class frc_apriltags.USBCamera(camNum: int = 0, path: str = None, resolution: tuple = (0, 0), fps: int = 30, calibrate: bool = False, dirPath: str = '/home/robolions/Documents/2023-Jetson-Code-Test')

Bases: object

Use this class to create a USBCamera.

Parameters:

  • camNumber – The camera number.

  • path – It can be found on Linux by running find /dev/v4l.

  • resolution – The desired resolution for the camera (width, length).

  • fps – The desired fps for the camera.

  • calibrate – Should the camera be calibrated this camera.

  • dirPath – Should be aquired by running Path(__file__).absolute().parent.__str__() in the script calling this method.

calibrateCamera(dirPath: str)

Calibrates the camera and gets the calibration parameters.

Parameters:

dirPath – The path of the directory calling this function.

displayStream(streamType: int = 1)

Displays a flipped version of this camera’s stream.

Parameters:

streamType – 0 for normal stream, 1 for undistorted stream.

enableLogging()

Enables logging for this class.

getEnd()

Gets if the program should end.

Returns:

Should the program end?

getMatrix()

Gets the intrinsic camera matrix.

Returns:

The camera’s intrinsic matrix.

getResolution()

Gets the camera’s true resolution.

Returns:

The camera resolution.

getStream()

Gets the stream from this camera’s capture.

Returns:

The stream.

getUndistortedStream(algorithm: int = 1)

Gets the undistorted stream from this camera’s capture.

Parameters:

algorithm – 0 to use cv.undistort(), 1 to use cv.remap()

Returns:

The undistorted stream.

prealocateSpace()

Prealocates space for the stream.

Returns:

An array of zeros with the same resolution as the camera.

rectify()

Undistorts an image using cv.remap().

Returns:

The undistorted stream.

resize(cameraRes: tuple, fps: int)

Resizes the capture to a given resolution. If the specified resolution or fps is too high, sets to the highest value possible.

Parameters:

  • cameraRes – The desired resolution for the camera.

  • fps – The desired FPS for the camera.

Returns:

The resized capture.

undistort()

Undistorts an image using cv.undistort().

Returns:

The undistorted stream.