def process_depth_info(self, dev, data, timestamp):
#global keep_running
self.find_pointer(data)
# pass off to debug to update window
if self.debug:
img = frame_convert.pretty_depth_cv(data)
self.dbg_depth.update(img)
self.dbg_depth.render()
def process_depth_info(self,dev, data, timestamp):
#global keep_running
self.find_pointer(data)
# pass off to debug to update window
if self.debug:
img = frame_convert.pretty_depth_cv(data)
self.dbg_depth.update(img)
self.dbg_depth.render()
def scalar_size_circles(self, depth_array, states, local_to_pixel,
state_size_var = "size",
colour = 0x00):
img = frame_convert.pretty_depth_cv(depth_array)
# draw strings, deactive and then active strands
for state in states:
x,y = local_to_pixel(state['label'])
cv.Circle(img, (x,y), state.get(self.config.get("state_size_var", state_size_var), 0), self.config.get("colour", colour))
return img
def square_areas(self, depth_array, states, local_to_pixel,
on_colour = 0x00, off_colour = 0x99, on_thickness=2, off_thickness=1):
if self.config.get('threshold'):
depth_array = np.clip(depth_array, self.config["threshold"].get("min", 200), self.config["threshold"].get("min", 200) + self.config["threshold"].get("range", 300))
img = frame_convert.pretty_depth_cv(depth_array)
for state in states:
x,y,w,h = local_to_pixel(state['label'])
if state.get('mapped', {'trigger':False}).get('trigger', False):
cv.Rectangle(img, (x,y), (x+w, y+h), self.config.get('on_colour', on_colour), self.config.get('on_thickness', on_thickness))
else:
cv.Rectangle(img, (x,y), (x+w, y+h), self.config.get('off_colour', off_colour), self.config.get('off_thickness', off_thickness))
return img
def binary_circles(self, depth_array, states, local_to_pixel,
on_size = 50, on_colour = 0x00,
off_size = 25, off_colour = 0x44):
if self.config.get('threshold'):
depth_array = np.clip(depth_array, self.config["threshold"].get("min", 200), self.config["threshold"].get("min", 200) + self.config["threshold"].get("range", 300))
img = frame_convert.pretty_depth_cv(depth_array)
# draw strings, deactive and then active strands
for state in states:
x,y = local_to_pixel(state['label'])
if state.get('mapped', {'trigger':False}).get('trigger', False):
cv.Circle(img, (x,y), self.config.get('on_size', on_size), self.config.get('on_colour', on_colour))
else:
cv.Circle(img, (x,y), self.config.get('off_size', off_size), self.config.get('off_colour', off_colour))
return img
def display_depth(self, data, timestamp):
img = frame_convert.pretty_depth_cv(data)
min_index = data.argmin()
width = data.shape[1]
i, j = divmod(min_index, width)
min_val = int(data[i][j])
if not self.current_step:
pass
elif self.prev_time is not None:
val_diff = min_val - self.prev_min_val
timestamp = time.time()
time_diff = timestamp - self.prev_time
# no div by zero and no negative time
if self.punch_cooldown and time_diff > 0.5:
self.punch_cooldown = False
if self.game_state != 'death':
self.game_state = 'idle'
if not self.punch_cooldown:
#print "val_diff: %d\t time_diff: %d" % (val_diff, time_diff)
acc = val_diff / (timestamp - self.last_time)
#print "acc = % 04.3f" % acc
self.prev_time = timestamp
if acc > self.punch_threshold and (self.game_state != 'death' and self.game_state != 'sploded'):
self.punch_cooldown = True
self.health = self.health - self.damage
self.kebab_roar.play()
if self.health > 0:
self.game_state = 'hit'
else:
self.game_state = 'death'
self.explosion.play()
return (j, i)
else:
self.prev_time = time.time()
self.last_time = time.time()
self.current_step = (self.current_step + 1) % self.step_size
self.last_time = time.time()
self.prev_min_val = min_val
if not self.fullscreen:
pt1 = (j - 20, i - 20)
pt2 = (j + 20, i + 20)
cv.Rectangle(img, pt1, pt2, cv.RGB(255, 0, 0), 3, 8, 0)
cv.ShowImage('Depth', img)
if cv.WaitKey(10) == 27:
keep_running = False
def find_position(self):
print "Kinect is trying to find the image"
(kinect_depth,_), (rgb,_) = get_depth(), get_video()
self.img = video_cv(rgb)
depth_img = pretty_depth_cv(kinect_depth)
position = self._get_pos(self.img)
depth = self._get_depth(depth_img, debug=False)
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1, 1, 0, 1, 1)
