def record(filename=None):
opennpy.align_depth_to_rgb()
if filename is None:
filename = str(np.random.rand())
foldername = 'data/sets/%s/' % filename
dataset.folder = foldername
os.mkdir(foldername)
shutil.copytree('data/newest_calibration/config', '%s/config' % foldername)
print "Created new dataset: %s" % foldername
frame = 0
try:
while 1:
opennpy.sync_update()
(depth,_) = opennpy.sync_get_depth()
(rgb,_) = opennpy.sync_get_video()
np.save('%s/depth_%05d.npy' % (foldername,frame), depth)
cv.CvtColor(rgb, rgb, cv.CV_RGB2BGR)
cv.SaveImage('%s/rgb_%05d.png' % (foldername,frame), rgb)
if frame % 30 == 0:
print 'frame: %d' % frame
frame = frame + 1
except KeyboardInterrupt:
print "Captured %d frames" % frame
compress()
def record(filename=None):
opennpy.align_depth_to_rgb()
if filename is None:
filename = str(np.random.rand())
foldername = 'data/sets/%s/' % filename
dataset.folder = foldername
os.mkdir(foldername)
shutil.copytree('data/newest_calibration/config', '%s/config' % foldername)
print "Created new dataset: %s" % foldername
frame = 0
try:
while 1:
opennpy.sync_update()
(depth, _) = opennpy.sync_get_depth()
(rgb, _) = opennpy.sync_get_video()
np.save('%s/depth_%05d.npy' % (foldername, frame), depth)
cv.CvtColor(rgb, rgb, cv.CV_RGB2BGR)
cv.SaveImage('%s/rgb_%05d.png' % (foldername, frame), rgb)
if frame % 30 == 0:
print 'frame: %d' % frame
frame = frame + 1
except KeyboardInterrupt:
print "Captured %d frames" % frame
compress()
def run_calib():
close('all')
"""Run the table plane calibration
"""
global points, depth
print("Getting an image from the camera")
opennpy.align_depth_to_rgb()
for i in range(10):
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
fig = figure(1)
clf()
points = []
def pick(event):
global points
points.append((event.xdata, event.ydata))
print('Picked point %d of 4' % (len(points)))
#imshow(depth)
imshow(1./depth)
draw()
fig.canvas.mpl_disconnect('button_press_event')
fig.canvas.mpl_connect('button_press_event', pick)
print("Click four points")
while len(points) < 4:
waitforbuttonpress(0.001)
print 'OK'
np.save('%s/config/boundpts' % (newest_folder), points)
np.save('%s/config/depth' % (newest_folder), depth)
finish_table_calib()
def once():
global depth, rgb
preview.canvas.SetCurrent()
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
#blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1]))
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1]))
preview.clearcolor=[0,0,0,0]
preview.flag_drawgrid = True
if 'R_correct' in main.__dict__:
preview.modelmat = main.R_display
else:
preview.modelmat = main.R_aligned
preview.Refresh()
window.Refresh()
pylab.waitforbuttonpress(0.005)
def preview():
opennpy.sync_update()
(depth,_) = opennpy.sync_get_depth()
global depth_cache
depth_cache.append(np.array(depth))
depth_cache = depth_cache[-5:]
show_depth('depth', depth)
def preview():
opennpy.sync_update()
(depth, _) = opennpy.sync_get_depth()
global depth_cache
depth_cache.append(np.array(depth))
depth_cache = depth_cache[-5:]
show_depth('depth', depth)
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
rgb, _ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1, 0.6, 0.6, 1]))
window.clearcolor = [0, 0, 0, 0]
window.flag_drawgrid = True
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
g = blockcraft.translated_rotated(main.R_correct, grid.occ)
talk_to_minecraft(g)
window.Refresh()
pylab.waitforbuttonpress(0.005)
import sys
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
def from_rect(m,rect):
(l,t),(r,b) = rect
return m[t:b,l:r]
global mask, rect, modelmat
try:
(mask,rect) = preprocess.threshold_and_mask(depth,config.bg)
except IndexError:
return
cv.ShowImage('mask',mask.astype('u1')*255)
global label_image
label_image = classify.predict(depth)
cv.ShowImage('label_image', ((label_image[0]+1)*100*mask).astype('u1'))
pylab.waitforbuttonpress(0.03)
def run_calib():
close('all')
"""Run the table plane calibration
"""
global points, depth
print("Getting an image from the camera")
opennpy.align_depth_to_rgb()
for i in range(10):
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
