#!/usr/bin/env python
import freenect
import cv
cv.NamedWindow('RGB')
def display(dev, data, timestamp):
image = cv.CreateImageHeader((data.shape[1], data.shape[0]),
cv.IPL_DEPTH_8U, 3)
# Note: We swap from RGB to BGR here
cv.SetData(image, data[:, :, ::-1].tostring(),
data.dtype.itemsize * 3 * data.shape[1])
cv.ShowImage('RGB', image)
cv.WaitKey(5)
freenect.runloop(rgb=lambda *x: display(*freenect.rgb_cb_np(*x)))
#!/usr/bin/env python import freenect from demo_mp_depth_show import display freenect.runloop(rgb=lambda *x: display(*freenect.rgb_cb_np(*x)))
import cv
import numpy as np
cv.NamedWindow('Depth')
cv.NamedWindow('RGB')
def display_depth(dev, data, timestamp):
data -= np.min(data.ravel())
data *= 65536 / np.max(data.ravel())
image = cv.CreateImageHeader((data.shape[1], data.shape[0]),
cv.IPL_DEPTH_16U,
1)
cv.SetData(image, data.tostring(),
data.dtype.itemsize * data.shape[1])
cv.ShowImage('Depth', image)
cv.WaitKey(5)
def display_rgb(dev, data, timestamp):
image = cv.CreateImageHeader((data.shape[1], data.shape[0]),
cv.IPL_DEPTH_8U,
3)
# Note: We swap from RGB to BGR here
cv.SetData(image, data[:, :, ::-1].tostring(),
data.dtype.itemsize * 3 * data.shape[1])
cv.ShowImage('RGB', image)
cv.WaitKey(5)
freenect.runloop(depth=lambda *x: display_depth(*freenect.depth_cb_np(*x)),
rgb=lambda *x: display_rgb(*freenect.rgb_cb_np(*x)))
# If we get a new frame, put it in the queue
def _depth_cb(dev, string, ts):
global depthqueue
with depthcond:
depthqueue = [string]
depthcond.notify()
# If we get a new frame, put it in the queue
def _rgb_cb(dev, string, ts):
global rgbqueue
with rgbcond:
rgbqueue = [string]
rgbcond.notify()
depth_cb = lambda *x: _depth_cb(*freenect.depth_cb_np(*x))
rgb_cb = lambda *x: _rgb_cb(*freenect.rgb_cb_np(*x))
def get_depth():
"""Grabs a new depth frame, blocking until the background thread provides one.
Returns:
a numpy array, with shape: (480,640), dtype: np.uint16
"""
global depthqueue
with depthcond:
while not depthqueue:
depthcond.wait(5)
string = depthqueue[0]
depthqueue = []
data = np.fromstring(string, dtype=np.uint16)
data.resize((480, 640))
