def run(self):
try:
self.ctx = freenect.init()
self.dev = freenect.open_device(self.ctx, 0)
freenect.set_depth_mode(self.dev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_11BIT)
freenect.set_depth_callback(self.dev, self._depth_cb)
freenect.set_video_mode(self.dev, freenect.RESOLUTION_MEDIUM, freenect.VIDEO_RGB)
freenect.set_video_callback(self.dev, self._video_cb)
self.video_started = False
self.depth_started = False
while self.keep_running:
with self.lock:
if self.led_update is not None:
freenect.set_led(self.dev, self.led_update)
self.led_update = None
self.update_streams()
if not self.video_started and not self.depth_started:
self.update_cond.wait()
continue
self.update.clear()
if not self.keep_running:
break
freenect.base_runloop(self.ctx, self._body)
finally:
with self.lock:
for k in self.depth_consumers.keys() + self.video_consumers.keys():
k.put(StreamerDied("The Kinect streamer died"))
self.depth_consumers = {}
self.video_consumers = {}
self.update_streams()
freenect.close_device(self.dev)
freenect.shutdown(self.ctx)
def body(dev, ctx):
global tilt
global light
global increment
global last_time
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
last_time = time.time()
if tilt >= 30:
increment = False
if tilt <= 10:
increment = True
led = light
freenect.set_led(dev, led)
if search:
if increment:
tilt = tilt + 5
else:
tilt = tilt - 5
freenect.set_tilt_degs(dev, tilt)
def body(dev,ctx):
if sys.argv < 2:
exit(0);
global keep_running
global myAngle
global k
global image
char_set = string.ascii_uppercase + string.digits
k = (cv.WaitKey(10) & 255)
if k == 27:
print "Exiting..."
keep_running = False
elif chr(k) == 'w' or chr(k) == 'W':
myAngle = myAngle + 5
elif chr(k) == 's' or chr(k) == 'S':
myAngle = myAngle - 5
elif chr(k) == 'p' or chr(k) == 'P':
cv.SaveImage('positive/pos-'+ rand_string(10) + '.jpg',image)
print "Positive image saved"
elif chr(k) == 'n' or chr(k) == 'N':
cv.SaveImage('negative/neg-'+ rand_string(10) + '.jpg',image)
print "Negative image saved"
freenect.set_led(dev,1)
freenect.set_tilt_degs(dev,myAngle)
if not keep_running:
freenect.set_led(dev,0)
raise freenect.Kill
def rotate():
led = 0
for i in range(31):
freenect.set_tilt_degs(new_dev, i)
print(f"iterataion number {i}")
time.sleep(0.1)
if i % 5 == 0:
freenect.set_led(new_dev, led)
led += 1
def body(dev, ctx):
global last_time
if time.time() - last_time < 3:
return
last_time = time.time()
led = random.randint(0, 6)
tilt = random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def body(dev, ctx):
global last_time
if time.time() - last_time < 3:
return
last_time = time.time()
led = random.randint(0, 6)
tilt = random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def body(dev, ctx):
global last_time
global led_color
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 1:
return
last_time = time.time()
freenect.set_led(dev, led_color%3+1)
print led_color
led_color+=1
def body(dev, ctx):
global last_time
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
last_time = time.time()
led = random.randint(0, 6)
tilt = random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
def body(dev, ctx):
global last_time
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
last_time = time.time()
led = random.randint(0, 6)
tilt = random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
def body(dev, ctx):
#global last_time
if not keep_running:
raise freenect.Kill
#last_time = time.time()
led = 1
tilt = int(input("Enter a degree 0 - 30: "))
#tilt = random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def _body(self, ctx): with self.lock: if self.update.isSet(): self.update_streams() if not self.video_started and not self.depth_started: raise freenect.Kill() self.update.clear() if not self.keep_running: raise freenect.Kill() if self.led_update is not None: freenect.set_led(self.dev, self.led_update) self.led_update = None
