Add multi camera sample

Author: adujardin

examples/multi_camera.py

@@ -0,0 +1,93 @@
+########################################################################
+#
+# Copyright (c) 2018, STEREOLABS.
+#
+# All rights reserved.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+########################################################################
+
+"""
+    Multi cameras sample showing how to open multiple ZED in one program
+"""
+
+import cv2
+import pyzed.camera as zcam
+import pyzed.types as tp
+import pyzed.core as core
+import pyzed.defines as sl
+
+
+def main():
+    print("Running...")
+    init = zcam.PyInitParameters()
+    init.camera_resolution = sl.PyRESOLUTION.PyRESOLUTION_HD720
+    init.camera_linux_id = 0
+    init.camera_fps = 30  # The framerate is lowered to avoid any USB3 bandwidth issues
+    cam = zcam.PyZEDCamera()
+    if not cam.is_opened():
+        print("Opening ZED Camera 1...")
+    status = cam.open(init)
+    if status != tp.PyERROR_CODE.PySUCCESS:
+        print(repr(status))
+        exit()
+
+    init.camera_linux_id = 1  # selection of the ZED ID
+    cam2 = zcam.PyZEDCamera()
+    if not cam2.is_opened():
+        print("Opening ZED Camera 2...")
+    status = cam2.open(init)
+    if status != tp.PyERROR_CODE.PySUCCESS:
+        print(repr(status))
+        exit()
+
+    runtime = zcam.PyRuntimeParameters()
+    mat = core.PyMat()
+    mat2 = core.PyMat()
+
+    print_camera_information(cam)
+    print_camera_information(cam2)
+
+    key = ''
+    while key != 113:  # for 'q' key
+        # The computation could also be done in a thread, one for each camera
+        err = cam.grab(runtime)
+        if err == tp.PyERROR_CODE.PySUCCESS:
+            cam.retrieve_image(mat, sl.PyVIEW.PyVIEW_LEFT)
+            cv2.imshow("ZED 1", mat.get_data())
+
+        err = cam2.grab(runtime)
+        if err == tp.PyERROR_CODE.PySUCCESS:
+            cam2.retrieve_image(mat2, sl.PyVIEW.PyVIEW_LEFT)
+            cv2.imshow("ZED 2", mat2.get_data())
+
+        key = cv2.waitKey(5)
+    cv2.destroyAllWindows()
+
+    cam.close()
+    print("\nFINISH")
+
+
+def print_camera_information(cam):
+    print("Resolution: {0}, {1}.".format(
+        round(cam.get_resolution().width, 2), cam.get_resolution().height))
+    print("Camera FPS: {0}.".format(cam.get_camera_fps()))
+    print("Firmware: {0}.".format(
+        cam.get_camera_information().firmware_version))
+    print("Serial number: {0}.\n".format(
+        cam.get_camera_information().serial_number))
+
+
+if __name__ == "__main__":
+    main()