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 depth(dev, depth, timestamp):
global IS_DEPTH_FORMAT_SET, KEEP_RUNNING, SAVE_VIDEO_CLOSE, SAVE_VIDEO_FAR, NP_VIDEO_PACKETS
if not IS_DEPTH_FORMAT_SET:
freenect.set_depth_mode(dev, freenect.RESOLUTION_HIGH,
freenect.DEPTH_REGISTERED)
IS_DEPTH_FORMAT_SET = True
print("Depth:")
print(np.unique(depth))
print(np.unique(depth).shape)
return # this probably was the first frame -> continue to the next frame
depth_close = depth_transforms.accurate_depth_image(depth, 545)
depth_far = depth_transforms.accurate_depth_image(depth, 800)
if SAVE_VIDEO_CLOSE:
NP_VIDEO_PACKETS.append(depth_close)
elif SAVE_VIDEO_FAR:
NP_VIDEO_PACKETS.append(depth_far)
utils.cv2_window_freeratio(depth_close, "54.5-80cm")
utils.cv2_window_freeratio(depth_far, "80-105.5cm")
# HANDLING KEYBOARD EVENTS
# - "q", "esc" -> quit program
# - "c" -> start video close
# - "f" -> start video far
pressed_k = cv2.waitKey(10)
if pressed_k in (27, ord("q")): # esc or "q" for quit
KEEP_RUNNING = False
elif pressed_k == ord("c"): # "c" start video close
if SAVE_VIDEO_CLOSE and not SAVE_VIDEO_FAR:
SAVE_VIDEO_CLOSE = False
stop_recording(NP_VIDEO_PACKETS, "close")
NP_VIDEO_PACKETS = []
else:
SAVE_VIDEO_CLOSE = True
if SAVE_VIDEO_FAR:
print(
"You are currently recording a long-range video. Stop it before trying..."
)
else:
print("Close-range recording has started...")
elif pressed_k == ord("f"): # "f" start video far
if SAVE_VIDEO_FAR and not SAVE_VIDEO_CLOSE:
SAVE_VIDEO_FAR = False
stop_recording(NP_VIDEO_PACKETS, "far")
NP_VIDEO_PACKETS = []
else:
SAVE_VIDEO_FAR = True
if SAVE_VIDEO_CLOSE:
print(
"You are currently recording a close-range video. Stop it before trying..."
)
else:
print("Long-range recording has started...")
def display_depth(dev, data, timestamp):
global keep_running
freenect.set_depth_mode(dev, freenect.RESOLUTION_HIGH, freenect.DEPTH_REGISTERED)
#print(np.min(data))
p.WrapMessage(str(np.min(data)))
if (np.min(data) < 350 or np.min(data) == 2047):
p.Backlight(0)
else:
p.Backlight(1)
if cv.WaitKey(10) == 27:
keep_running = False
def __init__(self, dev, device_num, stream_type, streamer):
self.dev = dev
self.device_num = device_num
self.stream_type = stream_type
self.streamer = streamer
self.consumers = set() # set([KinectConsumer])
self.lock = threading.Lock()
self.frame = 0 # frame counter
self.producing = False # true if freenect is sending us data
assert stream_type in ('depth', 'video')
if stream_type == 'depth':
freenect.set_depth_mode(dev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_11BIT)
freenect.set_depth_callback(dev, self._data_cb)
elif stream_type == 'video':
freenect.set_video_mode(dev, freenect.RESOLUTION_MEDIUM, freenect.VIDEO_RGB)
freenect.set_video_callback(dev, self._data_cb)
def __init__(self, kinectid=1):
self.kinectid = kinectid
self.rgb = None
self.depth = None
self.keep_running = True
# init Kenect
self.context = freenect.init()
self.device = freenect.open_device(self.context, self.kinectid)
self.init = freenect.set_depth_mode(self.device, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_REGISTERED)
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 depth(dev, depth, timestamp):
global IS_DEPTH_FORMAT_SET, KEEP_RUNNING, SAVE_VIDEO_CLOSE, SAVE_VIDEO_FAR, NP_VIDEO_PACKETS, DEPTH_CALIBRATED, DEPTH_CALIBRATED_MM
if not IS_DEPTH_FORMAT_SET:
freenect.set_depth_mode(dev, freenect.RESOLUTION_HIGH,
freenect.DEPTH_REGISTERED)
IS_DEPTH_FORMAT_SET = True
#print("Depth:")
#print(np.unique(depth))
#print(np.unique(depth).shape)
return # this probably was the first frame -> continue to the next frame
# manual set of the calibrated_MM
#depth_close = depth_transforms.accurate_depth_image(depth, 545)
depth_close = depth_transforms.accurate_depth_image(
depth, DEPTH_CALIBRATED_MM)
if SAVE_VIDEO_CLOSE:
NP_VIDEO_PACKETS.append(depth_close)
utils.cv2_window_freeratio(depth_close, "kinect depth map")
if not DEPTH_CALIBRATED:
if calibrate_depth(depth_close, value=170, epsilon=2, mode="median"):
DEPTH_CALIBRATED = True
print(
"Calibration finished! Feel free to make actions on the canvas interface."
