def get_depth(self):
if len(freenect.sync_get_depth()) > 0:
depth = freenect.sync_get_depth()[0]
#numpy.clip(depth, 0, 2**10 - 1, depth)
#depth >>= 2
#print depth[0][0]
return depth.astype(numpy.float32)/2048.
#print "return from get depth"
#return numpy.array(depth, dtype=numpy.float32)
#return frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0])
return None
def warmup(time):
"""
At startup, the kinect depth sensor needs to go through some range
calibration and focusing. This function accepts number of seconds to wait
and will take some frames to "warm up" the sensor.
"""
dt = .05
iterations = int(np.around(time / dt))
for i in range(iterations):
freenect.sync_get_depth()
if i % 20 == 0:
print("Warming up " + str(i/20))
sleep(dt)
def get_depth(y,x):
cx =314.0137
cy = 247.90585
fx = 591.1027
fy =590.557
w = 640
h = 480
array,_ = freenect.sync_get_depth()
array = array.astype(np.float32)
#index = x + y*w
depth_value = array[y,x]
distance_cm = 100/(-0.00307 * depth_value + 3.33)
depthInMeters = 1.0 / (depth_value * -0.0030711016 + 3.3309495161)
z= depthInMeters
x = ( x - cx)*z/fx
y = (y - cy)*z/fy
#x = (2 * math.tan(29 * 3.14159265359 / 180) * z) * ((x - w/2) / 640)
#y = (2 * math.tan(22.5 * 3.14 / 180) * z) * ((y - h/2) / 480)
real_values = [z,-x,-y]
#cv2.imshow('depth', array)
print(z,x,y)
def getDepthVal(x, y): #get depth at a specific point
if (x > width or x < 0 or y > height
or y < 0): #check the request is inside the drone zone
print("out of bounds")
return 2047
box_half_width = int((depth_boxwidth) / 2)
box_half_height = int((depth_boxheight) / 2)
depth, timestamp = freenect.sync_get_depth() #get image
depth = crop_to_zone(depth) #crop to drone zone
#since the depth and rgb images don't align exactly (bcos cameras are slightly offset), define a region around the approx drone location
drone_area = depth[y - box_half_height:y + box_half_height,
x - box_half_width:x + box_half_width]
val = 2047 # 2047 = failed :(
if (drone_area.shape[0] > 7 and drone_area.shape[1] > 7
): #make sure the drone zone is greater than 7x7 for the gauss blur
drone_area = cv2.GaussianBlur(drone_area, (7, 7),
0) #blur the pixel values a bit
(minVal, maxVal, minLoc, maxLoc) = cv2.minMaxLoc(
drone_area) #find the extrema of the image - furtherst and closest
np.clip(drone_area, 0, 2**10 - 1, drone_area
) #do some processing in case i want to display the image
drone_area >>= 2
drone_area = drone_area.astype(np.uint8)
#cv2.imshow("depth", drone_area) #display the depth image if wanted
val = z_groundheight - minVal #take the minimum distance (closest to the camera, so must be the drone) and make it into a sensible height value
return val
def get_depth_arrayEncode():
array, timestamp = freenect.sync_get_depth()
# constrain from less than
np.clip(array, 245, 500, array)
array = array - 245
array = array.astype(np.uint8)
return array
def def_plane(threshold,current_depth): depth = freenect.sync_get_depth()[0] depth = 255 * np.logical_and(depth >= current_depth, depth <= current_depth + threshold) depth = depth.astype(np.uint8) return depth
def show_ent_depth():
depth = freenect.sync_get_depth()[0]
depth = depth.astype(np.uint8)
#~ print "depth "+str(np.shape(depth))
return depth
def __init__(self, dummy=False, mirror=True):
self.__class__._instances.append(weakref.proxy(self))
self.id = next(self._ids)
self.resolution = (640, 480)
self.dummy = dummy
self.mirror = mirror
if self.dummy == False:
print("looking for kinect...")
self.ctx = freenect.init()
self.dev = freenect.open_device(self.ctx, self.id)
print(self.id)
freenect.close_device(
self.dev) # TODO Test if this has to be done!
