevData + str(udpPORT[self.camera_id]) + udpstrBehindData cap = cv2.VideoCapture(udpSendIntegratedPipe) self.cap_dict.update({self.camera_id: cap}) print("---------------------------------------------",\ "\ncamera list:", self.cap_dict, "\n", \ "---------------------------------------------") def rgb_image(self, cam_id=None): if cam_id == None: cam_id = self.camera_id _, rgb_image = self.cap_dict[cam_id].read() rgb_image = cv2.resize(rgb_image, (640, 480)) if cam_id == 0: rgb_image = cv2.flip(rgb_image, -1) # 垂直+水平翻转 elif cam_id == 1: rgb_image = cv2.flip(rgb_image, -1) # 垂直+水平翻转 pass return rgb_image def forward_image(self): _, rgb_image = self.cap_dict[0].read() rgb_image = cv2.resize(rgb_image, (640, 480)) rgb_image = cv2.flip(rgb_image, -1) # 垂直+水平翻转 return rgb_image def chin_image(self): _, rgb_image = self.cap_dict[1].read() rgb_image = cv2.resize(rgb_image, (640, 480)) rgb_image = cv2.flip(rgb_image, -1) # 垂直+水平翻转 return rgb_image # def left_image(self): # if len(self.cap_list) > 2: def release(self): for cap in self.cap_dict.values(): cap.release() # cam = Stereo_Camera(camera_id=[0,1]) # cam.camera_init() # while True: # forward_img = cam.forward_image() # chin_img = cam.chin_image() # cv2.imshow("forward_img", forward_img) # cv2.imshow("chin_img", chin_img) # if cv2.waitKey(1) & 0xFF == ord('q') or cv2.waitKey(1) == 27: # cv2.destroyAllWindows() # break