/
kinectdemo.py
78 lines (62 loc) · 1.65 KB
/
kinectdemo.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
import sys
sys.path.append('/users/sujit/libs/libfreenect/wrappers/python/')
import freenect
import cv2
import numpy as np
use_webcam = False
if use_webcam:
c = cv2.VideoCapture(0)
c.open(0)
huel = 0
hueh = 255
satl = 0
sath = 255
luml = 0
lumh = 255
def getimg_webcam():
_, img = c.read()
return img
def getimg_irkinect():
raw_data, _ = freenect.sync_get_video(0, freenect.VIDEO_IR_8BIT)
return np.array(raw_data)
def sobelmag(img):
sobel_ksize = 7
sobel_scale = 2 ** -(sobel_ksize * 2 - 1 - 1 - 2)
blurred = cv2.GaussianBlur(img, (11, 11), 1)
grad_x = cv2.Sobel(blurred, cv2.CV_16S, 1, 0, ksize=sobel_ksize, scale=sobel_scale)
grad_y = cv2.Sobel(blurred, cv2.CV_16S, 0, 1, ksize=sobel_ksize, scale=sobel_scale)
abs_grad_x = cv2.convertScaleAbs(grad_x)
abs_grad_y = cv2.convertScaleAbs(grad_y)
magnitude = cv2.addWeighted(abs_grad_x, 0.5, abs_grad_y, 0.5, 0)
return cv2.normalize(magnitude, alpha=2 ** 15)
def donothing(img):
return img
def hsvthreshold(img):
hsv = cv2.cvtColor(img, cv2.CV_RGB2HSV)
planes = cv2.split(hsv)
return img
def brightnessthreshold(img):
_, ret = cv2.threshold(img, 200, 255, cv2.THRESH_TOZERO)
return ret
def process(img):
return brightnessthreshold(sobelmag(img))
def onchange(x):
pass
def loop(processimg):
ctx = freenect.init()
dev = freenect.open_device(ctx, 0)
freenect.set_tilt_degs(dev, 10)
freenect.close_device(dev)
while True:
#img = processimg(np.array(getimg_webcam()))
#gotimg, img = c.read()
img = getimg_irkinect()
#gotimg = True
#if not gotimg:
# print 'stopped'
# break
cv2.imshow('processing', processimg(img))
if cv2.waitKey(10) == 27:
break
cv2.destroyAllWindows()
loop(process)