self.angle = None
self.depth = freenect.sync_get_depth(
index=self.id, format=freenect.DEPTH_MM
)[0] # get the first Depth frame already (the first one takes much longer than the following)
self.filtered_depth = None
print("kinect initialized")
else:
print(
"dummy mode. get_frame() will return a synthetic depth frame, other functions may not work"
)
def __init__(self):
self.currentVideoFrame = np.array([])
self.currentDepthFrame = np.array([])
if (freenect.sync_get_depth() == None):
self.kinectConnected = False
else:
self.kinectConnected = True
self.calibrated = False
# mouse clicks & calibration variables
self.depth2rgb_affine = np.float32([[1, 0, 0], [0, 1, 0]])
self.kinectCalibrated = False
self.last_click = np.array([0, 0])
self.new_click = False
self.rgb_click_points = np.zeros((5, 2), int)
self.depth_click_points = np.zeros((5, 2), int)
self.grab_click_point = np.zeros((1, 2), int)
self.place_click_point = np.zeros((1, 2), int)
self.affine = np.array([[0, 0, 0], [0, 0, 0], [0, 0, 0]])
self.clickandplace = np.zeros((2, 2), int)
#self.inverseK = np.array([0, 0, 100, np.pi/2])
""" Extra arrays for colormaping the depth image"""
self.DepthHSV = np.zeros((480, 640, 3)).astype(np.uint8)
self.DepthCM = np.array([])
""" block info """
self.block_contours = np.array([])
def _acquire_frame(self):
frame, _ = freenect.sync_get_depth()
# return success if frame size is valid
if frame is not None:
return (True, frame)
else:
return (False, frame)
def show_depth():
global threshold
global current_depth
global closest
depth, timestamp = freenect.sync_get_depth()
depthm = np.ma.masked_values(depth, 2047)
amin = depthm.argmin()
y = amin / depthm.shape[1]
x = amin - (y * depthm.shape[1])
points.pop()
points.insert(0, (x, y))
closest = (sum(z[0] for z in points) / max_points,
sum(z[1] for z in points) / max_points)
#print closest
depth = 255 * np.logical_and(depth >= current_depth - threshold,
depth <= current_depth + threshold)
depth = depth.astype(np.uint8)
image = cv.CreateImageHeader((depth.shape[1], depth.shape[0]),
cv.IPL_DEPTH_8U,
1)
cv.SetData(image, depth.tostring(),
depth.dtype.itemsize * depth.shape[1])
cv.ShowImage('Depth', image)
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})
def getDepthMat():
depth, timestamp = freenect.sync_get_depth()
depth = depth * np.logical_and(depth > 500, depth < 1024)
#depth=depth*0.2480544747081712
np.clip(depth, 0, 2**10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8)
depth = depth.astype(np.uint8)
#edges = cv2.Canny(depth, threshold1=100, threshold2=100)
depth = cv2.medianBlur(depth, 17)
depth = cv2.bilateralFilter(depth, 9, 75, 75)
frame = depth
laplacian = cv2.Laplacian(frame, cv2.CV_64F)
#cv2.imshow('Canny',edges)
cv2.imshow('Original', frame)
cv2.imshow('laplacian', laplacian)
depth = cv2.resize(depth, (400, 300), interpolation=cv2.INTER_LINEAR)
ret, jpeg = cv2.imencode('.jpg', depth, [cv2.IMWRITE_JPEG_QUALITY, 90])
return jpeg.tobytes()
def actual_width_in_mm(lb, lt, rb, rt, cxr, cxl):
"""
* Function Name:actual_width_in_mm()
* Input: co-ordinates of left bottom, left top, right bottom, right top,
right contour centroid, left contour centroid
* Output: returns actual width of the door
* Logic: It takes the actual depth and using filters the black noise spaces are made white
The 20 pixels of the area of left and right edges are processed.
the minimum value in them is found and the depth is that value.
Using pixel knowledge we find the angle and then using cosine rule
we find the actual width of the door.