fig = figure(1)
clf()
points = []
def pick(event):
global points
points.append((event.xdata, event.ydata))
print('Picked point %d of 4' % (len(points)))
#imshow(depth)
imshow(1. / depth)
draw()
fig.canvas.mpl_disconnect('button_press_event')
fig.canvas.mpl_connect('button_press_event', pick)
print("Click four points")
while len(points) < 4:
waitforbuttonpress(0.001)
print 'OK'
np.save('%s/config/boundpts' % (newest_folder), points)
np.save('%s/config/depth' % (newest_folder), depth)
finish_table_calib()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1]))
window.clearcolor=[0,0,0,0]
window.flag_drawgrid = True
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
g = blockcraft.translated_rotated(main.R_correct, grid.occ)
talk_to_minecraft(g)
window.Refresh()
pylab.waitforbuttonpress(0.005)
import sys
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
def from_rect(m,rect):
(l,t),(r,b) = rect
return m[t:b,l:r]
global mask, rect, modelmat
try:
(mask,rect) = preprocess.threshold_and_mask(depth,config.bg)
except IndexError:
return
cv.ShowImage('mask',mask.astype('u1')*255)
global label_image
label_image = classify.predict(depth)
cv.ShowImage('label_image', ((label_image[0]+1)*100*mask).astype('u1'))
pylab.waitforbuttonpress(0.03)
def preview(cams):
opennpy.align_depth_to_rgb()
opennpy.sync_update()
global depth_cache
for cam in cams:
(depth,_) = opennpy.sync_get_depth(cam)
print(depth.shape)
print "Depth aligned:", is_aligned(depth)
depth_cache.append(np.array(depth))
depth_cache = depth_cache[-6:]
show_depth('depth_%d'%cam, depth)
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
rgb, _ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
try:
c, _ = hashalign.find_best_alignment(grid.occ, 0 * grid.occ,
target_model, ~target_model)
except ValueError:
pass
else:
tm = hashalign.apply_correction(target_model, *c)
tm = np.ascontiguousarray(tm)
not_filled = tm & ~grid.occ
correct = tm & grid.occ
incorrect = ~tm & grid.occ
try:
next_layer = np.min(np.nonzero(not_filled)[1])
except ValueError:
blockdraw.show_grid('0',
grid.occ,
color=np.array([0.2, 1, 0.2, 1]))
else:
blockdraw.show_grid('1', incorrect, color=np.array([1, 1, 0.1, 1]))
nf = not_filled * 0
nf[:, next_layer, :] = 1
nf = nf & not_filled
blockdraw.show_grid('2', nf, color=np.array([1, 0.2, 1.0, 1]))
blockdraw.show_grid('3',
correct,
color=np.array([0.1, 0.3, 0.1, 1]))
window.clearcolor = [0, 0, 0, 0]
window.flag_drawgrid = False
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
#show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
try:
c,_ = hashalign.find_best_alignment(grid.occ,0*grid.occ,
target_model,~target_model)
except ValueError:
pass
else:
tm = hashalign.apply_correction(target_model, *c)
tm = np.ascontiguousarray(tm)
not_filled = tm & ~grid.occ
correct = tm & grid.occ
incorrect = ~tm & grid.occ
try:
next_layer = np.min(np.nonzero(not_filled)[1])
except ValueError:
blockdraw.show_grid('0', grid.occ, color=np.array([0.2,1,0.2,1]))
else:
blockdraw.show_grid('1', incorrect,
color=np.array([1,1,0.1,1]))
nf = not_filled*0
nf[:,next_layer,:] = 1
nf = nf & not_filled
blockdraw.show_grid('2', nf,
color=np.array([1,0.2,1.0,1]))
blockdraw.show_grid('3', correct, color=np.array([0.1,0.3,0.1,1]))
window.clearcolor=[0,0,0,0]
window.flag_drawgrid = False
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
#show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def block_once(self):
"""Process the next blockplayer frame"""
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
# Update the blocks in the playing area
if self.state < Game.STATE_CHECKWALL and self.update_blocks:
self.blocks = main.grid.occ
if hasattr(main, 'R_correct'):
self.blocks = blockcraft.translated_rotated(main.R_correct, self.blocks)
self.blocks = self.block_slice(self.blocks)
self.board.update_blocks(self.blocks,
remove=self.board.wall_abs-Board.BOARD_BORDER > Board.PLAY_WIDTH)
def run_calib():
config.load('data/newest_calibration')
opennpy.align_depth_to_rgb()
samples = []
for i in arange(0,2*np.pi,np.pi/8):
line = line_through_point(center, i)
draw_line_XZ(line)