fps = 1/(time.time() - self.lasttime)
s1 = "FPS:%.2f" % fps
self.lasttime = time.time()
cv.PutText(self.img,s1, (0,30),font, cv.CV_RGB(255, 0, 0))
dt = "Depth: %d" % depth
if position:
pt = "Pos: X=%d Y=%d" % (position[0], position[1])
else:
pt = "Pos: N/A"
cv.PutText(self.img, dt, (0,60),font, cv.CV_RGB(255, 0, 0))
cv.PutText(self.img, pt, (0,90),font, cv.CV_RGB(255, 0, 0))
offset = 120
for t in self.text:
cv.PutText(self.img, t, (0,offset),font, cv.CV_RGB(255, 0, 0))
offset += 30
cv.Circle(self.img, (self.sp[0], self.sp[1]) , 10, cv.CV_RGB(0, 255, 0), 1)
cv.ShowImage('RGB', self.img)
#cv.SaveImage('RGB-%d.png' % (time.time()*100), self.img)
#cv.ShowImage('DEPTH', depth_img)
cv.WriteFrame(self.writer, self.img)
cv.WaitKey(5)
#cv.ShowImage('depth_mask', depth_mask)
try:
return (position[0], position[1], depth)
except:
return (None, None, None)
def get_video():
global process_flag, process_frame, depth_frame
rgb_video = freenect.sync_get_video(0, format=freenect.VIDEO_IR_8BIT)
# print(depth_feed)
# depth_cv = frame_convert.pretty_depth_cv(depth_feed[0])
# depth_frames.append(depth_feed)
# depth_frames = depth_frames[:10]
if process_flag:
ir_feed = freenect.sync_get_video(0, format=freenect.VIDEO_IR_8BIT)
ir_feed = ir_feed[1], ir_feed[0]
# depth_feed = freenect.sync_get_depth()
# ir_feed = freenect.sync_get_video(0, format=freenect.VIDEO_IR_8BIT)
# cv2.imwrite("temp_video.png", ir_feed[1])
depth_accumulator = freenect.sync_get_depth()[0]
depth_accumulator[depth_accumulator > 2046] = 0
for i in range(10):
# print(depth_accumulator)
depth_accumulator = combine_depth_frames(
depth_accumulator,
freenect.sync_get_depth()[0])
depth_accumulator[depth_accumulator > 0] = 255
# print(ir_feed)
# depth_accumulator = depth_accumulator.astype()
ir_feed = numpy.bitwise_and(depth_accumulator.astype(numpy.uint8),
numpy.array(ir_feed[1])).astype(
numpy.uint8)
# cv2.imwrite("thing.png", frame_convert.pretty_depth_cv(ir_feed))
process_frame = frame_convert.pretty_depth_cv(ir_feed)
process_flag = False
for i in range(len(rgb_video[0])):
rgb_video[0][i][int(len(rgb_video[0][0]) / 2) - 1] = 255
rgb_video[0][i][int(len(rgb_video[0][0]) / 2)] = 255
rgb_video[0][i][int(len(rgb_video[0][0]) / 2) + 1] = 255
print(len(rgb_video[0]))
# rgb_video = rgb_video[1], frame_convert.video_cv(rgb_video[0])
return rgb_video[::-1]
#return ir_feed[1], ir_feed[0]
#return 0, frame_convert.pretty_depth_cv(depth_feed[0])
return rgb_video
def display_result(depth, data, p, screentitle):
"""
This function will add the last information to the data that is displayed
in a screen. In the rgb window, some text is added and in both windows
the points that are clicked are added.
"""
global cubic
im = None
data_old = np.array(data)
if depth:
im = frame_convert.pretty_depth_cv(data_old)
if len(p) == 4 and len(cubic) == 0:
make_cubicle(data)
else:
im = frame_convert.video_cv(data)
displaypoints(im, p)
im_cp = cv.CloneImage(im)
if not depth:
print_instructions(im_cp)
cv.ShowImage(screentitle, im_cp)
def get_video():
global process_flag, process_frame, depth_frame
rgb_video = freenect.sync_get_video(0, format=freenect.VIDEO_IR_8BIT)
# print(depth_feed)
# depth_cv = frame_convert.pretty_depth_cv(depth_feed[0])
# depth_frames.append(depth_feed)
# depth_frames = depth_frames[:10]
if process_flag:
ir_feed = freenect.sync_get_video(0, format=freenect.VIDEO_IR_8BIT)
ir_feed = ir_feed[1], ir_feed[0]
# depth_feed = freenect.sync_get_depth()
# ir_feed = freenect.sync_get_video(0, format=freenect.VIDEO_IR_8BIT)
# cv2.imwrite("temp_video.png", ir_feed[1])
depth_accumulator = freenect.sync_get_depth()[0]
depth_accumulator[depth_accumulator > 2046] = 0
for i in range(10):
# print(depth_accumulator)
depth_accumulator = combine_depth_frames(depth_accumulator, freenect.sync_get_depth()[0])
depth_accumulator[depth_accumulator > 0] = 255
# print(ir_feed)
# depth_accumulator = depth_accumulator.astype()
ir_feed = numpy.bitwise_and(depth_accumulator.astype(numpy.uint8), numpy.array(ir_feed[1])).astype(numpy.uint8)
# cv2.imwrite("thing.png", frame_convert.pretty_depth_cv(ir_feed))
process_frame = frame_convert.pretty_depth_cv(ir_feed)