* Example Call: actual_width_in_mm(lb, lt, rb, rt, cxr, cxl)
"""
a = freenect.sync_get_depth(format=freenect.DEPTH_MM)[0]
a /= 30.0
a = a.astype(np.uint8)
ret, mask = cv2.threshold(a, 1, 255, cv2.THRESH_BINARY_INV)
ad = a + mask
pts1 = np.float32([[lt[0] - 30, lt[1]], [lt[0], lt[1]], [lb[0] - 30, lb[1]], [lb[0], lb[1]]])
pts2 = np.float32([[0, 0], [30, 0], [0, lb[1] - lt[1]], [30, lb[1] - lt[1]]])
m = cv2.getPerspectiveTransform(pts1, pts2)
dst = cv2.warpPerspective(ad, m, (30, lb[1] - lt[1]))
left_depth = np.amin(dst) * 30
pts1 = np.float32([[rt[0], rt[1]], [rt[0] + 30, rt[1]], [rb[0], rb[1]], [rb[0] + 30, rb[1]]])
pts2 = np.float32([[0, 0], [30, 0], [0, rb[1] - rt[1]], [30, rb[1] - rt[1]]])
m = cv2.getPerspectiveTransform(pts1, pts2)
dst = cv2.warpPerspective(ad, m, (30, rb[1] - rt[1]))
right_depth = np.amin(dst) * 30
pixel_width = cxr - cxl
angle = (pixel_width / 640.0) * (57 / 180.0) * math.pi
width = (left_depth * left_depth) + (right_depth * right_depth) - (2 * left_depth * right_depth * math.cos(angle))
width = math.sqrt(width)
return width
def disp_thresh(lower, upper, show_masked_rgb=True):
depth, timestamp = freenect.sync_get_depth()
min_depth = depth.min()
video,_ = freenect.sync_get_video()
if show_masked_rgb:
video = video.astype(np.uint8)
depthmask = (255*np.logical_and(depth>lower,depth<upper)).reshape(480,640,1)
depthmask = depthmask.astype(np.uint8)
masked_video = video & depthmask
#print reduce(lambda count, curr: curr>0 and count+1 or count,masked_video.flatten(),0)
cv.ShowImage('RGB',frame_convert.video_cv(masked_video.reshape(480,640,3)))
depth = 255 * np.logical_and(depth > lower, depth < upper)
depth = depth.astype(np.uint8)
image = cv.CreateImageHeader((depth.shape[1], depth.shape[0]),
cv.IPL_DEPTH_8U,
1)
cv.SetData(image, depth.tostring(),
depth.dtype.itemsize * depth.shape[1])
canny = doCanny(image,150.0,200.0,7)
templates = template_match(image,template)
smoothed = smooth(canny)
cv.ShowImage('Depth', image)
return depth,canny,min_depth
def get_depth_snapshot():
array, _ = freenect.sync_get_depth()
ts = datetime.datetime.now()
filenamed = "{}DEPTH11bit".format(ts.strftime("%H_%M_%S"))
print '[INFO] Saving depth Data at' + filenamed
np.save(filenamed, array, allow_pickle=False)
threading.Timer(60, get_depth_snapshot).start()
def update(self):
depth, timestamp = freenect.sync_get_depth()
depth = 255 * np.logical_and(depth >= self.current_depth - self.threshold,
depth <= self.current_depth + self.threshold)
depth = depth.astype(np.uint8)
image = cv.CreateImageHeader((depth.shape[1], depth.shape[0]), cv.IPL_DEPTH_8U, 1)
cv.SetData(image, depth.tostring(), depth.dtype.itemsize * depth.shape[1])
cropped = cv.GetSubRect(image, (200, 75, 240, 200))
features = cv.GoodFeaturesToTrack(cropped, None, None, 7, 0.01, 10, None, 3, 0, 0.04)
#shitty not python code
i = 0
x = 0
y = 0
for (a,b) in features:
i += 1
x += a
y += b
if i != 0:
if abs(x-self.lx) < self.jitter or x == 0:
x = self.lx
if abs(y-self.ly) < self.jitter or y == 0:
y = self.ly
self.lx = x
self.ly = y
return cropped
def actual_width_in_mm(lb, lt, rb, rt, cxr, cxl):
a = freenect.sync_get_depth(format=freenect.DEPTH_MM)[0]
a = a / 30.0
a = a.astype(np.uint8)
ret, mask = cv2.threshold(a, 1, 255, cv2.THRESH_BINARY_INV)
ad = a + mask
pts1 = np.float32([[lt[0] - 30, lt[1]], [lt[0], lt[1]],
[lb[0] - 30, lb[1]], [lb[0], lb[1]]])
pts2 = np.float32([[0, 0], [30, 0], [0, lb[1] - lt[1]],
[30, lb[1] - lt[1]]])
M = cv2.getPerspectiveTransform(pts1, pts2)
dst = cv2.warpPerspective(ad, M, (30, lb[1] - lt[1]))
left_depth = np.amin(dst) * 30
pts1 = np.float32([[rt[0], rt[1]], [rt[0] + 30, rt[1]], [rb[0], rb[1]],
