def setup_cature(self):
cyni.initialize()
self.device = cyni.getAnyDevice()
self.device.open()
self.depthStream = self.device.createStream("depth", fps=30, width=640, height=480)
self.irStream = self.device.createStream("ir", fps=30, width=640, height=480)
# colorStream = device.createStream("color", fps=30)
self.depthStream.start()
self.irStream.start()
def __init__(self):
cyni.initialize()
self.device = cyni.getAnyDevice()
self.device.open()
self.depthStream = self.device.createStream(b"depth", fps=30)
self.depthStream.start()
#g1.startRGBD()
parser = argparse.ArgumentParser()
parser.add_argument('--name', help="Name of log file", required = True, type = str)
parser.add_argument('--n_tfm', help="Number of transforms to log", required = True, type=int)
args = parser.parse_args()
rospy.init_node('log_kinect_static')
getMarkers = rospy.ServiceProxy("getMarkers", MarkerPositions)
base_frame = 'base_link'
head_frame = 'head_plate_frame'
gripper_frame = 'r_gripper_tool_frame'
cyni.initialize()
device = cyni.getAnyDevice()
#subprocess.call("sudo killall XnSensorServer", shell=True)
device.open()
colorStream = device.createStream("color", width=640, height=480, fps=30)
colorStream.start()
depthStream = device.createStream("depth", width=640, height = 480, fps=30)
depthStream.start()
ar_tfms = []
tool_tfms = []
head_tfms = []
i = 0
listener = tf.TransformListener()
time.sleep(3)
while(i < args.n_tfm):
import cyni
import numpy as np
import PIL as Image
cyni.initialize()
device = cyni.getAnyDevice()
device.open()
depthStream = device.createStream("depth", fps=30, width=640, height=480)
#colorStream = device.createStream("color", fps=30, width=1280, height=960)
#colorStream = device.createStream("color", fps=30, width=640, height=480)
#device.setImageRegistrationMode("depth_to_color")
device.setDepthColorSyncEnabled(on=True)
depthStream.start()
# colorStream.start()
# colorFrame = colorStream.readFrame()
# colorFrame = colorStream.readFrame()
# colorFrame = colorStream.readFrame()
# colorFrame = colorStream.readFrame()
depthFrame = depthStream.readFrame()
# registered = cyni.registerColorImage(depthFrame.data, colorFrame.data, depthStream, colorStream)
# Image.fromarray(colorFrame.data).save("color.png")
# Image.fromarray(registered).save("registered.png")
Image.fromarray(cyni.depthMapToImage(depthFrame.data)).save("depth.png")