import freenect

import cv2

import numpy as np

import datetime

import time

import threading

from picamera.array import PiRGBArray

from picamera import PiCamera

from imutils.video.pivideostream import PiVideoStream

import imutils

#timer: in seconds

#timeout= time.time() + 60 * 60 * 12

timer =60*60*4

#function to get RGB image from kinect

def get_video():

array,_ = freenect.sync_get_video()

array = cv2.cvtColor(array,cv2.COLOR_RGB2BGR)

return array

#function to get depth image from kinect

def get_depth():

return array

#nitialize the camera and grab a reference to the raw camera capture

#res = '(640, 480)'

stream = PiVideoStream(resolution=(640,480)).start()

stream.start()

#camera = PiCamera()

#camera.resolution = (640, 480)

#camera.framerate = 30

# allow the camera to warmup

time.sleep(1)

if __name__ == "__main__":

while 1:

#get a frame from RGB camera

frame = stream.read()

#get a frame from depth sensor

depth = get_depth()

#display RGB image

frame = imutils.resize(frame, 350)

cv2.imshow('pi image',frame)

#get a frame from depth sensor

depth = get_depth()

#depth = cv2.applyColorMap(depth, cv2.COLORMAP_JET)

depth = imutils.resize(depth, 350)

cv2.imshow('depth',depth)

#stop if timeout

#if time.time() > timeout:

# break

# quit program when 'esc' key is pressed

k = cv2.waitKey(5) & 0xFF

if k == 27:

break

cv2.destroyAllWindows()

#Stop all data streams from kinect

freenect.sync_stop()

stream.stop()