def _body(self, ctx):
with self.lock:
if self.update.isSet():
self.update_streams()
if not self.video_started and not self.depth_started:
raise freenect.Kill()
self.update.clear()
if not self.keep_running:
raise freenect.Kill()
if self.led_update is not None:
freenect.set_led(self.dev, self.led_update)
self.led_update = None
def tilt_and_sense():
global dev
while not dev:
time.sleep(1)
while 1:
time.sleep(3)
led = random.randint(0, 6)
tilt = random.randint(0, 30)
print('Led[%d] Tilt[%d]' % (led, tilt))
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print(freenect.raw_accel(dev))
print(freenect.mks_accel(dev))
def body(dev, ctx):
global last_time
print "Doing something"
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
last_time = time.time()
led = random.randint(0, 6)
tilt = 30 #random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def __init__(self, cam=-1):
# Initialize freenect and get the context
print 'Initalize kinect'
context = freenect.init()
# Open the device and get the device
print 'Open device'
self.kinect = freenect.open_device(context, 0)
# Turn the led off
print 'Turning the led off'
freenect.set_led(self.kinect, freenect.LED_OFF)
# Close the device
print 'Closing the device'
freenect.close_device(self.kinect)
def body(dev, ctx):
global last_time
if time.time() - last_time > 3 and not has_face:
last_time = time.time()
print 'NO FACE FOUND - Randomly tilting to see if I can find one..'
led = random.randint(0, 6)
freenect.set_led(dev, led)
tilt = random.randint(0, 30)
freenect.set_tilt_degs(dev, tilt)
if not keep_running:
raise freenect.Kill
def tilt_and_sense():
global dev
while not dev:
time.sleep(1)
while 1:
time.sleep(3)
led = random.randint(0, 6)
tilt = random.randint(0, 30)
print('Led[%d] Tilt[%d]' % (led, tilt))
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print(freenect.raw_accel(dev))
print(freenect.mks_accel(dev))
def mybody(*args):
dev, ctx = args
global last_time
print(last_time)
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
last_time = time.time()
led = random.randint(0, 6)
tilt = random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def body(dev, ctx):
global last_time
global led
global tilt
if not keep_running:
raise freenect.Kill
if led > 6 and tilt > 30:
return
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
time.sleep(1)
led = led + 1
tilt = tilt + 5
def body(dev, ctx):
global last_time
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
print "boop"
last_time = time.time()
led = random.randint(0, 6)
tilt = random.randint(0, 30)
print "set_led(%s)" % led
freenect.set_led(dev, led)
print "set_tilt_degs(%s)" % tilt
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def rand_led_tilt(dev, ctx):
"""Randomly changes the led and tilt position every 3 seconds"""
global last_time
if time.time() - last_time < 3:
return
last_time = time.time()
led = random.randint(0, 6)
tilt = random.randint(0, 30)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def body(dev):
global last_time
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
last_time = time.time()
for i in range(0, 6):
led = i
tilt = i * 5
time.sleep(3)
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' %
(led, tilt, freenect.get_accel(dev)))
def body_callback(self, dev, ctx):
# _set_led hackery is required because for some reason calling set_led
# from update loop hangs the process
if self._set_led:
freenect.set_led(dev, self._set_led)
self._set_led = None
if self._set_video is not None:
freenect.stop_video(dev)
freenect.set_video_mode(dev, freenect.RESOLUTION_MEDIUM,
self._set_video)
