def getdepthraw(self, request, context):
"""
get raw ddsaasaepth image
:return: a raw depth image
author: weiwei
date: 20181121
"""
dframe = self.__kinect.getDepthFrame()
return fkmsg.ReturnValue(data=yaml.dump(dframe))
def mapColorPointToCameraSpace(self, request, context):
"""
convert color space , to depth space point
:param pt:
:return:
author: weiwei
date: 20181121
"""
return fkmsg.ReturnValue(data = self.__kinect.mapColorPointToCameraSpace([request.data0, request.data1]))
def getdeptharray(self, request, context):
"""
get depth image as an array
:return: a depthHeight*depthWidth*3 np array, the second and third channels are repeated
author: weiwei
date: 20180207
"""
dframe = self.__kinect.getDepthFrame()
df8 = np.uint8(dframe.clip(1, 4000) / 16.)
dframe8bit = np.dstack((df8, df8, df8)).reshape((self.__kinect.depthHeight, self.__kinect.depthWidth, 3))
return fkmsg.ReturnValue(data=yaml.dump(dframe8bit))
def getrgbarray(self, request, context):
"""
get color image as an array
:return: a colorHeight*colorWidth*4 np array, the second and third channels are repeated
author: weiwei
date: 20180207
"""
clframe = self.__kinect.getColorFrame()
clb = np.flip(np.array(clframe[0::4]).reshape((self.__kinect.colorHeight, self.__kinect.colorWidth)),1)
clg = np.flip(np.array(clframe[1::4]).reshape((self.__kinect.colorHeight, self.__kinect.colorWidth)),1)
clr = np.flip(np.array(clframe[2::4]).reshape((self.__kinect.colorHeight, self.__kinect.colorWidth)),1)
clframe8bit = np.dstack((clb, clg, clr)).reshape((self.__kinect.colorHeight, self.__kinect.colorWidth, 3))
return fkmsg.ReturnValue(data=yaml.dump(clframe8bit))
def getpcdarray(self, request, context):
"""
get the full poind cloud of a new frame as an array
:param mat_tw yaml string storing mat_tw
:return: np.array point cloud n-by-3
author: weiwei
date: 20181121
"""
dframe = self.__kinect.getDepthFrame()
if self.__oldyaml:
mat_kw = yaml.load(request.data)
else:
mat_kw = yaml.load(request.data, Loader=yaml.UnsafeLoader)
pcdarray = self.__kinect.getPointCloud(dframe, mat_tw=mat_kw)
return fkmsg.ReturnValue(data=yaml.dump(pcdarray))
def getpartialpcdarray(self, request, context):
"""
get partial poind cloud using the given picklerawdframe, width, height in a depth img
:param rawdframe yaml string storing raw dframe
:param width, height
:param picklemat_tw pickle string storing mat_tw
`````````````` author: weiwei
date: 20181121
"""
if self.__oldyaml:
dframe = yaml.load(request.data)
else:
dframe = yaml.load(request.data, Loader=yaml.UnsafeLoader)
width = [request.width.data0, request.width.data1]
height = [request.height.data0, request.width.data1]
if self.__oldyaml:
mat_kw = yaml.load(request.matkw.data)
else:
mat_kw = yaml.load(request.matkw.data, Loader=yaml.UnsafeLoader)
pcdarray = self.__kinect.getPointCloud(dframe, width, height, mat_kw=mat_kw)
return fkmsg.ReturnValue(data=yaml.dump(pcdarray))