[rb[0] + 30, rb[1]]])
pts2 = np.float32([[0, 0], [30, 0], [0, rb[1] - rt[1]],
[30, rb[1] - rt[1]]])
M = cv2.getPerspectiveTransform(pts1, pts2)
dst = cv2.warpPerspective(ad, M, (30, rb[1] - rt[1]))
right_depth = np.amin(dst) * 30
pixel_width = cxr - cxl
angle = (pixel_width / 640.0) * (57 / 180) * (math.pi)
width = (left_depth * left_depth) + (right_depth * right_depth) - (
2 * left_depth * right_depth * math.cos(angle))
width = math.sqrt(width)
def read_frame() -> Tuple[bool, np.ndarray]:
frame, timestamp = freenect.sync_get_depth()
if frame is None:
return False, None
frame = np.clip(frame, 0, 2**10 - 1)
frame >>= 2
return True, frame.astype(np.uint8)
def mark_closest():
depth, timestamp = freenect.sync_get_depth()
loc = np.unravel_index(depth.argmax(), depth.shape)
loc = tuple(loc)
depth[loc[0] - 5:loc[0] + 5, loc[1] - 5:loc[1] + 5] = [0, 255, 0]
cv2.imshow('Depth', rgb_to_bgr(depth))
def show_ent_depth(): depth = freenect.sync_get_depth()[0] depth = depth.astype(np.uint8) #~ print "depth "+str(np.shape(depth)) return depth
def run(self):
q = self.queue
while not self.quit:
depths = freenect.sync_get_depth()
if depths is None:
continue
q.appendleft(depths)
def get_depth(flag):
global framesd, framesr
loopnum = 0
i = 0
#flag = 0
while (True):
print(loopnum)
depth, _ = freenect.sync_get_depth(
) #depth is a numpy array which stores the depth value of each pixel captured
rgbframes, _ = freenect.sync_get_video(
) #rgbframes is a numpy array which stores rgb value of each pixel captured
rgbframes = cv2.cvtColor(rgbframes, cv2.COLOR_RGB2BGR)
#print(depth)
depth_mask = np.where(depth < 650, 255, 0).astype(np.uint8)
#cv2.imshow('Segmented Image', depth_mask)
cv2.imshow('RGB', rgbframes)
for i in range(depth_mask.shape[0]):
for j in range(depth_mask.shape[1]):
if depth_mask[i][j] == 255:
flag = 1
cv2.waitKey(100)
break
if flag == 1:
break
if flag == 1:
framesd.append(depth_mask)
framesr.append(rgbframes)
loopnum = loopnum + 1
cv2.waitKey(100)
if (loopnum == 20):
break
print('$$$$$')
def get_data(self):
while True:
(depth, _) = freenect.sync_get_depth()
(rgb , _) = freenect.sync_get_video()
depth8 = self._pretty_depth(depth)
yield depth, depth8, rgb
def getDepthMap(self):
depth, timestamp = freenect.sync_get_depth()
np.clip(depth, 0, 2**10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8)
return depth
def getFrame(self):
self.when = time.time()
depth,_ = freenect.sync_get_depth()
rgb,_ = freenect.sync_get_video()
# Retain a copy otherwise we crash later
self.depth = numpy.copy(depth)
self.rgb = numpy.copy(rgb)
def frame(self):
""" Grab a frame and set it as self._frame.
Modified by Graham Jones to use libFreenect for kinect depth sensor
"""
if self._enteredFrame and self._frame is None:
if (self._uselibFreenect):
if (self.channel == depth.CV_CAP_OPENNI_BGR_IMAGE):
imgRGB, timestap = freenect.sync_get_video()
imgBGR = imgRGB # Create new image by copying original.
filters.bgr2rgb(imgRGB, imgBGR)
self._frame = imgBGR
elif (self.channel == depth.CV_CAP_OPENNI_DEPTH_MAP):
depthMap, timestamp = freenect.sync_get_depth()
#depthMap = depthMap.astype(numpy.uint16)
depthMap = depthMap.astype(numpy.uint8)
self._frame = depthMap
else:
print "Error - Unrecognised channel %d." % self.channel
self._frame = None
else:
retVal, self._frame = self._capture.retrieve(
channel=self.channel)
self._nFrames = self._nFrames + 1
#print retVal, type(self._frame),
# self._frame.size, frameCount, self._nFrames
self._frame = cv2.cvtColor(self._frame, cv2.COLOR_BGR2GRAY)
#self._frame = self._frame.astype(numpy.uint8)
else:
pass
#print self._enteredFrame, self._frame
return self._frame
def get_img(mode):