freenect.start_video(dev)
self._set_video = None
if self._last_setting_check + self.settings_delay < time.time():
self.load_settings()
self._last_setting_check = time.time()
def set_tilt():
TILT_MAX = 30
TILT_STEP = 10
TILT_START = 0
ctx = freenect.init()
dev = freenect.open_device(ctx, freenect.num_devices(ctx) - 1)
if not dev:
freenect.error_open_device()
print "Starting TILT Cycle"
for tilt in xrange(TILT_START, TILT_MAX + TILT_STEP, TILT_STEP):
print "Setting TILT: ", tilt
freenect.set_led(dev, 6)
freenect.set_tilt_degs(dev, tilt)
time.sleep(3)
freenect.set_tilt_degs(dev, 0)
def body(dev, ctx):
global last_time
global tilt
global light
if not keep_running:
raise freenect.Kill
if tilt == 30:
return
if time.time() - last_time < 3:
return
last_time = time.time()
led = light
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def testkinect():
# test leds and tilts
[ctx, dev] = initkinect()
for i in range(1, 6):
freenect.set_led(dev, i)
cv2.waitKey(2000)
freenect.set_tilt_degs(dev, 0)
print('complete led')
cv2.waitKey(3000)
#test tilt
freenect.set_tilt_degs(dev, -50)
cv2.waitKey(3000)
freenect.set_tilt_degs(dev, 50)
cv2.waitKey(3000)
freenect.set_tilt_degs(dev, 0)
cv2.waitKey(1)
print('complete tilt')
freenect.shutdown(ctx)
def body(dev, ctx):
global last_time, tilt0
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 1:
return
last_time = time.time()
led = 2
if faceFound and abs(tilt - tilt0) > 0:
led = 3
if faceFound and abs(tilt - tilt0) == 0:
led = 4
tilt0 = tilt
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
if not keep_running:
raise freenect.Kill
def run(self):
try:
self.ctx = freenect.init()
self.dev = freenect.open_device(self.ctx, 0)
freenect.set_depth_mode(self.dev, freenect.RESOLUTION_MEDIUM,
freenect.DEPTH_11BIT)
freenect.set_depth_callback(self.dev, self._depth_cb)
freenect.set_video_mode(self.dev, freenect.RESOLUTION_MEDIUM,
freenect.VIDEO_RGB)
freenect.set_video_callback(self.dev, self._video_cb)
self.video_started = False
self.depth_started = False
while self.keep_running:
with self.lock:
if self.led_update is not None:
freenect.set_led(self.dev, self.led_update)
self.led_update = None
self.update_streams()
if not self.video_started and not self.depth_started:
self.update_cond.wait()
continue
self.update.clear()
if not self.keep_running:
break
freenect.base_runloop(self.ctx, self._body)
finally:
with self.lock:
for k in self.depth_consumers.keys(
) + self.video_consumers.keys():
k.put(StreamerDied("The Kinect streamer died"))
self.depth_consumers = {}
self.video_consumers = {}
self.update_streams()
freenect.close_device(self.dev)
freenect.shutdown(self.ctx)
def body(dev, ctx):
global last_time
if not keep_running:
raise freenect.Kill
if time.time() - last_time < 3:
return
last_time = time.time()
# rotate through the different colors
if led > 6:
led = 0
else:
led = led + 1
freenect.set_led(dev, led)
# tilt back and forth
if (tilt > 30 or tilt < 0):
tilt = 0
if (time.time() % 30 < 15):
tilt = tile + 5
else:
tilt = tilt - 5
freenect.set_tilt_degs(dev, tilt)
print('led[%d] tilt[%d] accel[%s]' % (led, tilt, freenect.get_accel(dev)))
def set_led(self, leds):
return freenect.set_led(self._dev, leds)
def body(dev,ctx):
global hold_it_start, action_less_start, setting_center_start
global hold_it, center_set, active_area, exclusion_zone, trying_to_set_center
global old_ts, old_xy, center_xy, center_z, exclusion_xy
global action_set, action_num
if ts<>old_ts:
#pygame and freenect use different indexing and origin
depth=np.flipud(depth_raw.transpose())
#eliminate low objects
#depth[:,240:]=2047
if active_area:
mask=(x_grid-old_xy[0])**2+(y_grid-old_xy[1])**2>active_area_limit**2
depth[mask]=2047
depth_flat=depth.ravel()
depth_flat=np.sort(depth_flat)
