xarm_openvla/camera_test.py at main · nchan18/xarm_openvla · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
import cv2
from PIL import Image

for i in range(12):
     try:
         cap = cv2.VideoCapture(i)  # 0 is the default webcam
         ret, frame = cap.read()
         if ret:
            print(i)
     except Exception as e:
         continue

def preprocess_frame(frame, cam_id):

        cam_id = cam_id -1

        webcam_crop = [[720,720,280,0],[640,640,310,80]]

        cropped = frame[webcam_crop[cam_id][3]:webcam_crop[cam_id][3] + webcam_crop[cam_id][1], webcam_crop[cam_id][2]:webcam_crop[cam_id][2] + webcam_crop[cam_id][0]]
        print(f"cropped:{cropped.shape} frame{frame.shape}")
        frame = cv2.resize(cropped, (480, 480), interpolation=cv2.INTER_LINEAR)
        return frame

cap = cv2.VideoCapture(10)
frame_size=(1280, 800)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, frame_size[0])
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, frame_size[1])
cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
while True:
    ret, frame = cap.read()
    if not ret:
        break

    frame = preprocess_frame(frame, 2)
    cv2.imshow("Camera Feed", frame)
    ret, frame = cap.read()

    if cv2.waitKey(1) & 0xFF == ord('q'):  # Press 'q' to quit
        break
cap.release()
cv2.destroyAllWindows()