forked from dblanchet/Bug-Arena
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kinect_gui.py
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/
kinect_gui.py
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import kinect
import numpy
import pygtk
pygtk.require('2.0')
import gtk
import gobject
import cairo
import time
class KinectDisplay(gtk.DrawingArea):
def __init__(self):
gtk.DrawingArea.__init__(self)
self.set_size_request(1280, 480)
self._found = False
self._rgb_surface = None
self._depth_surface = None
self._observers = []
self._x = -1
self._y = -1
self._obstacles = []
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._depth[self._y, self._x]
data['obstacles'] = self._obstacles
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, self._rgb, self._depth = kinect.get_buffers()
# Perform basic data extraction.
self._obstacles = kinect.extract_obstacles(
self._depth,
provide_raw=True)
# 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, self._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(self._depth)
depth_clean = numpy.where(
self._depth == kinect.UNDEF_DEPTH,
0,
self._depth)
a = numpy.amax(depth_clean)
depth = numpy.where(
self._depth == kinect.UNDEF_DEPTH,
0,
255 - (self._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._depth[self._y, self._x]
distance = kinect.z_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 detected feet in detection zone.
ctx.set_line_width(2)
ctx.set_source_rgb(1, 0, 0)
for obstacle in self._obstacles:
raw_data = obstacle[-1]
x, y, _ = raw_data[0]
ctx.move_to(640 + x, y)
for x, y, _ in raw_data[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()
class GameSceneArea(gtk.DrawingArea):
ZONE_WIDTH = 180.0 # cm
ZONE_DEPTH = 150.0 # cm
KINECT_TO_ZONE_DISTANCE = 150.0 # cm
def __init__(self):
gtk.DrawingArea.__init__(self)
self.set_size_request(640, 480)
self.connect("expose_event", self.expose)
self._z = -1
self._y = -1
self._x = -1
self._obstacles = []
def expose(self, widget, event):
self.context = widget.window.cairo_create()
self.draw(self.context)
return False
def observable_changed(self, data):
self._x, self._y, self._z = data['cursor']
self._obstacles = data['obstacles']
self.queue_draw()
def draw(self, ctx):
# Coordinate system.
ctx.set_line_width(1)
ctx.set_source_rgb(0.0, 0.0, 0.0)
ctx.move_to(30, 470)
ctx.line_to(10, 470)
ctx.line_to(10, 450)
ctx.stroke()
ctx.select_font_face('Sans')
ctx.set_font_size(12)
ctx.move_to(3, 450)
ctx.show_text('z')
ctx.stroke()
ctx.move_to(30, 477)
ctx.show_text('x')
ctx.stroke()
# Kinect detection cone.
ctx.set_line_width(.5)
ctx.set_source_rgb(0.0, 0.0, 0.0)
ctx.move_to(320, 479)
ctx.line_to(0, 0)
ctx.stroke()
ctx.move_to(320, 479)
ctx.line_to(640, 0)
ctx.stroke()
# Gaming zone.
ctx.set_line_width(2)
ctx.set_source_rgb(0.0, 0.0, 1.0)
ctx.rectangle(80, 0, 480, 360)
ctx.stroke()
# Current cursor depth.
z = kinect.z_to_cm(self._z)
if z >= 50.0 and z != kinect.UNDEF_DISTANCE:
# Draw line.
ctx.set_line_width(1)
ctx.set_source_rgb(1.0, 0.0, 0.0)
y = self.z_to_pixel(z)
ctx.move_to(0, y)
ctx.line_to(640, y)
ctx.stroke()
x = self.x_to_pixel(self._x, z)
ctx.move_to(x, y - 5)
ctx.line_to(x, y - 10)
ctx.stroke()
ctx.move_to(x, y + 5)
ctx.line_to(x, y + 10)
ctx.stroke()
# Add distance info.
ctx.set_line_width(0.5)
ctx.move_to(60, y)
ctx.line_to(60, 480)
ctx.stroke()
ctx.set_font_size(16)
ctx.move_to(50, 440)
ctx.show_text('z')
ctx.stroke()
ctx.move_to(500, 440)
ctx.show_text('x = %2.2f m' % (
kinect.x_to_cm(self._x, z) / 100.0))
ctx.stroke()
ctx.move_to(500, 460)
ctx.show_text('y = %2.2f m' % (
kinect.y_to_cm(self._y, z) / 100.0))
ctx.stroke()
ctx.move_to(500, 480)
ctx.show_text('z = %2.2f m' % (z / 100.0))
ctx.stroke()
