def refresh_data(self):
# Get raw data.
self._found_kinect, rgb, depth = self._kinect.get_frames()
# Perform basic data extraction.
self._analyzer = DepthAnalyser(depth)
l, r = self._analyzer.find_sticks()
self._left_stick, self._right_stick = l, r
dz = self._analyzer.extract_detection_band(l, r)
self._detection_zone = dz
lb = self._analyzer.extract_borders(dz)
f = self._analyzer.analyze_borders(lb)
self._feet = f
# Convert numpy arrays to cairo surfaces.
alpha_channel = numpy.ones((480, 640, 1), dtype=numpy.uint8) * 255
# 1. RGB bitmap.
rgb32 = numpy.concatenate((alpha_channel, rgb), axis=2)
self._rgb_surface = cairo.ImageSurface.create_for_data(
rgb32[:, :, ::-1].astype(numpy.uint8),
cairo.FORMAT_ARGB32, 640, 480)
# 2. Depth map, take care of special NaN value.
i = numpy.amin(depth)
depth_clean = numpy.where(depth == Kinect.UNDEF_DEPTH, 0, depth)
a = numpy.amax(depth_clean)
depth = numpy.where(
depth == Kinect.UNDEF_DEPTH,
0,
255 - (depth - i) * 254.0 / (a - i))
depth32 = numpy.dstack((
alpha_channel, depth, numpy.where(depth == 0, 128, depth), depth))
self._depth_surface = cairo.ImageSurface.create_for_data(
depth32[:, :, ::-1].astype(numpy.uint8),
cairo.FORMAT_ARGB32, 640, 480)
self._notify_observers()
class KinectDisplay(gtk.DrawingArea):
def __init__(self, kinect):
gtk.DrawingArea.__init__(self)
self.set_size_request(1280, 480)
self._found = False
self._rgb_surface = None
self._depth_surface = None
self._kinect = kinect
self._observers = []
self._analyzer = None
self._x = -1
self._y = -1
self._left_stick, self._right_stick = None, None
self._detection_zone = None
self._feet = None
self.refresh_data()
self.add_events(gtk.gdk.MOTION_NOTIFY
| gtk.gdk.BUTTON_PRESS
| gtk.gdk.LEAVE_NOTIFY
| gtk.gdk.LEAVE_NOTIFY_MASK)
self.connect("motion_notify_event", self.motion_notify)
self.connect("leave_notify_event", self.leave_notify)
self.connect("expose_event", self.expose)
def add_observer(self, observer):
self._observers.append(observer)
def _notify_observers(self):
data = {}
data['cursor'] = self._x, self._y, \
self._analyzer._distance[self._y, self._x]
data['feet'] = self._feet
data['stick'] = self._left_stick, self._right_stick
for observer in self._observers:
observer.observable_changed(data)
def leave_notify(self, widget, event):
self._x, self._y = -1, -1
self._notify_observers()
self.queue_draw()
def motion_notify(self, widget, event):
x, y = event.x, event.y
if x >= 640:
x -= 640
self._x, self._y = x, y
self._notify_observers()
self.queue_draw()
def expose(self, widget, event):
self.context = widget.window.cairo_create()
self.draw(self.context)
return False
def refresh_data(self):
# Get raw data.
self._found_kinect, rgb, depth = self._kinect.get_frames()
# Perform basic data extraction.
self._analyzer = DepthAnalyser(depth)
l, r = self._analyzer.find_sticks()
self._left_stick, self._right_stick = l, r
dz = self._analyzer.extract_detection_band(l, r)
self._detection_zone = dz
lb = self._analyzer.extract_borders(dz)
f = self._analyzer.analyze_borders(lb)