pylab.waitforbuttonpress(0.1)
for _ in range(60):
opennpy.sync_update()
rgb, _ = opennpy.sync_get_video()
depth, _ = opennpy.sync_get_depth()
samples.append((line, rgb, depth))
return samples
def once():
global depth
global rgb
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
global x,y,z,xyz
if PREPROCESS:
global mask, rect
mask, rect = preprocess.threshold_and_mask(depth, config.bg)
(l,t),(r,b) = rect
depth_ = np.ascontiguousarray(depth[t:b,l:r])
v,u = np.mgrid[t:b,l:r].astype('f')
x,y,z = calibkinect.convertOpenNI2Real(depth_,u,v)
x=x[mask[t:b,l:r]]
y=y[mask[t:b,l:r]]
z=z[mask[t:b,l:r]]
rgb_ = rgb[t:b,l:r,:][mask[t:b,l:r],:]
else:
x,y,z = calibkinect.convertOpenNI2Real(depth)
#global X,Y,Z
#X,Y,Z = calibkinect.convertReal2OpenNI(x,y,z)
x,y,z = map(lambda _:_.flatten(), (x,y,z))
rgb_ = rgb.reshape(-1,3)
#x = x[depth>0]
#y = y[depth>0]
#z = z[depth>0]
xyz_ = np.ascontiguousarray(np.dstack((x,y,z)).reshape(-1,3))
#xyz_ = xyz - xyz.mean(0)
#xyz_ /= np.std(xyz_)
rgba = np.empty((xyz_.shape[0],4),'f')
rgba[:,3] = 1
rgba[:,:3] = rgb_.astype('f')/256.0
window.lookat = np.array([0,0,0])
window.update_points(xyz_,rgba)
window.clearcolor = [0,0,0,0]
window.Refresh()
pylab.waitforbuttonpress(0.005)
def once():
global depth
global rgb
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
rgb, _ = opennpy.sync_get_video()
global x, y, z, xyz
if PREPROCESS:
global mask, rect
mask, rect = preprocess.threshold_and_mask(depth, config.bg)
(l, t), (r, b) = rect
depth_ = np.ascontiguousarray(depth[t:b, l:r])
v, u = np.mgrid[t:b, l:r].astype('f')
x, y, z = calibkinect.convertOpenNI2Real(depth_, u, v)
x = x[mask[t:b, l:r]]
y = y[mask[t:b, l:r]]
z = z[mask[t:b, l:r]]
rgb_ = rgb[t:b, l:r, :][mask[t:b, l:r], :]
else:
x, y, z = calibkinect.convertOpenNI2Real(depth)
#global X,Y,Z
#X,Y,Z = calibkinect.convertReal2OpenNI(x,y,z)
x, y, z = map(lambda _: _.flatten(), (x, y, z))
rgb_ = rgb.reshape(-1, 3)
#x = x[depth>0]
#y = y[depth>0]
#z = z[depth>0]
xyz_ = np.ascontiguousarray(np.dstack((x, y, z)).reshape(-1, 3))
#xyz_ = xyz - xyz.mean(0)
#xyz_ /= np.std(xyz_)
rgba = np.empty((xyz_.shape[0], 4), 'f')
rgba[:, 3] = 1
rgba[:, :3] = rgb_.astype('f') / 256.0
window.lookat = np.array([0, 0, 0])
window.update_points(xyz_, rgba)
window.clearcolor = [0, 0, 0, 0]
window.Refresh()
pylab.waitforbuttonpress(0.005)
def once():
opennpy.sync_update()
(depth,_), (rgb,_) = opennpy.sync_get_depth(), opennpy.sync_get_video()
# Look for chessboard corners in the image
was_found, corners = cv.FindChessboardCorners(cv.fromarray(255-rgb),
checkerboard.pattern_size)
preview = cv.fromarray(rgb.copy())
if was_found:
cv.DrawChessboardCorners(preview, checkerboard.pattern_size,
corners, was_found)
cv.ShowImage("RGB", preview)
if not was_found: return
# Sample the kinect depth image X,Y,Z points at the corners
XYZ = calibkinect.convertOpenNI2Real(depth)
XYZ = [scipy.ndimage.map_coordinates(im, np.array(corners).transpose()[::-1,:],
order=0, prefilter=False) for im in XYZ]
XYZ = np.vstack(XYZ).transpose()
return XYZ
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1]))
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1]))
#blockdraw.show_grid('vac', grid.vac,
# color=np.array([0.6,1,0.6,0]))
if 0 and lattice.is_valid_estimate():
window.clearcolor=[0.9,1,0.9,0]
else:
window.clearcolor=[0,0,0,0]
#window.clearcolor=[1,1,1,0]
window.flag_drawgrid = True
if 1:
update_display()
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
rgb, _ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
#blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1]))
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1, 0.6, 0.6, 1]))
#blockdraw.show_grid('vac', grid.vac,
# color=np.array([0.6,1,0.6,0]))
if 0 and lattice.is_valid_estimate():
window.clearcolor = [0.9, 1, 0.9, 0]
else:
window.clearcolor = [0, 0, 0, 0]
#window.clearcolor=[1,1,1,0]
window.flag_drawgrid = True
if 1:
update_display()
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
#show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def once():
global depth
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
def from_rect(m,rect):