itemindex=np.where(depth<=depth_flat[num_to_track])
final_xy=[int(itemindex[0][:num_to_track].mean()),int(itemindex[1][:num_to_track].mean())]
final_z=int(depth_flat[0:num_to_track].mean())
dist_xy=rect_to_polar([final_xy[0]-old_xy[0],-(final_xy[1]-old_xy[1])])
rel_xy=rect_to_polar([final_xy[0]-center_xy[0],-(final_xy[1]-center_xy[1])])
rel_z=center_z-final_z
rightnow=datetime.now()
if dist_xy[0]>huge_motion_limit:
hold_it=False
center_set=False
freenect.set_led(dev,freenect.LED_OFF) #Turn led off
active_area=False
elif center_set:
if hold_it:
if action_is_digital[action_set][action_num]:
if rightnow-hold_it_start>hold_it_limit:
if rel_xy[0]<r_medium:
hold_it=False
freenect.set_led(dev,leds[action_set][1])
action_less_start=rightnow
elif rel_xy[0]>r_medium and rel_xy[0]<r_large:
hold_it=False
action_less_start=rightnow
else:
hold_it=False
center_set=False
freenect.set_led(dev,freenect.LED_OFF) #Turn led off
active_area=False
else:
if rel_xy[0]<r_medium:
hold_it=False
freenect.set_led(dev,leds[action_set][1])
action_less_start=rightnow
elif rel_xy[0]>r_medium and rel_xy[0]<r_large:
if action_num==bisect(limits[action_set],rel_xy[1]) and rightnow-hold_it_start>hold_it_limit:
perform(action_set,actions[action_set][action_num])
else:
hold_it=False
action_less_start=rightnow
else:
hold_it=False
center_set=False
freenect.set_led(dev,freenect.LED_OFF) #Turn led off
active_area=False
# elif rel_z<-z_switch_controller and dist_xy[0]<r_central_button:
# action_num=-1
# action_set=action_set+1
# if action_set==len(actions):
# action_set=0
# freenect.set_led(dev,leds[action_set][1])
# hold_it=True
# hold_it_start=rightnow
elif rel_z>z_main_action and dist_xy[0]<r_central_button:
action_num=-2
perform(action_set,actions[action_set][action_num])
hold_it=True
hold_it_start=rightnow
elif rel_xy[0]>r_medium:
action_num=bisect(limits[action_set],rel_xy[1])
freenect.set_led(dev,leds[action_set][2])
perform(action_set,actions[action_set][action_num])
hold_it=True
hold_it_start=rightnow
elif rightnow-action_less_start>action_less_limit:
center_set=False
freenect.set_led(dev,freenect.LED_OFF) #Turn led off
exclusion_zone=True
exclusion_xy=final_xy
active_area=False
elif trying_to_set_center:
if rightnow-setting_center_start>center_setting_limit:
trying_to_set_center=False
center_set=True
freenect.set_led(dev,leds[action_set][1]) #Turn led solid
active_area=True
center_xy=final_xy
center_z=final_z
action_less_start=rightnow
elif dist_xy[0]>r_small:
trying_to_set_center=False
freenect.set_led(dev,freenect.LED_OFF) #Turn led off
elif dist_xy[0]<r_small:
if (not exclusion_zone) or (rect_to_polar([final_xy[0]-exclusion_xy[0],final_xy[1]-exclusion_xy[1]])[0]>exclusion_zone_limit):
trying_to_set_center=True
freenect.set_led(dev,leds[action_set][0]) #Turn led blinking
setting_center_start=rightnow
exclusion_zone=False
old_xy=final_xy
old_ts=ts
#PAINTING
screen.fill(BLACK) #Make the window black
pygame.draw.circle(screen,(255,min(255,max(0,255*(1000.0-final_z)/500)),0),(final_xy[0],final_xy[1]),10)
if center_set:
paint_controller(center_xy)
if active_area:
pygame.draw.circle(screen,YELLOW,(old_xy[0],old_xy[1]),active_area_limit,2)
if exclusion_zone:
pygame.draw.circle(screen,RED,(exclusion_xy[0],exclusion_xy[1]),exclusion_zone_limit,2)
font = pygame.font.Font(None, 48)
if hold_it:
ftext=actions[action_set][action_num]+"! Holding for "+str((rightnow-hold_it_start).seconds)+" / "+str(hold_it_limit.seconds)
elif center_set:
ftext="Set for "+str((rightnow-action_less_start).seconds)+" / "+str(action_less_limit.seconds)+" "+str(int(rel_xy[0]))+" / "+str(r_medium)
elif trying_to_set_center:
ftext="Trying for "+str((rightnow-setting_center_start).seconds)+" / "+str(center_setting_limit.seconds)
else:
ftext="Searching..."