# This was intended to inhibit the stream warnings to stdout, but did not work.
#text_trap = io.StringIO()
#sys.stderr = text_trap
if (mode == IMG_RGB):
frame = freenect.sync_get_video()[0] # gets the Kinect RGB image
fgMask = backSub.apply(frame, learningRate=-1)
ret, fgMask = cv2.threshold(fgMask, 127, 255, cv2.THRESH_BINARY)
#fgMask = cv2.erode(fgMask, kernel, iterations = 1) # morphological erode with 3x3
fgMask = cv2.morphologyEx(
fgMask, cv2.MORPH_CLOSE,
kernel_big) # closes gaps small than 9x9 pixels
elif (mode == IMG_DEPTH):
frame = freenect.sync_get_depth()[0] # gets the Kinect depth image
frame = 255 * np.logical_and(frame >= DEPTH - THRESHOLD,
frame <= DEPTH + THRESHOLD)
frame = frame.astype(np.uint8)
fgMask = backSub_depth.apply(frame, learningRate=-1)
ret, fgMask = cv2.threshold(fgMask, 127, 255, cv2.THRESH_BINARY)
fgMask = cv2.erode(fgMask, kernel,
iterations=1) # morphological erode with 3x3
fgMask = cv2.morphologyEx(
fgMask, cv2.MORPH_CLOSE,
kernel_big) # closes gaps small than 9x9 pixels
# Problem: this function gives us sometimes only one blob instead of two
ret, labels, stats, centroids = cv2.connectedComponentsWithStats(fgMask)
# This didn't seem to work:
#for label in range(np.max(labels)):
# if 2000 < stats[label, cv2.CC_STAT_AREA] < 900:
# labels[labels==label]=0
# Reset output to stdout:
#sys.stderr = sys.__stderr__
return ret, frame, fgMask, labels, stats
def __init__(self):
self.currentVideoFrame = np.array([])
self.currentDepthFrame = np.array([])
self.convert_to_world = np.array([])
self.convert_to_cam = np.array([])
self.cubeContours = np.array([])
self.contoursByDepth = np.array([])
if (freenect.sync_get_depth() == None):
self.kinectConnected = False
else:
self.kinectConnected = True
# mouse clicks & calibration variables
self.depth2rgb_affine = np.float32([[1, 0, 0], [0, 1, 0]])
self.kinectCalibrated = False
self.last_click = np.array([0, 0])
self.new_click = False
self.rgb_click_points = np.zeros((5, 2), int)
self.depth_click_points = np.zeros((5, 2), int)
self.worldHeight = 942.0
self.x_off = 304.88 # distances from center of the bottom of ReArm to world origin
self.y_off = 301.5
self.blockDetected = False
self.blockMessage = False
self.detectDepth = []
self.detectedCubeColor = []
self.cubeOrient = []
""" Extra arrays for colormaping the depth image"""
self.DepthHSV = np.zeros((480, 640, 3)).astype(np.uint8)
self.DepthCM = np.array([])
""" block info """
self.block_contours = np.array([])
def get_depth():
#data = frame_convert2.pretty_depth_cv(freenect.sync_get_depth()[0])
data = freenect.sync_get_depth()[0]
data = data.astype(np.uint8)
img = cv2.imencode('.JPEG', data)[1].tostring()
enData = base64.b64encode(img).decode('UTF-8')
return enData
def getDepthMap():
depth, timestamp = freenect.sync_get_depth()
# Decrease all values in depth map to within 8 bits to be uint8
depth = np.clip(depth, 0, 2**10 - 1)
depth >>= 2
depth = cv2.GaussianBlur(depth, (5,5), 0)
return depth.astype(np.uint8)
def __init__(self):
self.currentVideoFrame = np.array([])
self.currentDepthFrame = np.array([])
self.currentDepthMeter = np.array([])
if (freenect.sync_get_depth() == None):
self.kinectConnected = False
else:
self.kinectConnected = True
# mouse clicks & calibration variables
self.depth2rgb_affine = np.float32([[1, 0, 0], [0, 1, 0]])
self.kinectCalibrated = False
self.last_click = np.array([0, 0])
self.new_click = False
self.rgb_click_points = np.zeros((5, 2), int)
self.depth_click_points = np.zeros((5, 2), int)
self.calib_mat, self.dist_coeff = self.loadCameraCalibration(
'calibration.cfg')
self.h = 480
self.w = 640
self.fixed_coords = np.float32([[304, 304], [304, -304], [-304, -304],
[-304, 304]])
self.extrinsic = np.float32([[1, 0, 0], [0, 1, 0]])
# x: 60.7; y: 60.8
""" Extra arrays for colormaping the depth image"""