self._feet = f
# Convert numpy arrays to cairo surfaces.
alpha_channel = numpy.ones((480, 640, 1), dtype=numpy.uint8) * 255
# 1. RGB bitmap.
rgb32 = numpy.concatenate((alpha_channel, rgb), axis=2)
self._rgb_surface = cairo.ImageSurface.create_for_data(
rgb32[:, :, ::-1].astype(numpy.uint8),
cairo.FORMAT_ARGB32, 640, 480)
# 2. Depth map, take care of special NaN value.
i = numpy.amin(depth)
depth_clean = numpy.where(depth == Kinect.UNDEF_DEPTH, 0, depth)
a = numpy.amax(depth_clean)
depth = numpy.where(
depth == Kinect.UNDEF_DEPTH,
0,
255 - (depth - i) * 254.0 / (a - i))
depth32 = numpy.dstack((
alpha_channel, depth, numpy.where(depth == 0, 128, depth), depth))
self._depth_surface = cairo.ImageSurface.create_for_data(
depth32[:, :, ::-1].astype(numpy.uint8),
cairo.FORMAT_ARGB32, 640, 480)
self._notify_observers()
def draw(self, ctx):
# Draw surfaces.
ctx.save()
ctx.move_to(0, 0)
ctx.set_source_surface(self._rgb_surface)
ctx.paint()
ctx.translate(640, 0)
ctx.set_source_surface(self._depth_surface)
ctx.paint()
ctx.restore()
# Coordinate system.
ctx.set_line_width(1)
ctx.set_source_rgb(1.0, 1.0, 1.0)
ctx.move_to(640 + 30, 470)
ctx.line_to(640 + 10, 470)
ctx.line_to(640 + 10, 450)
ctx.stroke()
ctx.select_font_face('Sans')
ctx.set_font_size(12)
ctx.move_to(640 + 3, 450)
ctx.show_text('y')
ctx.stroke()
ctx.move_to(640 + 30, 477)
ctx.show_text('x')
ctx.stroke()
# Trace lines.
if self._x >= 0 and self._y >= 0:
ctx.set_source_rgb(1.0, 0.0, 0.0)
ctx.set_line_width(1)
ctx.move_to(0, self._y)
ctx.line_to(1280, self._y)
ctx.stroke()
ctx.move_to(self._x, 0)
ctx.line_to(self._x, 480)
ctx.stroke()
ctx.move_to(self._x + 640, 0)
ctx.line_to(self._x + 640, 480)
ctx.stroke()
# Tell about center_depth.
depth = self._kinect.latest_depth[self._y, self._x]
distance = self._kinect.depth_to_cm(depth)
if distance != Kinect.UNDEF_DISTANCE:
text = "(%d, %d) - distance: %0.0f cm (depth = %d)" \
% (self._x, self._y, distance, depth)
else:
text = "(%d, %d)" % (self._x, self._y)
ctx.set_font_size(16)
ctx.move_to(950, 475)
ctx.set_source_rgb(1, 1, 1)
ctx.show_text(text)
ctx.stroke()
# Draw sticks rectangles and detection zone.
ctx.set_line_width(1)
ctx.set_source_rgb(1, 1, 0)
x, y, w, h, _ = self._left_stick
ctx.rectangle(x + 640, y, w, h)
ctx.stroke()
x, y, w, h, _ = self._right_stick
ctx.rectangle(x + 640, y, w, h)
ctx.stroke()
ctx.set_source_rgb(1, 0, 1)
x, y, w, h = self._detection_zone
ctx.rectangle(x + 640, y, w, h)
ctx.stroke()
# Draw detected feet in detection zone.
ctx.set_line_width(2)
ctx.set_source_rgb(1, 0, 0)
for foot in self._feet:
x, y, _ = foot[0]
ctx.move_to(640 + x, y)
for x, y, _ in foot[1:]:
ctx.line_to(640 + x, y)
ctx.stroke()
# Tell if images are not from a present device.
if not self._found_kinect:
ctx.set_font_size(20)
ctx.move_to(20, 20)
ctx.set_source_rgb(0.0, 0.0, 1.0)
ctx.show_text("No Kinect detected, using static picture from disk")
ctx.stroke()