(l,t),(r,b) = rect
return m[t:b,l:r]
global mask, rect, modelmat
(mask,rect) = preprocess.threshold_and_mask(depth,config.bg)
global n,w
if 0:
n,w = normals.normals_numpy(depth)
show_normals(n, w, 'normals_numpy')
if 0:
n,w = normals.normals_c(depth)
show_normals(n, w, 'normals_c')
if 1:
normals.opencl.set_rect(rect)
dt = timeit.timeit(lambda:
normals.normals_opencl(depth, mask, rect).wait(),
number=1)
#print dt
nw = normals.opencl.get_normals()
n,w = nw[:,:,:3], nw[:,:,3]
#show_normals(n, w, 'normals_opencl')
show_normals_sphere(n, w)
pylab.waitforbuttonpress(0.01)
def once():
global depth
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
else:
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
def from_rect(m, rect):
(l, t), (r, b) = rect
return m[t:b, l:r]
global mask, rect, modelmat
(mask, rect) = preprocess.threshold_and_mask(depth, config.bg)
global n, w
if 0:
n, w = normals.normals_numpy(depth)
show_normals(n, w, 'normals_numpy')
if 0:
n, w = normals.normals_c(depth)
show_normals(n, w, 'normals_c')
if 1:
normals.opencl.set_rect(rect)
dt = timeit.timeit(
lambda: normals.normals_opencl(depth, mask, rect).wait(), number=1)
#print dt
nw = normals.opencl.get_normals()
n, w = nw[:, :, :3], nw[:, :, 3]
#show_normals(n, w, 'normals_opencl')
show_normals_sphere(n, w)
pylab.waitforbuttonpress(0.01)
def record(filename=None, cams=(0,), do_rgb=False):
if len(cams) > 1 and do_rgb:
print """You're trying to record from 2+ kinects with RGB and depth.
This probably will not work out for you, but it depends on if you have
enough USB bandwidth to support all four streams. Call record with
do_rgb=False to turn off rgb."""
q = multiprocessing.Queue(10000)
p = multiprocessing.Process(target=worker, args=(q,))
p.start()
opennpy.align_depth_to_rgb()
if filename is None:
filename = str(time.time())
foldername = KINECT_PATH + '%s' % filename
dataset.folder = foldername
try:
os.makedirs(foldername)
except OSError:
pass
#shutil.copytree('data/newest_calibration/config', '%s/config' % foldername)
print "Created new dataset: %s" % foldername
min_delay = 1
frame = 0
frame_md5s = {}
frame_last_update = {}
def check_frame(name, cam, frame_data):
frame_md5 = hashlib.md5(frame_data).digest()
key = '%s:%d' % (name, cam)
if frame_md5s.get(key) == frame_md5:
#print('Kinect [%s] is repeating data, likely crashed...' % key)
last_update = frame_last_update.get(key)
if last_update is None or (time.time() - last_update) > 10.:
return 'die'
else:
frame_last_update[key] = time.time()
frame_md5s[key] = frame_md5
return 'new'
def die():
q.put(None)
while 1:
print('')
st = time.time()
opennpy.sync_update()
for cam in cams:
(depth,_) = opennpy.sync_get_depth(cam)
ret = check_frame('depth', cam, depth.tostring())
if ret == 'die':
return die()
elif ret == 'new':
q.put(('%s/depth_%f_%05d_%d.snappy' % (foldername,st,frame,cam), depth.tostring()))
if do_rgb:
(rgb,_) = opennpy.sync_get_video(cam)
ret = check_frame('rgb', cam, rgb.tostring())
if ret == 'die':
return die()
elif ret == 'new':
rgb = cv2.cvtColor(rgb, cv.CV_RGB2BGR)
q.put(('%s/rgb_%f_%05d_%d.ppm' % (foldername,st,frame,cam), rgb))
if frame % 30 == 0:
print 'frame: %d' % frame
cur_time = time.time()
print({k: cur_time - v for k, v in frame_last_update.items()})
frame = frame + 1
sleep_time = max(0, min_delay - (time.time() - st))
#time.sleep(sleep_time)
print('Time: %f' % (time.time() - st,))
from OpenGL.GL import *
from OpenGL.GLUT import *
import numpy as np
from rtmodel import mesh
from rtmodel import camera
from wxpy3d import Window
from wxpy3d.opengl_state import opengl_state
import opennpy
import calibkinect
import cv
import scipy.ndimage
import os
import cPickle as pickle
opennpy.align_depth_to_rgb(); opennpy.sync_update()
np.set_printoptions(2)
"""
My best guess for the intrinsic calibration values for the dell projector are:
KK = [[2460, 0, 1152/2],
[0, 2460, 863],
[0, 0, 1]]
This is based on measuring the focal length with a tape measure, averaging
between my measurements for X and Y. Assume the principal point is at the bottom
and pixels are square.
"""
if not 'window' in globals():