text = font.render(ftext,1,YELLOW)
screen.blit(text, (20,20))
screen.blit(screen,(0,0)) #Updates the main screen --> screen
pygame.display.flip() #Updates everything on the window
for e in pygame.event.get(): #Iterates through current events
if e.type is pygame.QUIT: #If the close button is pressed, the while loop ends
raise freenect.Kill
YELLOW = (255,255,0) pygame.init() #Initiates pygame xSize,ySize = 640,480 #Sets size of window screen = pygame.display.set_mode((xSize,ySize),pygame.RESIZABLE) #creates main surface #KINECT depth_raw=None num_to_track=1000 #Number of points to use to determine where the closest 'thing' is x_grid,y_grid=np.ogrid[0:xSize,0:ySize] ctx=freenect.init() #Start up the kinect dev=freenect.open_device(ctx,freenect.LED_OFF) #Pointer to the device itself used for led handling freenect.set_led(dev,0) #Turn led off freenect.close_device(dev) #Release the kinect #CONTROLLER r_small=15 r_medium=75 r_large=125 r_central_button=50 z_main_action=50 z_switch_controller=50 huge_motion_limit=40 active_area_limit=50 exclusion_zone_limit=50
def set_led_and_tilt(dev, ctx):
freenect.set_led(dev, 2)
freenect.set_tilt_degs(dev, -10)
time.sleep(3)
raise freenect.Kill
def body(dev, ctx):
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
def set_led(self, led_state):
if not self.dev:
print "no device set!"
return
freenect.set_led(self.dev, led_state)
def set_led(self, led_state):
if not self.dev:
print "no device set!"
return
freenect.set_led(self.dev, led_state)
def set_led(self, ledstate):
self.add_command(lambda : [freenect.set_led(dev, ledstate) for dev in self.devs])
def body(dev, ctx):
freenect.set_led(dev, led)
freenect.set_tilt_degs(dev, tilt)
def doloop():
#Series of commands to do pointer operations on the kinect (motor, led, accelerometer)
ctx = init() #Initiates device
mdev = open_device(ctx, 0) #Opens the device for commands
set_led(mdev, 1) #Sets LED to green
close_device(
mdev) #Closes device. Device must be closed immediately after usage
#Mean filter caches
yList = [0, 0, 0, 0, 0, 0]
xList = [0, 0, 0, 0, 0, 0]
#Sets color tuples
RED = (255, 0, 0)
BLUE = (0, 0, 255)
TEAL = (0, 200, 100)
BLACK = (0, 0, 0)
#Sets the size of the screen
xSize = 640
ySize = 480
done = False #Main while loop bool counter
pygame.init() #Initiates pygame
screen = pygame.display.set_mode(
(xSize, ySize), pygame.RESIZABLE) #Creates the pygame window
screen.fill(BLACK) #Fills the window black
#Initiates the xTempPos and yTempPos values so that the point will remain stationary
#if the minimum value is larger than 600
xTempPos = xSize / 2
yTempPos = ySize / 2
global depth, rgb #Makes the depth and rgb variables global
while not done:
screen.fill(BLACK) #Makes the pygame window black after each iteration
# Get a fresh frame
(depth, _) = get_depth()
(rgb, _) = get_video()
minVal = np.min(depth) #This is the minimum value from the depth image
minPos = np.argmin(
depth) #This is the raw index of the minimum value above
xPos = np.mod(minPos, xSize) #This is the x component of the raw index
