def test_get_color_frame_lx():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
color = kinect.get_color()
print(color.shape)
print(color[0])
plt.imshow(color, origin="lower")
plt.show()
color = kinect.get_color()
plt.imshow(color, origin="lower")
plt.show()
def start_mapping(kinect: KinectV2):
"""
Takes the kinect sensor and create the map to convert color space to depth space
Args:
kinect: Sensor
Returns:
pd.Dataframe
"""
set_device(kinect)
df = create_CoordinateMap(kinect.get_frame())
logger.info("CoordinateMap created")
return df
def test_get_IR_frame_lx():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
IR = kinect.get_ir_frame(min=0, max=6000)
print(IR.shape)
plt.imshow(IR, origin="lower")
plt.colorbar()
plt.show()
IR = kinect.get_ir_frame(min=0, max=6000)
print(IR.shape)
plt.imshow(IR, origin="lower")
plt.colorbar()
plt.show()
def test_get_depth_frame_lx():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
frame = kinect.get_frame()
print(frame.shape)
plt.imshow(frame, origin="lower", cmap="jet")
plt.colorbar()
plt.show()
frame = kinect.get_frame()
print(frame.shape)
plt.imshow(frame, origin="lower", cmap="jet")
plt.colorbar()
plt.show()
def start_mapping(kinect: KinectV2):
"""
Takes the kinect sensor and create the map to convert color space to depth space
Args:
kinect: Sensor
Returns:
pd.Dataframe
"""
# depth_to_color
set_device(kinect)
set_device_params(kinect)
status = kinect._thread_status
if status == "running":
kinect._stop()
depth, _, undistorted_depth, _, _ = registration()
_ = depth_to_camera(undistorted_depth)
df = create_CoordinateMap(depth.to_array())
logger.info("CoordinateMap created")
if status == "running":
kinect._run()
return df
def test_thread():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
kinect._run()
rval = True
import cv2
while rval:
cv2.imshow("color", kinect.get_color())
cv2.imshow("depth", kinect.get_frame())
cv2.imshow("ir", kinect.get_ir_frame())
key = cv2.waitKey(20)
if key == 27: # exit on ESC
break
kinect._stop()
def test_thread_linux():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
kinect._run()
import time
time.sleep(1)
print(kinect._depth)
print(kinect._ir)
print(kinect._color)
kinect._stop()
kinect._run()
time.sleep(1)
print(kinect._depth)
print(kinect._ir)
print(kinect._color)
print("working", kinect.get_color())
def test_kinectv2_linux_frame():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
kinect.get_linux_frame(typ="all")
def test_init_kinectv2_linux():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
def test_thread_linux():
from sandbox.sensor.kinectV2 import KinectV2
kinect = KinectV2()
kinect._run()
kinect._stop()