def display_depth(dev, data, timestamp):
global image_depth
global filenum
filenum = filenum+1
#print data.shape
'''
print type(data)
print 100.0/(-0.00307 * data[240,320] + 3.33)
print 0.1236 * math.tan(data[240,320] / 2842.5 + 1.1863)
print data[240,320]
print '-------'
'''
depth = 100/(-0.00307*data + 3.33)
#savedepth(depth)
t = time.time()
fname = '%s/D%s.nparray'%(directory,t)
np.save(fname, data)
print "Writing %s"%fname
data = frame_convert.pretty_depth(data)
mp.gray()
mp.figure(1)
if image_depth:
image_depth.set_data(data)
else:
image_depth = mp.imshow(data, interpolation='nearest', animated=True)
mp.draw()
def display_depth(dev, data, timestamp):
#numpy.set_printoptions(threshold='nan')
# numpy.savetxt("outputnumpy.txt", data, fmt='%f', delimiter=',', newline='] ')
#numpy.ndarray.tofile("outputnumpy.txt", sep=' ', format='%f')
#data.numpy.tolist()
#a=numpy.fromstring(data)
# M=[[int(num) for num in line.strip().split()] for line in data.split('\n')]
array = frame_convert.pretty_depth(data)
print array
def display_depth(dev, data, timestamp):
#numpy.set_printoptions(threshold='nan')
# numpy.savetxt("outputnumpy.txt", data, fmt='%f', delimiter=',', newline='] ')
#numpy.ndarray.tofile("outputnumpy.txt", sep=' ', format='%f')
#data.numpy.tolist()
#a=numpy.fromstring(data)
# M=[[int(num) for num in line.strip().split()] for line in data.split('\n')]
array = frame_convert.pretty_depth(data)
print array
def log_dep(dev, data, timestamp):
global rgb_data, dep_data, frame_number, rgb_time
data = frame_convert.pretty_depth(data)[:,:,None]
dep_data.append( data )
rgb_data.append( rgb_temp )
frame_number += 1
print "Writing frame", frame_number,
print "\tColor data is %ims stale" % ((time.time() - rgb_time)*1000)
def display_depth(dev, data, timestamp):
global image_depth
data = frame_convert.pretty_depth(data)
mp.gray()
mp.figure(1)
if image_depth:
image_depth.set_data(data)
else:
image_depth = mp.imshow(data, interpolation="nearest", animated=True)
mp.draw()
def display_depth(dev, data, timestamp):
global image_depth
data = frame_convert.pretty_depth(data)
mp.gray()
mp.figure(1)
if image_depth:
image_depth.set_data(data)
else:
image_depth = mp.imshow(data, interpolation='nearest', animated=True)
mp.draw()
def get_depth(raw=False):
frame = fn.sync_get_depth()[0]
if not raw:
frame = frame_convert.pretty_depth(frame)
if raw:
frame = make_pretty_raw(frame)
else:
frame = np.invert(frame)
# frame /= 8
# frame = frame.astype(np.uint8)
return frame
def display_depth(dev, data, timestamp):
global image_depth
data = frame_convert.pretty_depth(data)
mp.gray()
mp.figure(1)
if image_depth:
image_depth.set_data(data)
else:
image_depth = mp.imshow(data, interpolation='nearest', animated=True)
mp.draw()
im = Image.fromarray(data)
im.save('./static/image/img2.jpg')
def display_depth(data):
global image_depth
global filenum
filenum = filenum+1
#print data.shape
'''
print type(data)
print 100.0/(-0.00307 * data[240,320] + 3.33)
print 0.1236 * math.tan(data[240,320] / 2842.5 + 1.1863)
print data[240,320]
print '-------'
'''
depth = 100/(-0.00307*data + 3.33)
savedepth(depth)
data = frame_convert.pretty_depth(data)
mp.gray()
mp.figure(1)
if image_depth:
image_depth.set_data(data)
else:
image_depth = mp.imshow(data, interpolation='nearest', animated=True)
mp.draw()
def get_depth(): d,_ = freenect.sync_get_depth() try: np.where(d <= 600)[0][0] points = np.where(d <=600) go = True except: IndexError go = False if go: device.emit(uinput.EV_ABS, uinput.ABS_X, points[0][0], syn=False) device.emit(uinput.EV_ABS, uinput.ABS_Y, points[0][1]) # time.sleep(0.01) print "x: %d"%(points[0][0]) print "y: %d"%(points[0][1]) else: device.emit(uinput.EV_ABS, uinput.ABS_X, 10, syn=False) device.emit(uinput.EV_ABS, uinput.ABS_Y, 20) print 'no 2000' print d[240, 320] return frame_convert.pretty_depth(d)[120:360, 160:480]
def get_depth():
data = freenect.sync_get_depth()[0]
print type(data)
return {'pretty':frame_convert.pretty_depth(data),'raw':data}
def get_depth():
img=frame_convert.pretty_depth(sync_get_depth()[0])
return img
def get_depth():
return frame_convert.pretty_depth(sync_get_depth()[0])
def get_depth():
""" This function obtains the depth image from the kinect, if any is
connected.