yPos = minPos // xSize #This is the y component of the raw index
#This is the mean filter process
"""
A mean filter works by collecting values in a cache list and taking the mean of them
to determine the final value. It works in this case to decrease the amount of
volatility the minimum position experiences to get a smoother display with a more
consistent value. My computer works smoothly with a 5 bit cache where as a faster
computer may need a larger cache and a slower computer may need a smaller cache
"""
xList.append(xPos)
del xList[0]
xPos = int(mean(xList))
yList.append(yPos)
del yList[0]
yPos = int(mean(yList))
"""
This if statement says that if the minimum value is below 600 to store the minimum
positions in xTempPos and yTempPos and to make the dot color red. Also if the minimum
value is larger than 600, xPos and yPos become the last stored minimum and maximum
positions. It also changes the color to purple
"""
if minVal < 600:
xTempPos = xPos
yTempPos = yPos
COLOR = cv.RGB(255, 0, 0)
else:
xPos = xTempPos
yPos = yTempPos
COLOR = cv.RGB(100, 0, 100)
#cv.Circle(rgb, (xPos, yPos), 2, COLOR, 40) #draws a circle of a certain color at minimum position
#cv.ShowImage('Image',rgb) #Shows the image
cv.WaitKey(5) #Keyboard interupt
"""
The if statement below sets up the virtual joystick by basically breaking the pygame
window into four parts. A dot representing the minimum position is drawn on the window
and the corresponding button based on the position is "pressed". The quarter of the
window in which the button "pressed" corresponds to turns teal after being "pressed"
Top Right : A
Bottom Right: B
Bottom Left : Y
Top Right : X
"""
if xPos <= xSize / 2 and yPos <= ySize / 2:
command = 'A'
rect1 = pygame.Rect((xSize / 2, 0), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
elif xPos <= xSize / 2 and yPos > ySize / 2:
command = 'B'
rect1 = pygame.Rect((xSize / 2, ySize / 2), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
elif xPos > xSize / 2 and yPos <= ySize / 2:
command = 'X'
rect1 = pygame.Rect((0, 0), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
else:
command = 'Y'
rect1 = pygame.Rect((0, ySize / 2), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
pygame.draw.line(
screen, BLUE, (xSize / 2, ySize / 2),
(xSize - xPos,
yPos)) #Draws a line from the middle to the minimum position
pygame.draw.circle(screen, RED, (xSize - xPos, yPos),
10) #Draws the circle on pygame window
pygame.display.flip() #Displays the processed pygame window
print command, minVal #Prints the "pressed" button and the minimum value
for e in pygame.event.get(): #Itertates through current events
if e.type is pygame.QUIT: #If the close button is pressed, the while loop ends
done = True
def main():
grip_dir = os.environ['GRIP_DATA']
global g_model
g_model = IO.load(os.path.join(grip_dir, 'aam.new.io'))[1]
global g_predictor, reference_3d, geo_vs, geo_vts, rect
rect = None
pred_fn = os.path.join(grip_dir, 'pred.new.io')
g_predictor = Face.load_predictor(pred_fn) #, cutOff=15)
reference_shape = g_predictor['ref_shape']
size = reference_shape.shape[0]