# Detected feet.
ctx.set_line_width(2)
ctx.set_source_rgb(0.5, 0, 0)
for obstacle in self._obstacles:
px, py, pw, ph, z, raw_data = obstacle
#print px, py, pw, z
x = self.x_to_pixel(px, z)
y = self.z_to_pixel(z)
w = self.x_to_pixel(pw, z) - x
ctx.set_line_width(2)
ctx.set_source_rgb(0.0, 1.0, 0.0)
ctx.rectangle(x, y, w, 1)
ctx.stroke()
#px, _, z = foot[0]
#x = self.x_to_pixel(px, z)
#y = self.z_to_pixel(z)
#ctx.move_to(x, y)
#for p, _, z in foot[1:]:
#x = self.x_to_pixel(p, z)
#y = self.z_to_pixel(z)
#ctx.line_to(x, y)
#ctx.stroke()
def z_to_pixel(self, z):
# FIXME Needs proper scaling.
return 450 - z
def x_to_pixel(self, x, z):
# FIXME Update with x_to_meter.
coeff = - .280 / 0.6 / 180
return 320 + (320.0 - x) * z * coeff
class KinectTestWindow(gtk.Window):
DATA_DIR = 'data/'
REFRESH_DELAY = 500 # ms
def __init__(self):
self._paused = True
gtk.Window.__init__(self)
self.set_default_size(1280, 960)
vbox = gtk.VBox()
self.add(vbox)
# Kinect info visualisation.
self._display = KinectDisplay()
vbox.pack_start(self._display, True, True, 0)
hbox = gtk.HBox()
vbox.pack_start(hbox)
# Game scheme representation.
game_scene = GameSceneArea()
self._display.add_observer(game_scene)
hbox.pack_start(game_scene)
button_vbox = gtk.VBox()
hbox.pack_start(button_vbox)
# Choose static data.
self.choose = gtk.Button('Open', gtk.STOCK_OPEN)
button_vbox.pack_start(self.choose)
self.choose.connect("clicked", self._choose_cb)
# Save button.
self.save = gtk.Button('Save', gtk.STOCK_SAVE)
self.save.set_sensitive(False)
button_vbox.pack_start(self.save)
self.save.connect("clicked", self._save_cb)
# Pause/Autorefresh button.
self.pause = gtk.Button('Pause', gtk.STOCK_MEDIA_PAUSE)
button_vbox.pack_start(self.pause)
self.pause.connect("clicked", self._pause_cb)
self.connect("destroy", gtk.main_quit)
self.show_all()
# Auto-refresh at 10 frames per seconds.
self.timer_id = gobject.timeout_add(self.REFRESH_DELAY,
self._timedout)
def _choose_cb(self, widget, data=None):
# Create file chooser.
dialog = gtk.FileChooserDialog("Open...",
None,
gtk.FILE_CHOOSER_ACTION_OPEN,
(gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL,
gtk.STOCK_OPEN, gtk.RESPONSE_OK))
dialog.set_default_response(gtk.RESPONSE_OK)
dialog.set_current_folder(self.DATA_DIR)
# Get only numpy arrays.
filter = gtk.FileFilter()
filter.set_name("Numpy arrays")
filter.add_pattern("*_depth.npy")
dialog.add_filter(filter)
response = dialog.run()
chosen = response == gtk.RESPONSE_OK
if chosen:
# Extract file basename.
filename = dialog.get_filename()[:-10]
kinect.set_default_data(filename)
print filename, 'selected'
dialog.destroy()
# Refresh GUI if needed.
if chosen:
self._display.refresh_data()
self.queue_draw()
def _save_cb(self, widget, data=None):
rgb = self._kinect.latest_rgb
depth = self._kinect.latest_depth
fname_base = time.strftime('%Y-%m-%d_%H-%M-%S', time.localtime())
numpy.save(self.DATA_DIR + fname_base + '_rgb', rgb)
numpy.save(self.DATA_DIR + fname_base + '_depth', depth)
print 'Saved with "%s" base filename' % fname_base
def _pause_cb(self, widget, data=None):
self._paused = not self._paused
self.save.set_sensitive(self._paused)
self.choose.set_sensitive(self._paused)
if not self._paused:
self.pause.set_label(gtk.STOCK_MEDIA_PAUSE)
# Try to prevent unwanted redraw.
if not data:
self._display.refresh_data()
self.queue_draw()
self.timer_id = gobject.timeout_add(self.REFRESH_DELAY,
self._timedout)
else:
self.pause.set_label(gtk.STOCK_REFRESH)
def _timedout(self):
# Stop auto refresh if no Kinect is detected.
found_kinect, _, _ = kinect.get_buffers()
if found_kinect:
self._display.refresh_data()
self.queue_draw()
else:
if not self._paused:
print 'No Kinect found, stopping auto-refresh'
self._pause_cb(None, True)
# Timer is repeated until False is returned.
return not self._paused
def run(self):
gtk.main()
def main():
KinectTestWindow().run()
if __name__ == "__main__":
main()