Moving forward, I will be running two pan/tilt servos for the raspberry pi cameras. I suggest buying the same gear HERE. I suggest purchasing two units.
Then, we also need two Version two raspberry pi cameras. I like the following ones, because they include a neat little acrylic case, and the long cable, which makes it work much better on the pan/tilt bracket. You can get the cameras HERE.
In this lesson we learn how to use Python Classes, Methods and Threading to run two cameras in OpenCV without latency or synchronization problems. Below we include the code developed in the video above.
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from threading import Thread import cv2 import time import numpy as np class vStream: def __init__(self,src,width,height): self.width=width self.height=height self.capture=cv2.VideoCapture(src) self.thread=Thread(target=self.update,args=()) self.thread.daemon=True self.thread.start() def update(self): while True: _,self.frame=self.capture.read() self.frame2=cv2.resize(self.frame,(self.width,self.height)) def getFrame(self): return self.frame2 flip=2 dispW=640 dispH=480 camSet='nvarguscamerasrc ! video/x-raw(memory:NVMM), width=3264, height=2464, format=NV12, framerate=21/1 ! nvvidconv flip-method='+str(flip)+' ! video/x-raw, width='+str(dispW)+', height='+str(dispH)+', format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink' cam1=vStream(1,dispW,dispH) cam2=vStream(camSet,dispW,dispH) font=cv2.FONT_HERSHEY_SIMPLEX startTime=time.time() dtav=0 while True: try: myFrame1=cam1.getFrame() myFrame2=cam2.getFrame() myFrame3=np.hstack((myFrame1,myFrame2)) dt=time.time()-startTime startTime=time.time() dtav=.9*dtav+.1*dt fps=1/dtav cv2.rectangle(myFrame3,(0,0),(140,40),(0,0,255),-1) cv2.putText(myFrame3,str(round(fps,1))+' fps',(0,25),font,.75,(0,255,255),2) cv2.imshow('ComboCam',myFrame3) cv2.moveWindow('ComboCam',0,0) except: print('frame not available') if cv2.waitKey(1)==ord('q'): cam1.capture.release() cam2.capture.release() cv2.destroyAllWindows() exit(1) break |