process_flag = False
for i in range(len(rgb_video[0])):
rgb_video[0][i][int(len(rgb_video[0][0]) / 2) - 1] = 255
rgb_video[0][i][int(len(rgb_video[0][0]) / 2)] = 255
rgb_video[0][i][int(len(rgb_video[0][0]) / 2) + 1] = 255
print(len(rgb_video[0]))
# rgb_video = rgb_video[1], frame_convert.video_cv(rgb_video[0])
return rgb_video[::-1]
#return ir_feed[1], ir_feed[0]
#return 0, frame_convert.pretty_depth_cv(depth_feed[0])
return rgb_video
def get_depth():
depth_data = freenect.sync_get_depth()[0]
print(depth_in_meters_at_pixel(320, 240, depth_data))
print(lookup_table_depth[int(pixel_to_look_at)])
return frame_convert.pretty_depth_cv(depth_data)
def get_data(self):
self.raw_depth_image = frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0])
self.raw_video_image = frame_convert.video_cv(freenect.sync_get_video()[0])
cv.Flip(self.raw_depth_image,None,-1)
cv.Flip(self.raw_video_image,None,-1)
def get_depth(ind):
(d, _) = freenect.sync_get_depth(ind)
print "depth: ", type(d)
return frame_convert.pretty_depth_cv(d)
def get_depth():
frame = frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0])
return frame
def get_depth():
return frame_convert.pretty_depth_cv(opennpy.sync_get_depth()[0])
def simplify_cv(data):
img = frame_convert.pretty_depth_cv(data)
return img
def display_depth(dev, data, timestamp):
cv.ShowImage('Depth', frame_convert.pretty_depth_cv(data))
if cv.WaitKey(10) == 27:
shared_state.terminate()
def display_depth(dev, data, timestamp):
global keep_running
cv.ShowImage('Depth', frame_convert.pretty_depth_cv(data))
if cv.WaitKey(10) == 27:
keep_running = False
def show_depth():
global depth_image
depth, timestamp = freenect.sync_get_depth()
depth_image = frame_convert.pretty_depth_cv(depth);
cv.ShowImage('Depth', resize_image(depth_image))
def get_depth():
time_string = "%1.6f" % time.time()
cv.SaveImage(time_string + ".pgm",
frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0]))
def getDepthData(self): npDepth, _ = freenect.sync_get_depth() cvDepth = fc.pretty_depth_cv(npDepth) return cvDepth
def get_depth():
return frame_convert.pretty_depth_cv(copy.deepcopy(depth))
def show_depth():
global depth_image
depth, timestamp = freenect.sync_get_depth()
depth_image = frame_convert.pretty_depth_cv(depth);
cv.ShowImage('Depth', resize_image(depth_image))
def display_depth(dev, data, timestamp):
global keep_running
cv.ShowImage('Depth', frame_convert.pretty_depth_cv(data))
if cv.WaitKey(10) == 27:
keep_running = False
def get_depth(ind):
return frame_convert.pretty_depth_cv(freenect.sync_get_depth(ind)[0])
cv.NamedWindow('Video')
print('Press ESC in window to stop')
def get_depth():
return depth
def get_video():
return video
while 1:
depth, timestamp = freenect.sync_get_depth()
video, timestemp = freenect.sync_get_video()
cdepth = frame_convert.pretty_depth_cv(copy.deepcopy(depth))
video = frame_convert.video_cv(video)
cv.ShowImage('Depth', cdepth)
cv.ShowImage('Video', video)
key = cv.WaitKey(10)
if key == 27: # escape
break
elif key == 115: # lower case s
print 'scraping a new depth at', timestamp
pickle.dump(depth, open('depth.pickle', 'w'))
cv.SaveImage('depth.jpg', video)
def get_depth():
time_string = "%1.6f" % time.time()
cv.SaveImage(time_string + ".pgm", frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0]))
def get_depth():
text_file = open("Output.txt","w")
text_file.write("%s" % freenect.sync_get_depth()[0])
text_file.close()
return frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0])
def get_depth():
return frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0])
def next_frame(self):
self.raw_depth = frame_convert.pretty_depth_cv(freenect.sync_get_depth()[0])
self.raw_video = frame_convert.video_cv(freenect.sync_get_video()[0])
cv.Flip(self.raw_depth, None, 1)
cv.Flip(self.raw_video, None, 1)
def get_depth():
return frame_convert.pretty_depth_cv(opennpy.sync_get_depth()[0])
def get_depth():
depth_data = freenect.sync_get_depth()[0]
print(depth_in_meters_at_pixel(320, 240, depth_data))
print(lookup_table_depth[int(pixel_to_look_at)])
return frame_convert.pretty_depth_cv(depth_data)
