From b050c1a5f41ce4aa2c4be26ea7efa9b25e13a88b Mon Sep 17 00:00:00 2001
From: "eliott.laurent" <eliott.laurent@ecam.fr>
Date: Wed, 17 May 2023 17:29:04 +0200
Subject: [PATCH] pas grand chose de nouveau

---
 dispa2depth.py | 19 ++++++++++++++-----
 1 file changed, 14 insertions(+), 5 deletions(-)

diff --git a/dispa2depth.py b/dispa2depth.py
index 2558c16..7cb85c8 100644
--- a/dispa2depth.py
+++ b/dispa2depth.py
@@ -17,10 +17,11 @@ retR, imgR= cv2.VideoCapture(CamR_id, cv2.CAP_V4L2).read()
 imgR_gray = cv2.cvtColor(imgR,cv2.COLOR_BGR2GRAY)
 imgL_gray = cv2.cvtColor(imgL,cv2.COLOR_BGR2GRAY)
 '''
+
 # Reading the mapping values for stereo image rectification
 cv_file = cv2.FileStorage("data/params_py.xml", cv2.FILE_STORAGE_READ)
 Left_Stereo_Map_x = cv_file.getNode("Left_Stereo_Map_x").mat()
-print(Left_Stereo_Map_x)
+#print(Left_Stereo_Map_x)
 Left_Stereo_Map_y = cv_file.getNode("Left_Stereo_Map_y").mat()
 Right_Stereo_Map_x = cv_file.getNode("Right_Stereo_Map_x").mat()
 Right_Stereo_Map_y = cv_file.getNode("Right_Stereo_Map_y").mat()
@@ -80,6 +81,9 @@ while True:
 	retL, imgL= cv2.VideoCapture(CamL_id, cv2.CAP_V4L2).read()
 	retR, imgR= cv2.VideoCapture(CamR_id, cv2.CAP_V4L2).read()
 	'''
+	cv2.imshow('imgL',imgL)
+	cv2.waitKey(0)
+	
 	retR, imgR= CamR.read()
 	retL, imgL= CamL.read()
 	'''
@@ -87,13 +91,14 @@ while True:
 	if retL and retR:
 		imgR_gray = cv2.cvtColor(imgR,cv2.COLOR_BGR2GRAY)
 		imgL_gray = cv2.cvtColor(imgL,cv2.COLOR_BGR2GRAY)
+		
 		'''
 		cv2.imshow('imgL_gray',imgL_gray)
 		cv2.imshow('imgR_gray',imgR_gray)
-		cv2.waitKey(33)
-		
+		cv2.waitKey(0)
 		'''
 		
+		
 		# Applying stereo image rectification on the left image
 		Left_nice= cv2.remap(imgL_gray,
 							Left_Stereo_Map_x,
@@ -101,7 +106,9 @@ while True:
 							cv2.INTER_LANCZOS4,
 							cv2.BORDER_CONSTANT,
 							0)
-		
+		cv2.imshow('imgL nice',Left_nice)
+		cv2.waitKey(0)
+		#print(Left_nice)
 		# Applying stereo image rectification on the right image
 		Right_nice= cv2.remap(imgR_gray,
 							Right_Stereo_Map_x,
@@ -109,7 +116,9 @@ while True:
 							cv2.INTER_LANCZOS4,
 							cv2.BORDER_CONSTANT,
 							0)
-
+		cv2.imshow('imgR nice',Right_nice)
+		cv2.waitKey(0)		
+		
 		# Setting the updated parameters before computing disparity map
 		stereo.setNumDisparities(numDisparities)
 		stereo.setBlockSize(blockSize)