Exemple #1
0
	def run(self):
		try:
			self.ctx = freenect.init()
			self.dev = freenect.open_device(self.ctx, 0)

			freenect.set_depth_mode(self.dev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_11BIT)
			freenect.set_depth_callback(self.dev, self._depth_cb)
			freenect.set_video_mode(self.dev, freenect.RESOLUTION_MEDIUM, freenect.VIDEO_RGB)
			freenect.set_video_callback(self.dev, self._video_cb)

			self.video_started = False
			self.depth_started = False

			while self.keep_running:
				with self.lock:
					if self.led_update is not None:
						freenect.set_led(self.dev, self.led_update)
						self.led_update = None
					self.update_streams()
					if not self.video_started and not self.depth_started:
						self.update_cond.wait()
						continue
					self.update.clear()
					if not self.keep_running:
						break
				freenect.base_runloop(self.ctx, self._body)
		finally:
			with self.lock:
				for k in self.depth_consumers.keys() + self.video_consumers.keys():
					k.put(StreamerDied("The Kinect streamer died"))
				self.depth_consumers = {}
				self.video_consumers = {}
				self.update_streams()
			freenect.close_device(self.dev)
			freenect.shutdown(self.ctx)
Exemple #2
0
def testkinect1():
    # test video modes
    [ctx,dev] = initkinect()
    print(freenect.get_video_format(dev))
    freenect.set_video_mode(dev,1,1)
    print(freenect.get_video_format(dev))
    killkinect(ctx,dev)
    old_time = time.time()
    while time.time()-old_time < 10:
        cv.ShowImage('Video', get_video())
        cv2.waitKey(1)
    cv2.destroyAllWindows()
    cv2.waitKey(1000)
    freenect.sync_stop()

    [ctx,dev] = initkinect()
    freenect.set_video_mode(dev,1,2)
    print(freenect.get_video_format(dev))
    killkinect(ctx,dev)
    old_time = time.time()
    while time.time()-old_time < 10:
        cv.ShowImage('Video', get_video())
        cv2.waitKey(1)
    cv2.destroyAllWindows()
    cv2.waitKey(1000)
    freenect.sync_stop()

    [ctx,dev] = initkinect()
    freenect.set_video_mode(dev,1,3)
    print(freenect.get_video_format(dev))
    killkinect(ctx,dev)
    old_time = time.time()
    while time.time()-old_time < 10:
        cv.ShowImage('Video', get_video())
        cv2.waitKey(1)
    cv2.destroyAllWindows()
    freenect.sync_stop()

    [ctx,dev] = initkinect()
    freenect.set_video_mode(dev,1,5)
    print(freenect.get_video_format(dev))
    killkinect(ctx,dev)
    old_time = time.time()
    while time.time()-old_time < 10:
        cv.ShowImage('Video', get_video())
        cv2.waitKey(1)
    cv2.destroyAllWindows()
    freenect.sync_stop()

    [ctx,dev] = initkinect()
    freenect.set_video_mode(dev,1,6)
    print(freenect.get_video_format(dev))
    killkinect(ctx,dev)
    old_time = time.time()
    while time.time()-old_time < 10:
        cv.ShowImage('Video', get_video())
        cv2.waitKey(1)
    cv2.destroyAllWindows()
    freenect.sync_stop()
Exemple #3
0
    def body_callback(self, dev, ctx):
        # _set_led hackery is required because for some reason calling set_led
        # from update loop hangs the process
        if self._set_led:
            freenect.set_led(dev, self._set_led)
            self._set_led = None

        if self._set_video is not None:
            freenect.stop_video(dev)
            freenect.set_video_mode(dev, freenect.RESOLUTION_MEDIUM,
                                    self._set_video)
            freenect.start_video(dev)
            self._set_video = None

        if self._last_setting_check + self.settings_delay < time.time():
            self.load_settings()
            self._last_setting_check = time.time()
Exemple #4
0
    def __init__(self, dev, device_num, stream_type, streamer):
        self.dev = dev
        self.device_num = device_num
        self.stream_type = stream_type
        self.streamer = streamer
        self.consumers = set() # set([KinectConsumer])
        self.lock = threading.Lock()
        self.frame = 0 # frame counter
        self.producing = False # true if freenect is sending us data

        assert stream_type in ('depth', 'video')

        if stream_type == 'depth':
            freenect.set_depth_mode(dev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_11BIT)
            freenect.set_depth_callback(dev, self._data_cb)
        elif stream_type == 'video':
            freenect.set_video_mode(dev, freenect.RESOLUTION_MEDIUM, freenect.VIDEO_RGB)
            freenect.set_video_callback(dev, self._data_cb)
Exemple #5
0
    def run(self):
        try:
            self.ctx = freenect.init()
            self.dev = freenect.open_device(self.ctx, 0)

            freenect.set_depth_mode(self.dev, freenect.RESOLUTION_MEDIUM,
                                    freenect.DEPTH_11BIT)
            freenect.set_depth_callback(self.dev, self._depth_cb)
            freenect.set_video_mode(self.dev, freenect.RESOLUTION_MEDIUM,
                                    freenect.VIDEO_RGB)
            freenect.set_video_callback(self.dev, self._video_cb)

            self.video_started = False
            self.depth_started = False

            while self.keep_running:
                with self.lock:
                    if self.led_update is not None:
                        freenect.set_led(self.dev, self.led_update)
                        self.led_update = None
                    self.update_streams()
                    if not self.video_started and not self.depth_started:
                        self.update_cond.wait()
                        continue
                    self.update.clear()
                    if not self.keep_running:
                        break
                freenect.base_runloop(self.ctx, self._body)
        finally:
            with self.lock:
                for k in self.depth_consumers.keys(
                ) + self.video_consumers.keys():
                    k.put(StreamerDied("The Kinect streamer died"))
                self.depth_consumers = {}
                self.video_consumers = {}
                self.update_streams()
            freenect.close_device(self.dev)
            freenect.shutdown(self.ctx)
Exemple #6
0
 def set_video_mode(self):
     if self.video_mode:
         self.log.debug('Setting video mode')
         fn.set_video_mode(self.device, self.video_mode.resolution,
                           self.video_mode.fmt)