def setup_cature(self): cyni.initialize() self.device = cyni.getAnyDevice() self.device.open() self.depthStream = self.device.createStream("depth", fps=30, width=640, height=480) self.irStream = self.device.createStream("ir", fps=30, width=640, height=480) # colorStream = device.createStream("color", fps=30) self.depthStream.start() self.irStream.start()
def get_streams(device_id="#1"): global CYNI_INITIALIZED if not CYNI_INITIALIZED: cyni.initialize() CYNI_INITIALIZED = True device = get_device(device_id) device.open() depthStream = device.createStream("depth", width=640, height=480, fps=30) colorStream = device.createStream("color", width=640, height=480, fps=30) device.setImageRegistrationMode("depth_to_color") device.setDepthColorSyncEnabled(on=True) return {"device": device, "depth": depthStream, "color": colorStream}
def __init__(self, num_cameras=2): assert num_cameras > 0 # Corresponds to camera 1 self.parent_frame = 'camera1_depth_optical_frame' if rospy.get_name() == '/unnamed': rospy.init_node('cam_calibrator') self.tf_listener = tf.TransformListener() cyni.initialize() self.allDevices = cyni.enumerateDevices() if len(self.allDevices) == 0: raise Exception("No devices found! Cyni not initialized properly or, devices actually not present.") if self.num_cameras > len(self.allDevices): redprint("Warning: Requesting more devices than available. Getting all devices.") self.num_cameras = min(num_cameras,len(self.allDevices))
def __init__(self): cyni.initialize() self.device = cyni.getAnyDevice() self.device.open() self.depthStream = self.device.createStream(b"depth", fps=30) self.depthStream.start()
#g1 = cloudprocpy.CloudGrabber("#1") #g1.startRGBD() parser = argparse.ArgumentParser() parser.add_argument('--name', help="Name of log file", required = True, type = str) parser.add_argument('--n_tfm', help="Number of transforms to log", required = True, type=int) args = parser.parse_args() rospy.init_node('log_kinect_static') getMarkers = rospy.ServiceProxy("getMarkers", MarkerPositions) base_frame = 'base_link' head_frame = 'head_plate_frame' gripper_frame = 'r_gripper_tool_frame' cyni.initialize() device = cyni.getAnyDevice() #subprocess.call("sudo killall XnSensorServer", shell=True) device.open() colorStream = device.createStream("color", width=640, height=480, fps=30) colorStream.start() depthStream = device.createStream("depth", width=640, height = 480, fps=30) depthStream.start() ar_tfms = [] tool_tfms = [] head_tfms = [] i = 0 listener = tf.TransformListener() time.sleep(3) while(i < args.n_tfm):
import cyni import numpy as np import PIL as Image cyni.initialize() device = cyni.getAnyDevice() device.open() depthStream = device.createStream("depth", fps=30, width=640, height=480) #colorStream = device.createStream("color", fps=30, width=1280, height=960) #colorStream = device.createStream("color", fps=30, width=640, height=480) #device.setImageRegistrationMode("depth_to_color") device.setDepthColorSyncEnabled(on=True) depthStream.start() # colorStream.start() # colorFrame = colorStream.readFrame() # colorFrame = colorStream.readFrame() # colorFrame = colorStream.readFrame() # colorFrame = colorStream.readFrame() depthFrame = depthStream.readFrame() # registered = cyni.registerColorImage(depthFrame.data, colorFrame.data, depthStream, colorStream) # Image.fromarray(colorFrame.data).save("color.png") # Image.fromarray(registered).save("registered.png") Image.fromarray(cyni.depthMapToImage(depthFrame.data)).save("depth.png")