Python depth_cb_np Examples

Example #1

File: demo_cv_async.py Project: Aspe/libfreenect

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)))

Example #2

#!/usr/bin/env python
import freenect
import cv
import numpy as np

cv.NamedWindow('Depth')


def display(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)


freenect.runloop(depth=lambda *x: display(*freenect.depth_cb_np(*x)))

Example #3

File: demo_tilt.py Project: madhav175/KinectTools

import threading
import random

dev = None


def tilt_and_sense():
    global dev
    while not dev:
        time.sleep(1)
    while 1:
        time.sleep(3)
        led = random.randint(0, 6)
        tilt = random.randint(0, 30)
        print('Led[%d] Tilt[%d]' % (led, tilt))
        freenect.set_led(dev, led)
        freenect.set_tilt_degs(dev, tilt)
        print(freenect.raw_accel(dev))
        print(freenect.mks_accel(dev))


threading.Thread(target=tilt_and_sense).start()


def dev_getter(my_dev, *_):
    global dev
    dev = my_dev


freenect.runloop(depth=lambda *x: dev_getter(*freenect.depth_cb_np(*x)))

Example #4

File: freenect_synch.py Project: madhav175/KinectTools

# 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)

Example #5

File: demo_cv_depth_show.py Project: jamesdouma/libfreenect

import freenect
import cv
import numpy as np

cv.NamedWindow('Depth')

def display(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)
freenect.runloop(lambda *x: display(*freenect.depth_cb_np(*x)))

Example #6

File: demo_tilt.py Project: Aspe/libfreenect

#!/usr/bin/env python
import freenect
import time
import threading
import random

dev = None


def tilt_and_sense():
    global dev
    while not dev:
        time.sleep(1)
    while 1:
        time.sleep(3)
        led = random.randint(0, 6)
        tilt = random.randint(0, 30)
        print('Led[%d] Tilt[%d]' % (led, tilt))
        freenect.set_led(dev, led)
        freenect.set_tilt_degs(dev, tilt)
        print(freenect.raw_accel(dev))
        print(freenect.mks_accel(dev))
threading.Thread(target=tilt_and_sense).start()


def dev_getter(my_dev, *_):
    global dev
    dev = my_dev
freenect.runloop(depth=lambda *x: dev_getter(*freenect.depth_cb_np(*x)))