| from scripts.manipulate_utils import load_ini_data_camera | |
| from dobot_control.cameras.realsense_camera import RealSenseCamera, get_device_ids | |
| import numpy as np | |
| import cv2 | |
| # camera init | |
| device_ids = get_device_ids() | |
| print(f"Found {len(device_ids)} devices: ", device_ids) | |
| camera_dict = load_ini_data_camera() | |
| rs_list = [RealSenseCamera(flip=True, device_id=camera_dict["top"]), | |
| RealSenseCamera(flip=False, device_id=camera_dict["left"]), | |
| RealSenseCamera(flip=True, device_id=camera_dict["right"])] | |
| show_canvas = np.zeros((480, 640*3, 3), dtype=np.uint8) | |
| while 1: | |
| for i in range(len(rs_list)): | |
| _img, _ = rs_list[i].read() | |
| _img = _img[:, :, ::-1] | |
| show_canvas[:, int(640*i):int(640*(i+1))] = np.asarray(_img, dtype="uint8") | |
| cv2.imshow("0", show_canvas) | |
| cv2.waitKey(1) | |