self.DepthHSV = np.zeros((480, 640, 3)).astype(np.uint8)
self.DepthCM = np.array([])
""" block info """
self.block_contours = np.array([])
def show_depth():
global threshold
global current_depth
depth, timestamp = freenect.sync_get_depth()
depth = 255 * np.logical_and(depth >= current_depth - threshold, depth <= current_depth + threshold)
depth = depth.astype(np.uint8)
image = cv.CreateImageHeader((depth.shape[1], depth.shape[0]), cv.IPL_DEPTH_8U, 1)
cv.SetData(image, depth.tostring(), depth.dtype.itemsize * depth.shape[1])
cv.ShowImage("Depth", image)
print "depth:", type(depth), dir(depth)
print ""
print "image:", type(image), dir(image)
print ""
x = cv.CreateMat(image.height, image.width, cv.IPL_DEPTH_8U)
cv.Convert(image, x)
smaller = cv.CreateMat(image.height / 10, image.width / 10, cv.IPL_DEPTH_8U)
print "smaller:", type(smaller), dir(smaller)
print ""
cv.Resize(image, smaller)
cv.ShowImage("Reduced", smaller)
def get_depth(self): if self.depth == 'KINECT': frame, timestamp = freenect.sync_get_depth() return frame else: ret, img = self.depth.read() return img
def _acquire_frame(self): frame, _ = freenect.sync_get_depth() # return success if frame size is valid if frame is not None: return (True, frame) else: return (False, frame)
def getDepthMat():
depth, timestamp = freenect.sync_get_depth()
depth = cv2.resize(depth, (360, 240))
#depth = depth * np.logical_and(depth > 500, depth < 1024)
#depth=depth*0.2480544747081712
np.clip(depth, 0, 2**10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8)
#depth = depth.astype(np.uint8)
#edges = cv2.Canny(depth, threshold1=100, threshold2=100)
depth = cv2.medianBlur(depth, 5)
#Pdepth = cv2.bilateralFilter(depth,9,75,75)
#frame=depth
#
#cv2.imshow('Canny',edges)
#cv2.imshow('Original',depth)
#cv2.imshow('laplacian',laplacian)
return np.array(depth)
def get_buffers():
'''get_buffers(): returns a KinectData object
KinectData members:
- real_kinect (boolean) (true if data comes fro ma real kinect)
- rgb array
- depth array
(buffers=numpy array)
the input is taken from a file if the kinect is missing or the library not present.
no memorization is done
'''
found_kinect = False
if freenect: # module has been imported
try:
# Try to obtain Kinect images.
(depth, _), (rgb, _) = freenect.sync_get_depth(), freenect.sync_get_video()
found_kinect = True
except TypeError:
pass
if found_kinect:
return KinectData(real_kinect=True, rgb=rgb, depth=depth)
else:
# Use local data files.
return _DEFAULT_DATA
def do_create(self, offset, length):
depth, timestamp = freenect.sync_get_depth()
databuf = numpy.getbuffer(depth)
self.buf = gst.Buffer(databuf)
self.buf.timestamp = 0
self.buf.duration = pow(2, 63) -1
return gst.FLOW_OK, self.buf
def frame(self):
""" Grab a frame and set it as self._frame.
Modified by Graham Jones to use libFreenect for kinect depth sensor
"""
if self._enteredFrame and self._frame is None:
if (self._uselibFreenect):
if (self.channel == depth.CV_CAP_OPENNI_BGR_IMAGE):
imgRGB, timestap = freenect.sync_get_video()
imgBGR = imgRGB # Create new image by copying original.
filters.bgr2rgb(imgRGB,imgBGR)
self._frame = imgBGR
elif (self.channel == depth.CV_CAP_OPENNI_DEPTH_MAP):
depthMap, timestamp = freenect.sync_get_depth()
#depthMap = depthMap.astype(numpy.uint16)
depthMap = depthMap.astype(numpy.uint8)
self._frame = depthMap
else:
print "Error - Unrecognised channel %d." % self.channel
self._frame = None
else:
retVal, self._frame = self._capture.retrieve(channel = self.channel)
self._nFrames = self._nFrames + 1
#print retVal, type(self._frame),
# self._frame.size, frameCount, self._nFrames
self._frame = cv2.cvtColor(self._frame, cv2.COLOR_BGR2GRAY)
#self._frame = self._frame.astype(numpy.uint8)
else:
pass
#print self._enteredFrame, self._frame
return self._frame
def get_depth(self):
"""
**SUMMARY**
This method returns the Kinect depth image.
