:mod:`reachy.io.cam`
====================

.. py:module:: reachy.io.cam

.. autoapi-nested-parse::

   Wrapper around two RPI and the multi channel switch.

   It relies on the use of the Multi_Adapter_Board_2Channel_uc444 for switching camera via the I2C and GPIO control.

   See https://github.com/ArduCAM/RaspberryPi/tree/master/Multi_Camera_Adapter/Multi_Adapter_Board_2Channel_uc444



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   reachy.io.cam.BackgroundVideoCapture




.. class:: BackgroundVideoCapture(camera_index, resolution=(600, 800), lazy_setup=True)


   Bases: :py:obj:`object`

   Wrapper on OpenCV VideoCapture object.

   :param camera_index: index of the used camera (see OpenCV doc for details)
   :type camera_index: int
   :param resolution: desired resolution for the grabbed frame (the resolution must be compatible with the driver)
   :type resolution: int, int

   Instantiating this object will automatically start the polling of image in background.

   This wrapper is reponsible for automatically polling image on the camera.
   This ensures that we can always access the most recent image.

   .. method:: _setup(self)


   .. method:: close(self)

      Stop polling image and release the Video Capture.


   .. method:: _read_loop(self)


   .. method:: read(self)

      Retrieve the last grabbed image.