content: import numpy as np
  import cv2
  import time
  import matplotlib.pylab as plt
  
  """
  Make sure that you hold the checkerboard horizontally (more checkers horizontally than vertically). 
  
  In order to get a good calibration you will need to move the checkerboard around in the camera frame such that:
  
      the checkerboard is detected at the left and right edges of the field of view (X calibration)
      the checkerboard is detected at the top and bottom edges of the field of view (Y calibration)
      the checkerboard is detected at various angles to the camera ("Skew")
      the checkerboard fills the entire field of view (Size calibration)
      checkerboard tilted to the left, right, top and bottom (X,Y, and Size calibration) 
  """
  
  
  left = 1
  right = 2
  
  time_in_ms= 1000/100
  #folder = "/home/cwu/Downloads/";
  folder = "/home/hillcrest/project/stereo-calibration/calib_imgs/ARC/"
  
  folder = "/home/hillcrest/project/stereo-calibration/calib_imgs/ARC/"
  #folder = "D:/vision/stereo-calibration/calib_imgs/ARC/"
  
  fp = open(folder + "timeStamp.txt","w")
  
  WIDTH = 1280
  HEIGHT = 720
  
  WIDTH = 640
  HEIGHT = 480
  
  
          
  for counter in range(1,31):
      
      millis = int(round(time.time() * 1000))
      cap1 = cv2.VideoCapture(left)
      cap1.set(cv2.CAP_PROP_FRAME_WIDTH,WIDTH)
      cap1.set(cv2.CAP_PROP_FRAME_HEIGHT,HEIGHT)
      cv2.waitKey(100)
      ret, frame1 = cap1.read()
      
      cap1.release()
  
      cap2 = cv2.VideoCapture(right)
      cap2.set(cv2.CAP_PROP_FRAME_WIDTH,WIDTH)
      cap2.set(cv2.CAP_PROP_FRAME_HEIGHT,HEIGHT)
      cv2.waitKey(100)
      ret, frame2 = cap2.read()
      cap2.release()
  
      #frame1 = cv2.cvtColor(frame1, cv2.COLOR_BGR2GRAY)
      #frame2 = cv2.cvtColor(frame2, cv2.COLOR_BGR2GRAY)
      # Display the resulting frame
      
      plt.subplot(121)
      plt.imshow(frame1)
      plt.title('left')
      
      plt.subplot(122)
      plt.imshow(frame2)
      plt.title('right')
  
      plt.show()
      print('another capture', counter)
      cv2.waitKey(100)
      
  
      cv2.imwrite(folder + "img_left/left_" + str(counter) + ".jpg",  frame1)
      cv2.waitKey(time_in_ms)
      cv2.imwrite(folder + "img_right/right_" + str(counter) + ".jpg", frame2)
      
      fp.write(str(counter)+ ","+ str(millis) + "\n")
      print("the ", counter, " pairs")
  
  
  cv2.destroyAllWindows()
      
  fp.close()
  print('All Done \n')
  