def showlive():
global count, frames
cv.NamedWindow('Depth')
cv.NamedWindow('Video')
cv.MoveWindow('Depth', 100, 100)
cv.MoveWindow('Video', 745, 100)
print('Press ESC in window to stop')
print('Press Space to convert current to PLY')
print('Press k to stop live capture')
while 1:
imgdepth = fc.depth_cv(freenect.sync_get_depth()[0])
imgvideo = fc.video_cv(freenect.sync_get_video()[0])
cv.ShowImage('Depth', imgdepth)
cv.ShowImage('Video', imgvideo)
inp = cv.WaitKey(100)
if inp != -1:
inp = chr(inp % 1048576)
if inp == ' ': # space for capture and convert
print 'capturing images'
captureimage()
print 'done capturing'
elif inp.isdigit():
frames = ord(inp) - ord('0')
print 'setting the number of frames to capture to %d' % frames
elif inp == 'k':
break
count = count + 1
cv.DestroyWindow('Depth')
cv.DestroyWindow('Video')
def captureimage():
global frames
depthframes = np.zeros((frames, rownum, colnum))
rgbframes = np.zeros((frames, rownum, colnum, 3))
for i in range(frames):
depthframes[i] = freenect.sync_get_depth()[0]
rgbframes[i] = freenect.sync_get_video()[0]
arargb = freenect.sync_get_video()[0]
time.sleep(0.05)
arargb = fc.robustavg(rgbframes)
aradepth = fc.robustavg(depthframes)
serial = time.time()
cv.SaveImage('img/depth%d.png' % serial, fc.depth_cv(aradepth.astype(int)))
cv.SaveImage('img/video%d.png' % serial, fc.video_cv(arargb.astype(np.uint8)))
#f = open('poly/poly%d.ply' % serial,'w')
meterdepth = fc.meter_depth(aradepth)
#newrgb2 = fc.matchrgb2(meterdepth, arargb)
newrgb = fc.matchrgb(meterdepth, arargb)
#meterdepth = ndi.gaussian_filter(fc.meter_depth(aradepth), [sigma, sigma])
meterdepth[meterdepth > 1.5] = -1.
meterdepth[meterdepth < 0.5] = -1.
scipy.io.savemat('data/aligned%d.mat' % serial, {'depth':meterdepth, 'rgb':newrgb})
