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Add LED control

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This commit is contained in:
Evan Pratten 2024-04-25 20:14:44 -04:00
parent 58ebddcb9c
commit 4ff2aff17d
1 changed files with 19 additions and 4 deletions

23
scripts/leap-view

@ -8,6 +8,7 @@ import numpy as np
logger = logging.getLogger(__name__)
def main() -> int:
# Handle program arguments
ap = argparse.ArgumentParser(
@ -22,8 +23,15 @@ def main() -> int:
choices=["640x120", "640x240", "640x480", "752x120", "752x240", "752x480"],
default="640x480",
)
ap.add_argument("--only", help="Only show the left or right camera", choices=["left", "right"])
ap.add_argument("--no-brightness-normalization", help="Do not normalize the brightness of the frames", action="store_true")
ap.add_argument(
"--only", help="Only show the left or right camera", choices=["left", "right"]
)
ap.add_argument("--no-led", help="Disable the LEDs", action="store_true")
ap.add_argument(
"--no-brightness-normalization",
help="Do not normalize the brightness of the frames",
action="store_true",
)
ap.add_argument(
"-v", "--verbose", help="Enable verbose logging", action="store_true"
)
@ -47,6 +55,13 @@ def main() -> int:
cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap.set(cv2.CAP_PROP_CONVERT_RGB, 0)
# Configure the LEDs
# NOTE: See the libuvc for leap documentation for info about this
# https://github.com/ewpratten/leapuvc/blob/master/LeapUVC-Manual.pdf
cap.set(cv2.CAP_PROP_CONTRAST, (0b0010 | (int(not args.no_led) << 6)))
cap.set(cv2.CAP_PROP_CONTRAST, (3 | (int(not args.no_led) << 6)))
cap.set(cv2.CAP_PROP_CONTRAST, (4 | (int(not args.no_led) << 6)))
# Read frames
while True:
@ -62,11 +77,11 @@ def main() -> int:
# Split into left and right frames (every other byte)
left_frame = frame[:, 0::2]
right_frame = frame[:, 1::2]
# Ignore the last row of the frames
left_frame = left_frame[:-1]
right_frame = right_frame[:-1]
# Normalize the frames so that the brightest pixel is 255
if not args.no_brightness_normalization:
left_frame = cv2.normalize(left_frame, None, 0, 255, cv2.NORM_MINMAX)