**RETURNS**
The Kinect's depth camera image as a grayscale image.
**EXAMPLE**
>>> k = Kinect()
>>> while True:
... d = k.get_depth()
... img = k.get_image()
... result = img.side_by_side(d)
... result.show()
"""
if not FREENECT_ENABLED:
logger.warning("You don't seem to have the freenect library "
"installed. This will make it hard to use "
"a Kinect.")
return
depth = freenect.sync_get_depth(self.device_number)[0]
self.capture_time = time.time()
np.clip(depth, 0, 2 ** 10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8).transpose()
return Factory.Image(depth, camera=self)
def update():
global projpts, rgb, depth
global hue,sat,val
global imgHsv,imgHue,imgSat,imgVal
range2=25.0
depth,_ = freenect.sync_get_depth()
rgb,_ = freenect.sync_get_video()
#convert numpy to opencv image
img = cv.fromarray(rgb)
#MAIN IMAGE PROCESSING WORK IN OPENCV HERE
cv.CvtColor(img, imgHsv, cv.CV_BGR2HSV)
cv.Split(imgHsv, imgHue, imgSat, imgVal, None)
cv.InRangeS(imgHue,(hue-range2, 0, 0),(hue+range2, 0, 0),imgHue)
cv.InRangeS(imgSat,(sat, 0, 0),(255, 0, 0),imgSat)
cv.InRangeS(imgVal,(val, 0, 0),(255, 0, 0),imgVal)
cv.And(imgHue,imgSat,imgBin)
cv.And(imgBin,imgVal,imgBin)
cv.Erode(imgBin,imgBin,None)
cv.Dilate(imgBin,imgBin,None)
cv.CvtColor(imgBin, imgOut, cv.CV_GRAY2BGR)
cv.ShowImage("Binary",imgOut)
#FINISH IMAGE PROCESSING
#return to numpy array
rgb = np.asarray(imgOut)
q = depth.astype(np.uint16)
X,Y = np.meshgrid(range(IMGWIDTH),range(IMGHEIGHT))
d = 1
projpts = calib.depth2xyzuv(q[::d,::d],X[::d,::d],Y[::d,::d])
def run ( self ):
#set up opencv windows
cv.NamedWindow("Camera", 1)
cv.NamedWindow("Binary", 1)
cv.NamedWindow("Settings", 1)
#set up sliders
cv.CreateTrackbar("Hue", "Settings", hue, 180, on_hueTrackbar)
cv.CreateTrackbar("Sat", "Settings", sat, 255, on_satTrackbar)
cv.CreateTrackbar("Val", "Settings", val, 255, on_valTrackbar)
#run a blocking while loop to capture depth and rgb to opencv window
while 1:
#pull in camera data
(depth,_),(rgb,_)=freenect.sync_get_depth(),freenect.sync_get_video()
depth=depth.astype(np.uint8)
h1, w1 = depth.shape[:2]
h2, w2 = rgb.shape[:2]
maxHeight= max(h1,h2)
vis = np.zeros((maxHeight, w1+w2), np.uint8)
vis2 = np.zeros((h2,w2), np.uint8)
cv.CvtColor(cv.fromarray(rgb), cv.fromarray(vis2), cv.CV_BGR2GRAY)
#display in a single window
vis[:maxHeight, :w1] = depth
vis[:maxHeight, w1:w1+w2] = vis2
cv.ShowImage("Camera",cv.fromarray(vis))
cv.WaitKey(100)
def GenerateCloud():
global clouds
cloudCount = len(clouds)
(depth,_) = freenect.sync_get_depth()
# Collects 4800 points/frame
worldCoordinates = np.arange(14400, dtype = np.float64).reshape(60, 80, 3)
for i in range(0, 480, 8):
for j in range(0, 640, 8):
depthValue = depth[i,j]
if depthValue < 2047:
# if the depth value is small enough, convert it
# to depth in meters
values = DepthToWorld(i, j, depthValue)
worldCoordinates[i/8, j/8, 0] = values[0]
worldCoordinates[i/8, j/8, 1] = values[1]
worldCoordinates[i/8, j/8, 2] = values[2]
else:
# otherwise, assign the value to zero
worldCoordinates[i/8, j/8, 0] = 0
worldCoordinates[i/8, j/8, 1] = 0
worldCoordinates[i/8, j/8, 2] = 0
cloud = []
for row in worldCoordinates:
for point in row:
if str(point) != "[ 0. 0. 0.]":
cloud.append([point[0],point[1],point[2]])
if cloudCount < 1:
clouds.append(cloud)
else:
icp = get_icp_transform(cloud, clouds[cloudCount -1])
print icp[1][:, 0:3]
clouds.append(icp[1][:, 0:3])
def isOpened(self):
data = freenect.sync_get_depth()
if data is None:
self.isopen = False
return False
else:
return True
self.isopen = True
def capture_images(size):
"""Capture images from the color and depth streams, and
return them as arrays."""
