def draw(self, ctx):
# Draw surfaces.
ctx.save()
ctx.move_to(0, 0)
ctx.set_source_surface(self._rgb_surface)
ctx.paint()
ctx.translate(640, 0)
ctx.set_source_surface(self._depth_surface)
ctx.paint()
ctx.restore()
# Coordinate system.
ctx.set_line_width(1)
ctx.set_source_rgb(1.0, 1.0, 1.0)
ctx.move_to(640 + 30, 470)
ctx.line_to(640 + 10, 470)
ctx.line_to(640 + 10, 450)
ctx.stroke()
ctx.select_font_face('Sans')
ctx.set_font_size(12)
ctx.move_to(640 + 3, 450)
ctx.show_text('y')
ctx.stroke()
ctx.move_to(640 + 30, 477)
ctx.show_text('x')
ctx.stroke()
# Trace lines.
if self._x >= 0 and self._y >= 0:
ctx.set_source_rgb(1.0, 0.0, 0.0)
ctx.set_line_width(1)
ctx.move_to(0, self._y)
ctx.line_to(1280, self._y)
ctx.stroke()
ctx.move_to(self._x, 0)
ctx.line_to(self._x, 480)
ctx.stroke()
ctx.move_to(self._x + 640, 0)
ctx.line_to(self._x + 640, 480)
ctx.stroke()
# Tell about center_depth.
depth = self._depth[self._y, self._x]
distance = kinect.z_to_cm(depth)
if distance != kinect.UNDEF_DISTANCE:
text = "(%d, %d) - distance: %0.0f cm (depth = %d)" \
% (self._x, self._y, distance, depth)
else:
text = "(%d, %d)" % (self._x, self._y)
ctx.set_font_size(16)
ctx.move_to(950, 475)
ctx.set_source_rgb(1, 1, 1)
ctx.show_text(text)
ctx.stroke()
# Draw detected feet in detection zone.
ctx.set_line_width(2)
ctx.set_source_rgb(1, 0, 0)
for obstacle in self._obstacles:
raw_data = obstacle[-1]
x, y, _ = raw_data[0]
ctx.move_to(640 + x, y)
for x, y, _ in raw_data[1:]:
ctx.line_to(640 + x, y)
ctx.stroke()
# Tell if images are not from a present device.
if not self._found_kinect:
ctx.set_font_size(20)
ctx.move_to(20, 20)
ctx.set_source_rgb(0.0, 0.0, 1.0)
ctx.show_text("No Kinect detected, using static picture from disk")
ctx.stroke()
def draw(self, ctx):
# Coordinate system.
ctx.set_line_width(1)
ctx.set_source_rgb(0.0, 0.0, 0.0)
ctx.move_to(30, 470)
ctx.line_to(10, 470)
ctx.line_to(10, 450)
ctx.stroke()
ctx.select_font_face('Sans')
ctx.set_font_size(12)
ctx.move_to(3, 450)
ctx.show_text('z')
ctx.stroke()
ctx.move_to(30, 477)
ctx.show_text('x')
ctx.stroke()
# Kinect detection cone.
ctx.set_line_width(.5)
ctx.set_source_rgb(0.0, 0.0, 0.0)
ctx.move_to(320, 479)
ctx.line_to(0, 0)
ctx.stroke()
ctx.move_to(320, 479)
ctx.line_to(640, 0)
ctx.stroke()
# Gaming zone.
ctx.set_line_width(2)
ctx.set_source_rgb(0.0, 0.0, 1.0)
ctx.rectangle(80, 0, 480, 360)
ctx.stroke()
# Current cursor depth.
z = kinect.z_to_cm(self._z)
if z >= 50.0 and z != kinect.UNDEF_DISTANCE:
# Draw line.
ctx.set_line_width(1)
ctx.set_source_rgb(1.0, 0.0, 0.0)
y = self.z_to_pixel(z)
ctx.move_to(0, y)
ctx.line_to(640, y)
ctx.stroke()
x = self.x_to_pixel(self._x, z)
ctx.move_to(x, y - 5)
ctx.line_to(x, y - 10)
ctx.stroke()
ctx.move_to(x, y + 5)
ctx.line_to(x, y + 10)
ctx.stroke()
# Add distance info.
ctx.set_line_width(0.5)
ctx.move_to(60, y)
ctx.line_to(60, 480)
ctx.stroke()
ctx.set_font_size(16)
ctx.move_to(50, 440)
ctx.show_text('z')
ctx.stroke()
ctx.move_to(500, 440)
ctx.show_text('x = %2.2f m' % (
kinect.x_to_cm(self._x, z) / 100.0))
ctx.stroke()
ctx.move_to(500, 460)
ctx.show_text('y = %2.2f m' % (
kinect.y_to_cm(self._y, z) / 100.0))
ctx.stroke()
ctx.move_to(500, 480)
ctx.show_text('z = %2.2f m' % (z / 100.0))
ctx.stroke()
