def __init__(self): super(SkeletonInput, self).__init__() if user_tracker is None: openni2.initialize() nite2.initialize() self.smoothed_inputs = SmoothInputs() self.reset_user_tracker()
def __init__(self): nite2.initialize() self.ut = nite2.UserTracker.open_any() self.pub = rospy.Publisher('skeleton', UserTrackerPoseArray, queue_size=10) self.rate = rospy.Rate(10) self.utpa = UserTrackerPoseArray() self.utp = UserTrackerPose() self.head_pose = Vector3() rate = rospy.Rate(100)
def start(self): openni2.initialize() nite2.initialize() self.user_tracker = nite2.UserTracker(None) self.hand_tracker = nite2.HandTracker(None) self.hand_tracker.start_gesture_detection( nite2.c_api.NiteGestureType.NITE_GESTURE_CLICK) #self.hand_tracker.start_gesture_detection(nite2.c_api.NiteGestureType.NITE_GESTURE_WAVE) self.hand_listener = HandListener(self.hand_tracker, self.gesture_received) self.user_listener = UserListener(self.user_tracker, self.pose_detected, self.user_added_callback, self.user_removed_callback, self.user_roles_changed)
def __init__(self): nite2.initialize() self.ut = nite2.UserTracker.open_any() self.pub = rospy.Publisher('skeleton', UserTrackerPoseArray, queue_size=1) self.pub2 = rospy.Publisher('detected', Bool , queue_size=1) self.pub3 = rospy.Publisher('/cmd_vel', Twist, queue_size=1) self.rate = rospy.Rate(1000) self.utpa = UserTrackerPoseArray() self.utp = UserTrackerPose() self.h = std_msgs.msg.Header() self.head_pose = Vector3() self.detected = False rate = rospy.Rate(100)
def __init__(self): nite2.initialize() self.ut = nite2.UserTracker.open_any() self.sub = rospy.Subscriber('/usb_cam/image_raw', Image, self.sample_cam_callback, queue_size=1) #self.pub = rospy.Publisher('skeleton', UserTrackerPoseArray, queue_size=1) #self.pub2 = rospy.Publisher('detected', Bool , queue_size=1) self.pub3 = rospy.Publisher('/cmd_vel', Twist, queue_size=1) self.pub4 = rospy.Publisher('/face/image_raw', Image, queue_size=1) self.rate = rospy.Rate(100) self.utpa = UserTrackerPoseArray() self.utp = UserTrackerPose() self.h = std_msgs.msg.Header() self.head_pose = Vector3() self.bridge = CvBridge() self.detected = False rate = rospy.Rate(100)
def __init__(self, *args, **kwargs): app.Canvas.__init__(self, *args, **kwargs) self.program = gloo.Program(self.read_shader('1.vert'), self.read_shader('skeleton_video.frag')) # Fill screen with single quad, fragment shader does all the real work self.program["position"] = [(-1, -1), (-1, 1), (1, 1), (-1, -1), (1, 1), (1, -1)] self.program["frame"] = gloo.Texture2D(shape=(480, 640, 2), format='luminance_alpha') width, height = self.physical_size gloo.set_viewport(0, 0, width, height) self.program['resolution'] = [width, height] openni2.initialize() nite2.initialize() self.user_tracker = nite2.UserTracker(False) gloo.set_clear_color(color='black') self._timer = app.Timer('auto', connect=self.update, start=True) self.show()
def test_nite_bindings(self): if os.path.exists(self.GEN_ONI): os.unlink(self.GEN_ONI) subprocess.check_call(["python", "../bin/build_openni.py"]) self.assertTrue(os.path.exists(self.GEN_ONI)) if os.path.exists(self.GEN_NITE): os.unlink(self.GEN_NITE) subprocess.check_call(["python", "../bin/build_nite.py"]) self.assertTrue(os.path.exists(self.GEN_NITE)) from primesense import _nite2 from primesense import nite2 nite2.initialize() ver = nite2.get_version() nite2.unload() self.assertEqual(ver.major, nite2.c_api.NITE_VERSION_MAJOR) self.assertEqual(ver.minor, nite2.c_api.NITE_VERSION_MINOR) h_file = os.path.join(config.get("headers", "nite_include_dir"), "NiTE.h") self.check_unexposed_functions(nite2, _nite2, h_file)
def __init__(self, *args, **kwargs): app.Canvas.__init__(self, *args, **kwargs) self.raw_depth_program = gloo.Program(read_shader('1.vert'), read_shader('skeleton_video.frag')) self.skeleton_program = gloo.Program(read_shader('skeleton_bones.vert'), read_shader('skeleton_bones.frag')) # Fill screen with single quad, fragment shader does all the real work self.raw_depth_program["position"] = [(-1, -1), (-1, 1), (1, 1), (-1, -1), (1, 1), (1, -1)] self.raw_depth_program["frame"] = gloo.Texture2D(shape=(480, 640, 2), format='luminance_alpha') width, height = self.physical_size gloo.set_viewport(0, 0, width, height) self.raw_depth_program['resolution'] = [width, height] # Set uniform and attribute self.skeleton_program['a_position'] = gloo.VertexBuffer() openni2.initialize() nite2.initialize() self.user_tracker = nite2.UserTracker(False) gloo.set_state(clear_color='black', blend=True, blend_func=('src_alpha', 'one_minus_src_alpha')) self._timer = app.Timer('auto', connect=self.update, start=True) self.show()
#if you don't run stream.start() it con't read_frame from primesense import nite2 from primesense import openni2 import numpy as np import cv2 import time import matplotlib.pyplot as plt nite2.initialize() op=openni2.Device(None) color_stream = op.create_color_stream() color_stream.set_video_mode(openni2.c_api.OniVideoMode(pixelFormat=openni2.c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888, resolutionX=640, resolutionY=480, fps=30)) color_stream.start() print 'ok' bgr = np.fromstring(color_stream.read_frame().get_buffer_as_uint8(),dtype=np.uint8).reshape(480,640,3) rgb = cv2.cvtColor(bgr,cv2.COLOR_BGR2RGB) print 'ok' #color_stream.stop()
import os from primesense import nite2 nite2.initialize() nite2.get_version() os.chdir(nite2.loaded_dll_directory) #dev = openni2.Device.open_any() #print dev #ut = nite2.UserTracker(dev) ut = nite2.UserTracker.open_any() print ut frm = ut.read_frame() print frm print frm.users print frm.get_depth_frame() ht = nite2.HandTracker.open_any() print ht frm2 = ht.read_frame() print frm2 nite2.unload()
description='Automatic Storage of NI content in OpenNI format') parser.add_argument('--input', required=True, help="inputfile") args = parser.parse_args() myni = os.environ.get("MYNI", ".") try: openni2.initialize( myni) # can also accept the path of the OpenNI redistribution except: print "cannot initialize OpenNI2. The OpenNI2 Redist directory should be in the PATH. Use the MYNI environment variable" raise try: nite2.initialize(myni) except: print "cannot initialize Nite2" raise dev = openni2.Device.open_file(args.input) print dev.get_sensor_info(openni2.SENSOR_COLOR) print dev.get_sensor_info(openni2.SENSOR_DEPTH) print dev.get_device_info() depth_stream = dev.create_depth_stream() depth_stream.start() color_stream = dev.create_color_stream() color_stream.start()