import numpy as np
import cv2

l_camera = cv2.VideoCapture(0)
r_camera = cv2.VideoCapture(1)


# create windows
cv2.namedWindow('left_Webcam', cv2.WINDOW_NORMAL)
cv2.namedWindow('right_Webcam', cv2.WINDOW_NORMAL)
cv2.namedWindow('disparity', cv2.WINDOW_NORMAL)

blockSize = 40

while(cv2.waitKey(1) & 0xFF != ord('q')):
    ret1, left_frame = l_camera.read()
    ret2, right_frame = r_camera.read()
    
    # our operations on the frame come here
    gray_left = cv2.cvtColor(left_frame, cv2.COLOR_BGR2GRAY)
    gray_right = cv2.cvtColor(right_frame, cv2.COLOR_BGR2GRAY)
    cv2.imshow('left_Webcam', gray_left)
    cv2.imshow('right_Webcam', gray_right)
    stereo = cv2.StereoSGBM_create(minDisparity=1,
        numDisparities=16,
        blockSize=15,
        #uniquenessRatio = 10,
        speckleWindowSize = 10,
        speckleRange = 32,
        disp12MaxDiff = 1,
        P1 = 8*3*blockSize**2,
        P2 = 32*3*blockSize**2)
    disparity = stereo.compute(gray_left, gray_right)
    disparity = cv2.normalize(disparity, disparity, alpha=0, beta=255, norm_type=cv2.NORM_MINMAX, dtype=cv2.CV_8U)
    cv2.imshow('disparity', disparity)
# When everything done, release the capture
camera.release()
cv2.destroyAllWindows()