"""
img = frame_convert.pretty_depth(sync_get_depth()[0])
return img
def get_depth():
return frame_convert.pretty_depth(opennpy.sync_get_depth()[0])
def get_depth():
#array = array.astype(np.uint8)
return frame_convert.pretty_depth(freenect.sync_get_depth()[0])
def get_depth():
temp = freenect.sync_get_depth()[0]
return frame_convert.pretty_depth(temp)
pyr_area = moments['m00']
xpyr = int(moments['m10']/moments['m00']) # cx = M10/M00
ypyr = int(moments['m01']/moments['m00']) # cy = M01/M00
if second_area < 1000:
x3 = x2
y3 = y2
table.PutNumber(u"x3", (x3-320))
table.PutNumber(u"y3", (y3-240))
table.PutNumber(u"x2", (x2-320))
table.PutNumber(u"y2", (y2-240))
table.PutNumber(u"xpyr", (xpyr-320))
table.PutNumber(u"ypyr", (ypyr-240))
print xpyr, ypyr
return
table.PutNumber(u"PYRAMIDSHOT", 0)
while 1:
ir = frame_convert.pretty_depth(freenect.sync_get_video(0, freenect.VIDEO_IR_8BIT)[0])
morph = denoise(ir)
centroid(morph)
if int(time.time() - start) > pic_num:
cv2.imwrite('/media/DISK_IMG/Robotpics/inputtest'+str(pic_num)+'.jpg',ir)
cv2.imwrite('/media/DISK_IMG/Robotpics/filttest'+str(pic_num)+'.jpg',morph)
pic_num+=1
print (time.time() - start)
# position = (0, 0) # Circle position precision = 10 # Amount of pixels to skip each step threshold = 20 # Threshold for depth pixels oldMinVal = 255 # while True: # Reset these params every at every frame catch meanX = 0 MeanY = 0 count = 0 minVal = 255 # Get depth and try to normalize it depth = frame_convert.pretty_depth(freenect.sync_get_depth()[0]) # Loop through pixels and find the closest ones, Calculate thier mean position for y in xrange(0, len(depth), precision): for x in xrange(0, len(depth[0]), precision): if depth[y][x] < minVal: minVal = depth[y][x] if depth[y][x] < oldMinVal + threshold: meanX = meanX + x MeanY = MeanY + y count = count + 1 # Set previous frame threshold value to new min value oldMinVal = minVal
def get_depth():
""" This function obtains the depth image from the kinect, if any is
connected.
"""
img = frame_convert.pretty_depth(sync_get_depth()[0])
return img
def get_depth():
return frame_convert.pretty_depth(freenect.sync_get_depth()[0])
def display_depth(dev, data, timestamp):
global keep_running
cv2.imshow('Depth', frame_convert.pretty_depth(data))
if cv2.waitKey(10) == 27:
keep_running = False