w,h = size
frame_data, ts = freenect.sync_get_depth(format=freenect.DEPTH_MM)
# note: image still seems to be rotated 90 degrees after this
depth_image = frame_data.reshape((w,h)).T
return depth_image
def grayscale():
maske = np.zeros((480,640,3))
a = freenect.sync_get_depth()[0]
np.clip(a, 0, 2**10 - 1, a)
a >>= 2
a = a.astype(np.uint8)
median = cv2.medianBlur(a,5)
return median
def get_depth():
#saving as 11 bit for csv file
#frame = freenect.sync_get_depth()[0]
#good for displaying and saving depth image
frame = frame_convert2.pretty_depth_cv(freenect.sync_get_depth()[0])
#print('\nframeDepth =\n')
#print(frame)
return frame
def run(self):
q = self.queue
while not self.quit:
depths = freenect.sync_get_depth(index=self.index)
if depths is None:
sleep(2)
continue
q.appendleft(depths)
def getDepthMap():
depth, timestamp = freenect.sync_get_depth()
np.clip(depth, 0, 2 ** 10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8)
return depth
def _acquire_frame(self):
"""Acquire frame from depth sensor using freenect library"""
frame, _ = freenect.sync_get_depth()
# return success if frame size is valid
if frame is not None:
return (True, frame)
else:
return (False, frame)
def getDepthMap():
depth, timestamp = freenect.sync_get_depth()
depth = 255 * np.logical_and(depth > lowerDepth, depth < upperDepth)
# np.clip(depth, 0, 2**10 - 1, depth)
# depth >>= 2
depth = depth.astype(np.uint8)
return depth
def run(self):
q = self.queue
while not self.quit:
depths = freenect.sync_get_depth(index=self.index)
if depths is None:
sleep(2)
continue
q.appendleft(depths)
def sync_get_depth_frame(self):
depth, timestamp = freenect.sync_get_depth()
depth = self.pretty_depth(depth)
image = cv.CreateImageHeader((depth.shape[1], depth.shape[0]),
cv.IPL_DEPTH_8U, 1)
cv.SetData(image, depth.tostring(),
depth.dtype.itemsize * depth.shape[1])
return image
def depth_images():
"""generate depth images"""
while True:
depth, _ = freenect.sync_get_depth()
depth = np.ma.masked_equal(depth, (2**11) - 1)
# return as double because we might compute something with it
yield depth.astype('double')
def sample_bgnd(n):
"""
Take frames from the kinect to use as the background. Argument n
corresponds to number of frames to be averaged as background. Currently
averaging hurts more than it helps.
"""
depth, _ = freenect.sync_get_depth()
#bgnd = uniform_filter(depth, mode='constant')
bgnd = depth
for _ in range(n - 1):
depth, _ = freenect.sync_get_depth()
#bgnd += uniform_filter(depth, mode='constant')
bgnd += depth
bgnd = np.around(bgnd / float(n)).astype(np.int)
print("Got Background")
return bgnd
def _acquire_frame(self):
"""Acquire frame from depth sensor using freenect library"""
frame, _ = freenect.sync_get_depth()
# return success if frame size is valid
if frame is not None:
return (True, frame)
else:
return (False, frame)
def sample_bgnd(n):
"""
Take frames from the kinect to use as the background. Argument n
corresponds to number of frames to be averaged as background. Currently
averaging hurts more than it helps.
"""
depth, _ = freenect.sync_get_depth()
#bgnd = uniform_filter(depth, mode='constant')
bgnd = depth
for _ in range(n - 1):
depth, _ = freenect.sync_get_depth()
#bgnd += uniform_filter(depth, mode='constant')
bgnd += depth
bgnd = np.around(bgnd / float(n)).astype(np.int)
print("Got Background")
return bgnd
def get_depth(self):
array, _ = freenect.sync_get_depth()
array = np.multiply(array, 255.0 / 2048)
max = np.max(array)
min = np.min(array)
array = array.astype(np.uint8)
return array
