def grab_images():
im = DS.getColourMap()
cv2.imwrite("%s/rgb.png"%(imdir), im)
im = DS.getDepthMap()
cv2.imwrite("%s/depth.png"%(imdir), im)
im = DS.getConfidenceMap()
cv2.imwrite("%s/confidence.png"%(imdir), im)
im = DS.getDepthColouredMap()
cv2.imwrite("%s/rgbd.png"%(imdir), im)
im = DS.getGreyScaleMap()
cv2.imwrite("%s/gscale.png"%(imdir), im)
im = DS.getSyncMap()
np.save("%s/sync"%(imdir), im)
im = DS.getUVMap()
np.save("%s/uv"%(imdir), im)
im = DS.getVertices()
np.save("%s/vert"%(imdir), im)
return
def getDepth(self):
''' Return a simple cv compatiable 8bit depth image '''
depth = ds.getDepthMap()
np.clip(depth, 0, 2**10 - 1, depth)
depth >>=2
depth = depth.astype(np.uint8)
iD = Image(depth.transpose())
return iD.invert()
def getDepth(self):
''' Return a simple cv compatiable 8bit depth image '''
depth = ds.getDepthMap()
np.clip(depth, 0, 2**10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8)
iD = Image(depth.transpose())
return iD.invert()
def get_depthMap():
depth_mat = dsc.getDepthMap()
depth_mat[depth_mat > 30000] = 0
depth_gray = depth_mat.copy()
np.clip(depth_gray, 0, 2**10 - 1, depth_gray)
depth_gray >>= 2
depth_gray = depth_gray.astype(np.uint8)
cmap = plt.get_cmap('jet_r')
depth_col = cmap(depth_gray)
depth_col = np.delete(depth_col, 3, 2)
depth_col = cv2.resize(depth_col, (640, 480))
depth_gray = cv2.resize(depth_gray, (640, 480))
return depth_mat, depth_gray, depth_col
def getframe(imdir, sfx):
im = DS.getColourMap()
cv2.imwrite("%s/rgb%s.png" % (imdir, sfx), im)
#im=DS.getConfidenceMap()
#cv2.imwrite("%s/confidence%s.png"%(imdir,sfx), im)
#im=DS.getDepthColouredMap()
#cv2.imwrite("%s/DepthColored%s.png"%(imdir,sfx), im)
im = DS.getDepthMap()
cv2.imwrite("%s/depth%s.png" % (imdir, sfx), im)
#im=DS.getGreyScaleMap()
#cv2.imwrite("%s/gscale%s.png"%(imdir,sfx), im)
im = DS.getSyncMap()
np.save("%s/sync%s" % (imdir, sfx), im)
im = DS.getUVMap()
np.save("%s/uv%s" % (imdir, sfx), im)
im = DS.getVertices()
np.save("%s/vert%s" % (imdir, sfx), im)
return "OK"
def grab_images(imdir, i):
im = DS.getColourMap()
cv2.imwrite("%s/rgb-%03d.png"%(imdir,i), im)
im = DS.getDepthMap()
cv2.imwrite("%s/depth-%03d.png"%(imdir,i), im)
im = DS.getConfidenceMap()
cv2.imwrite("%s/confidence-%03d.png"%(imdir,i), im)
im = DS.getDepthColouredMap()
cv2.imwrite("%s/rgbd-%03d.png"%(imdir,i), im)
im = DS.getGreyScaleMap()
cv2.imwrite("%s/gscale-%03d.png"%(imdir,i), im)
im = DS.getSyncMap()
print im.shape
np.save("%s/sync-%03d"%(imdir,i), im)
im = DS.getUVMap()
np.save("%s/uv-%03d"%(imdir,i), im)
im = DS.getVertices()
np.save("%s/vert-%03d"%(imdir,i), im)
#subprocess.call(['python', dir_path + '/dsgrab.py'])
"""
{"href": "static/img/confidence.png", "name": "Confidence levels (image)"},
{"href": "static/img/rgbd.png", "name": "Coloured depth image"},
{"href": "static/img/gscale.png", "name": "Grey-scale image"}
"""
return [{"href": imdir+"/rgb-%03d.png"%i, "name": "RGB image"},
{"href": imdir+"/depth-%03d.png"%i, "name": "Depth image"},
{"href": imdir+"/confidence-%03d.png"%i, "name": "Confidence levels (image)"},
{"href": imdir+"/rgbd-%03d.png"%i, "name": "Coloured depth image"},
{"href": imdir+"/gscale-%03d.png"%i, "name": "Grey-scale image"}]
ds.initDepthSense()
#disp = Display(flags = pg.FULLSCREEN)
disp = Display()
points = []
squares = []
# Main loop closes only on keyboard kill signal
while True:
# Get depth and colour images from the kinect
image = ds.getColourMap()
image = image[:,:,::-1]
img = Image(image.transpose([1,0,2]))
depth = ds.getDepthMap()
np.clip(depth, 0, 2**10 - 1, depth)
depth >>=2
depth = depth.astype(np.uint8).transpose()
depth = Image(depth)
depth = depth.invert()
#vertex = ds.getVertices()
#vertex = vertex.transpose([1,0,2])
#dblobs = depth.findBlobs(minsize=2000, maxsize=14000)
dblobs = depth.findBlobs(minsize=2000)
box_center = None
box = None
box_point = None
ds.initDepthSense()
#disp = Display(flags = pg.FULLSCREEN)
#disp = Display()
points = []
squares = []
# Main loop closes only on keyboard kill signal
while True:
# Get depth and colour images from the kinect
#image = ds.getColourMap()
#image = image[:,:,::-1]
#img = Image(image.transpose([1,0,2]))
depth = ds.getDepthMap()
deepDepth = depth.transpose() # later proccessing
np.clip(depth, 0, 2**10 - 1, depth)
depth >>= 2
depth = depth.astype(np.uint8).transpose()
depth = Image(depth)
depth = depth.invert()
vertex = ds.getVertices()
vertex = vertex.transpose([1, 0, 2])
#dblobs = depth.findBlobs(minsize=2000, maxsize=14000)
dblobs = depth.findBlobs(minsize=2000,
maxsize=((320 * 240) - (320 * 240 / 4)))
box_center = None
def getDepthFull(self):
''' Return the pure 16bit depth map as a numpy array '''
iD = ds.getDepthMap()
return iD
def getDepthFull(self):
''' Return the pure 16bit depth map as a numpy array '''
return ds.getDepthMap()
def getDepthFull(self):
""" Return the pure 16bit depth map as a numpy array """
return ds.getDepthMap()