# Detected feet.
ctx.set_line_width(2)
ctx.set_source_rgb(0.5, 0, 0)
for obstacle in self._obstacles:
px, py, pw, ph, z, raw_data = obstacle
#print px, py, pw, z
x = self.x_to_pixel(px, z)
y = self.z_to_pixel(z)
w = self.x_to_pixel(pw, z) - x
ctx.set_line_width(2)
ctx.set_source_rgb(0.0, 1.0, 0.0)
ctx.rectangle(x, y, w, 1)
ctx.stroke()
def draw(self, ctx):
# Coordinate system.
ctx.set_line_width(1)
ctx.set_source_rgb(0.0, 0.0, 0.0)
ctx.move_to(30, 470)
ctx.line_to(10, 470)
ctx.line_to(10, 450)
ctx.stroke()
ctx.select_font_face("Sans")
ctx.set_font_size(12)
ctx.move_to(3, 450)
ctx.show_text("z")
ctx.stroke()
ctx.move_to(30, 477)
ctx.show_text("x")
ctx.stroke()
# Kinect detection cone.
ctx.set_line_width(0.5)
ctx.set_source_rgb(0.0, 0.0, 0.0)
ctx.move_to(320, 479)
ctx.line_to(0, 0)
ctx.stroke()
ctx.move_to(320, 479)
ctx.line_to(640, 0)
ctx.stroke()
# Gaming zone.
ctx.set_line_width(2)
ctx.set_source_rgb(0.0, 0.0, 1.0)
x0, z0, x1, z1 = GAMING_AREA # Centimeters
px = self.x_to_pixel(x0)
py = self.z_to_pixel(z1)
pw = self.x_to_pixel(x1) - px
ph = self.z_to_pixel(z0) - py
ctx.rectangle(px, py, pw, ph)
ctx.stroke()
# Current cursor depth.
z = kinect.z_to_cm(self._z)
if z0 < z < z1:
# Draw line.
ctx.set_line_width(1)
ctx.set_source_rgb(1.0, 0.0, 0.0)
py = self.z_to_pixel(z)
ctx.move_to(0, py)
ctx.line_to(640, py)
ctx.stroke()
x = -kinect.x_to_cm(self._x, z)
px = self.x_to_pixel(x)
ctx.move_to(px, py - 5)
ctx.line_to(px, py - 10)
ctx.stroke()
ctx.move_to(px, py + 5)
ctx.line_to(px, py + 10)
ctx.stroke()
# Add distance info.
ctx.set_line_width(0.5)
ctx.move_to(60, py)
ctx.line_to(60, 480)
ctx.stroke()
ctx.set_font_size(16)
ctx.move_to(50, 440)
ctx.show_text("z")
ctx.stroke()
ctx.move_to(500, 440)
ctx.show_text("x = %2.2f m" % (kinect.x_to_cm(self._x, z) / 100.0))
ctx.stroke()
ctx.move_to(500, 460)
ctx.show_text("y = %2.2f m" % (kinect.y_to_cm(self._y, z) / 100.0))
ctx.stroke()
ctx.move_to(500, 480)
ctx.show_text("z = %2.2f m" % (z / 100.0))
ctx.stroke()
# Detected feet.
ctx.set_line_width(2)
ctx.set_source_rgb(0.5, 0, 0)
for obstacle in self._obstacles:
x, y, w, h, z, raw_data = obstacle
# Obstacle box.
px = self.x_to_pixel(-x - w)
py = self.z_to_pixel(y)
pw = self.x_to_pixel(-x) - px
ph = self.z_to_pixel(y + h) - py
ctx.rectangle(px, py, pw, ph)
ctx.set_line_width(2)
ctx.set_source_rgb(0.0, 0.5, 0.0)
ctx.stroke()
# Raw data from Kinect.
px, _, z = raw_data[0]
x = self.x_to_pixel(-kinect.x_to_cm(px, z))
y = self.z_to_pixel(z)
ctx.move_to(x, y)
for px, _, z in raw_data[1:]:
x = self.x_to_pixel(-kinect.x_to_cm(px, z))
y = self.z_to_pixel(z)
ctx.line_to(x, y)
ctx.set_line_width(0.5)
ctx.set_source_rgb(0.7, 0.0, 0.0)
ctx.stroke()
