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from gridEyeReader import GridEye
from dataFuser import DataFuser
import cv2
import logging
import time
import numpy as np
logging.basicConfig(level=logging.DEBUG)
g = GridEye('/dev/ttyACM0')
d = DataFuser(10) # distance between sensors.
cv2.namedWindow("Image", cv2.WINDOW_NORMAL)
for _ in range(1000000):
frame = g.readData()
out = d.mergeFrame(np.array(frame), 100)
if type(out) is np.ndarray:
cv2.imshow('Image', cv2.cvtColor(out, cv2.COLOR_GRAY2BGR))
k = cv2.waitKey(1)
if k == ord('q'):
break
elif k == ord('c'):
cv2.imwrite('shot.png', out)
cv2.destroyAllWindows()