def KSCheck(self,trigger): if trigger=='timercheck': if self.KSAvailable!=True and KS.deviceAvailable(): ####Here may also fail KS.startAll() self.KSAvailable=True self.refreshThread.KinectReady.emit() elif trigger=='failurecheck': print "failurecheck" KS.reInit() if not KS.deviceAvailable(): print "failurecheck failed" self.KSAvailable=False self.refreshThread.KinectFail.emit()
def refresh(self):
#self.m.angleInfo.swingAngleV+=0.05
#self.m.angleInfo.armAngleV=math.pi/6;
#self.m.angleInfo.armSpringAngleV=math.pi/6;
#self.m.angleInfo.armFrontAngleV=math.pi/6;
refreshDepthImage=None
refreshImageImage=None
if self.m.KSAvailable!=True:
refreshDepthImage=self.m.imgBlank
refreshImageImage=self.m.imgBlank
else:
try:
#RGB Image
imageFrame=KS.readImage()
self.m.imageList[self.m.imgpos]=(
QImage(imageFrame,640,480,
QImage.Format_RGB888).rgbSwapped())
refreshImageImage=self.m.imageList[self.m.imgpos]
#Depth image
frame=KS.readDepth()
f=np.fromstring(frame,dtype=np.uint8)
self.m.depthList[self.m.imgpos]=QImage(
f.repeat(4),640,480,QImage.Format_RGB32)
refreshDepthImage=self.m.depthList[self.m.imgpos]
#Draw points on depth image
skeleton_list = []
KS.ctx.wait_and_update_all()
user_list=[]
for u_id in KS.userNode.users:
readRet=KS.readSkeleton(self.joint_request, u_id)
user_list.append(readRet)
max_u=[[],[]]
for u in user_list:
if len(u[0])>=len(max_u[0]):
max_u=u
skeleton_list = max_u[0]
self.joint_list=max_u[1]
modifier = QPainter()
color=QColor()
modifier.begin(refreshDepthImage)
for ske_joint in skeleton_list:
if ske_joint[1] < 0:
continue
depth=self.hmapping(ske_joint[2])
color.setHsv(depth,255,255)
modifier.setPen(
QPen(color,
15,
cap=Qt.RoundCap)
)
modifier.drawPoint(ske_joint[0],ske_joint[1])
modifier.end()
except openni.OpenNIError:
self.m.KSAvailable=False
print 'Kinect Sensor disconnected.'
self.m.KSCheck('failurecheck');
return
self.armTranspose()
#Depth
self.m.depthLabel.setPixmap(
QPixmap.fromImage(refreshDepthImage.scaled(
self.m.depthLabel.width(),self.m.depthLabel.height(),
Qt.KeepAspectRatio))
)
#Image
self.m.imageLabel.setPixmap(
QPixmap.fromImage(refreshImageImage.scaled(
self.m.imageLabel.width(),self.m.imageLabel.height(),
Qt.KeepAspectRatio))
)
self.m.imgpos=1-self.m.imgpos;