geo_vs = np.zeros((size, 3), dtype=np.float32)
geo_vs[:size, :2] = reference_shape
geo_vts = np.zeros((size, 2), dtype=np.float32)
geo_vts[:size] = reference_shape + 0.5
geo_ts = np.array([[1, 0, 0, 0], [0, 1, 0, 1000], [0, 0, 1, 0]],
dtype=np.float32)
geo_fs = Face.triangulate_2D(reference_shape)
geo_bs = []
for p0, p1, p2 in geo_fs:
geo_bs.append((p0, p1))
geo_bs.append((p1, p2))
geo_bs.append((p2, p0))
reference_3d = np.zeros((reference_shape.shape[0], 3), dtype=np.float32)
reference_3d[:, :2] = reference_shape * [100, 100]
img_vs = np.array([[0, 0, 0], [640, 0, 0], [640, 480, 0], [0, 480, 0]],
dtype=np.float32)
img_vts = np.array([[0, 1], [1, 1], [1, 0], [0, 0]], dtype=np.float32)
img_fs = np.array([[0, 1, 2, 3]], dtype=np.int32)
img_ts = np.array([[1, 0, 0, 0], [0, 1, 0, 1000], [0, 0, 1, 0]],
dtype=np.float32)
geo_mesh = GLMeshes(names=['geo_mesh'],
verts=[geo_vs],
faces=[geo_fs],
transforms=[geo_ts],
bones=[geo_bs],
vts=[geo_vts])
img_mesh = GLMeshes(names=['img_mesh'],
verts=[img_vs],
faces=[img_fs],
transforms=[img_ts],
bones=[None],
vts=[img_vts])
kinect = freenect.init()
tilt, roll = 0, 0
if 1:
kdev = freenect.open_device(kinect, 0)
freenect.set_led(kdev, 0) # turn off LED
freenect.set_tilt_degs(kdev, 25)
kstate = freenect.get_tilt_state(kdev)
freenect.update_tilt_state(kdev)
tilt_angle, tilt_status = kstate.tilt_angle, kstate.tilt_status
ax, ay, az = kstate.accelerometer_x, kstate.accelerometer_y, kstate.accelerometer_z
#bottom facing down: (85, 743, 369, 52, 0)
#right side down: (916, 71, 96, 112, 0)
#front side down: (52, 63, -863, -128, 0)
freenect.close_device(kdev)
y_axis = np.array((ax, ay, az), dtype=np.float32)
y_axis = y_axis / np.linalg.norm(y_axis)
roll = np.degrees(np.arctan2(ax, ay))
tilt = -np.degrees(np.arctan2(az, (ax**2 + ay**2)**0.5))
fovX = 62.0
pan_tilt_roll = (0, tilt, roll)
tx_ty_tz = (0, 1000, 6000)
P = Calibrate.composeP_fromData((fovX, ), (pan_tilt_roll), (tx_ty_tz), 0)
global g_camera_rays, g_camera_mat
h, w = 480 // 2, 640 // 2
coord, pix_coord = make_coords(h, w)
#P = np.eye(3,4,dtype=np.float32)
#P[0,0] = P[1,1] = 2.0
k1, k2 = 0, 0
g_camera_mat = Calibrate.makeMat(P, (k1, k2), [w, h])
K, RT, P, ks, T, wh = g_camera_mat
coord_undist = coord.copy()
Calibrate.undistort_points_mat(coord.reshape(-1, 2), g_camera_mat,
coord_undist.reshape(-1, 2))
g_camera_rays = np.dot(coord_undist,
RT[:2, :3]) # ray directions (unnormalized)
g_camera_rays -= np.dot([-K[0, 2], -K[1, 2], K[0, 0]], RT[:3, :3])
g_camera_rays /= (np.sum(g_camera_rays**2, axis=-1)**0.5).reshape(
h, w, 1) # normalized ray directions
names = ['kinect']
vs = [np.zeros((h * w, 3), dtype=np.float32)]
ts = [np.eye(3, 4, dtype=np.float32)]
vts = [pix_coord * (1.0 / w, 1.0 / h)]
faces = [make_faces(h, w)]
mats = None
geom_mesh = GLMeshes(names=names,
verts=vs,
faces=faces,
transforms=ts,
vts=vts)
layers = {
'geom_mesh': geom_mesh,
'geo_mesh': geo_mesh,
'img_mesh': img_mesh
}
QGLViewer.makeViewer(layers=layers,
mats=mats,
callback=cb,
timeRange=(0, 10000))
def set_led(self, leds):
return freenect.set_led(self._dev, leds)
