def frameData():
rgb_frames = rospy.Publisher("rgbFrames", Image, queue_size=1)
depth_frames = rospy.Publisher("depthFrames", Image, queue_size=1)
#ir_frame = rospy.Publisher("irFrames",Image,queue_size=1)
rospy.init_node("frameData", anonymous=True)
rate = rospy.Rate(100)
while not rospy.is_shutdown():
# Set up frame listener
frameListener = pyfreenect2.SyncMultiFrameListener(
pyfreenect2.Frame.COLOR, pyfreenect2.Frame.IR,
pyfreenect2.Frame.DEPTH)
kinect.setColorFrameListener(frameListener)
kinect.setIrAndDepthFrameListener(frameListener)
# Start recording
kinect.start()
# Print useful info
print "Kinect serial: %s" % kinect.serial_number
print "Kinect firmware: %s" % kinect.firmware_version
# What's a registration?
print kinect.ir_camera_params
registration = pyfreenect2.Registration(kinect.ir_camera_params,
kinect.color_camera_params)
#registration = pyfreenect2.Registration(kinect.color_camera_pacdrams, kinect.ir_camera_params)
#registration = pyfreenect2.Registration()
frames = frameListener.waitForNewFrame()
rgbFrame = frames.getFrame(pyfreenect2.Frame.COLOR)
#irFrame = frames.getFrame(pyfreenect2.Frame.IR)
depthFrame = frames.getFrame(pyfreenect2.Frame.DEPTH)
bridge = CvBridge()
rgb_frame = rgbFrame.getRGBData()
depth_frame = depthFrame.getDepthData()
rgbFramesROS = bridge.cv2_to_imgmsg(rgb_frame, encoding="passthrough")
depthFramesROS = bridge.cv2_to_imgmsg(depth_frame,
encoding="passthrough")
rgb_frames.publish(rgbFramesROS)
depth_frames.publish(depthFramesROS)
rate.sleep()
def initialize_(self):
# boostrapping code in pyfreenect2 todo: fix this...
import pyfreenect2
self.serial_number = pyfreenect2.getDefaultDeviceSerialNumber()
self.device = pyfreenect2.Freenect2Device(self.serial_number)
self.frame_listener = pyfreenect2.SyncMultiFrameListener(pyfreenect2.Frame.COLOR,
pyfreenect2.Frame.DEPTH)
self.device.setColorFrameListener(self.frame_listener)
self.device.setIrAndDepthFrameListener(self.frame_listener)
success = self.device.start()
self.registration = pyfreenect2.Registration(self.device)
return success
print(frameListener)
kinect.setColorFrameListener(frameListener)
kinect.setIrAndDepthFrameListener(frameListener)
# Start recording
kinect.start()
# Print useful info
print("Kinect serial: %s" % kinect.serial_number)
print("Kinect firmware: %s" % kinect.firmware_version)
# What's a registration?
print(kinect.ir_camera_params)
registration = pyfreenect2.Registration(kinect.ir_camera_params,
kinect.color_camera_params)
#registration = pyfreenect2.Registration(kinect.color_camera_params, kinect.ir_camera_params)
#registration = pyfreenect2.Registration()
# Initialize OpenCV stuff
cv2.namedWindow("RGB")
# cv2.namedWindow("IR")
cv2.namedWindow("Depth")
# Main loop
while not shutdown:
frames = frameListener.waitForNewFrame()
rgbFrame = frames.getFrame(pyfreenect2.Frame.COLOR)
# irFrame = frames.getFrame(pyfreenect2.Frame.IR)
depthFrame = frames.getFrame(pyfreenect2.Frame.DEPTH)
def start(self):
self.device.start()
self.registration = pyfreenect2.Registration(self.device)
frameListener = pyfreenect2.SyncMultiFrameListener(pyfreenect2.Frame.COLOR,
pyfreenect2.Frame.IR,
pyfreenect2.Frame.DEPTH)
print(frameListener)
kinect.setColorFrameListener(frameListener)
kinect.setIrAndDepthFrameListener(frameListener)
# Start recording
kinect.start()
# Print useful info
print("Kinect serial: %s" % kinect.serial_number)
print("Kinect firmware: %s" % kinect.firmware_version)
registration = pyfreenect2.Registration(kinect)
# Initialize OpenCV stuff
cv2.namedWindow("RGB")
cv2.namedWindow("Depth")
# Main loop
while not shutdown:
frames = frameListener.waitForNewFrame()
rgbFrame = frames.getFrame(pyfreenect2.Frame.COLOR)
depthFrame = frames.getFrame(pyfreenect2.Frame.DEPTH)
(undistorted, registered, big) = registration.apply(rgbFrame=rgbFrame,
depthFrame=depthFrame)
depth_frame = big.getDepthData()
rgb_frame = rgbFrame.getRGBData()