)
#cv2.destroyWindow("calibrate MM")
else:
DEPTH_CALIBRATED_MM += 1
return
else:
depth_close_detected_actions = process_depth_frame(depth_close)
window_name_cm = f"{DEPTH_CALIBRATED_MM/10:.1f}-{DEPTH_CALIBRATED_MM/10 + 25.5:.1f}cm"
utils.cv2_window_freeratio(depth_close_detected_actions,
f"{window_name_cm} detected action")
# HANDLING KEYBOARD EVENTS
# - "q", "esc" -> quit program
# - "v" -> start video recording
# - "c" -> start calibration
pressed_k = cv2.waitKey(10)
if pressed_k in (27, ord("q")): # esc or "q" for quit
KEEP_RUNNING = False
elif pressed_k == ord("v"): # "v" start video recording
if SAVE_VIDEO_CLOSE:
SAVE_VIDEO_CLOSE = False
stop_recording(NP_VIDEO_PACKETS, "close")
NP_VIDEO_PACKETS = []
else:
SAVE_VIDEO_CLOSE = True
print("Close-range recording has started...")
elif pressed_k == ord("c"): # "c" start calibration
cv2.destroyWindow(window_name_cm)
cv2.destroyWindow(f"{window_name_cm} detected action")
DEPTH_CALIBRATED = False
print("Calibration started...")
#!/usr/bin/env python
import freenect
import cv2
import frame_convert2
import numpy as np
cv2.namedWindow('Depth')
cv2.namedWindow('RGB')
keep_running = True
mdev = freenect.open_device(freenect.init(),0)
freenect.set_depth_mode(mdev,freenect.RESOLUTION_MEDIUM,freenect.DEPTH_REGISTERED)
lower = 0
upper = 100
def display_depth(dev, data, timestamp):
global keep_running,lower,upper
data = 200 * np.logical_and(data > lower, data < upper)
data = data.astype(np.uint8)
canny = cv2.Canny(data, 100, 255)
cv2.imshow('Depth',data)
cv2.imshow('RGB',canny)
lower+=10
upper+=10
if upper>1900:
lower = 0
upper = 100
if cv2.waitKey(10) == 27:
keep_running = False
print(".")
global i, working
if not working:
working = True
depths[i] = depth
filtered_depth = np.median(depths, axis=0)
pointclouds.append(point_cloud(filtered_depth))
timestamps.append(timestamp)
i += 1
i = i % n
working = False
if __name__ == "__main__":
parser = OptionParser()
parser.add_option("-o", "--output", dest="output", help="Output data in .npz format to OUTPUTFILE", metavar="OUTPUTFILE")
(options, args) = parser.parse_args()
context = freenect.init()
device = freenect.open_device(context, 0)
freenect.set_depth_mode(device, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_MM)
try:
print("Capturing...")
freenect.runloop(dev=device, depth=depth_callback)
except KeyboardInterrupt:
if options.output:
print("Dumping...")
np.savez_compressed(options.output, tangoPointclouds=pointclouds, tangoPointcloudTimestamps=timestamps)
#!/usr/bin/env python
import freenect
import rospy
import cv2
import matplotlib.pyplot as plt
import numpy as np
mdev = freenect.open_device(freenect.init(), 0)
freenect.set_depth_mode(mdev, freenect.RESOLUTION_HIGH,
freenect.DEPTH_REGISTERED)
# freenect.runloop(dev=mdev)
def display_depth(dev, data, timestamp):
d = np.array(data.copy())
# with open('depth_'+str(timestamp)+'.npy', 'w+') as f:
# np.save(f, d, allow_pickle=True)
d[d > 2000] = np.mean(d[d < 2000].flatten())
plt.imshow(d)
plt.show()
# if cv2.WaitKey(10) == 27:
# keep_running = False
# d = freenect.sync_get_depth()[0]
freenect.runloop(dev=mdev, depth=display_depth)
# plt.imshow(d, interpolation='nearest')
# plt.show()
def set_depth_mode(self):
if self.depth_mode:
self.log.debug('Setting depth mode')
fn.set_depth_mode(self.device, self.depth_mode.resolution,
self.depth_mode.fmt)
def depth_mode(self, mode):
self._depth_mode = mode
freenect.set_depth_mode(self._dev, self._resolution, mode)
def depth_mode(self, mode):
self._depth_mode = mode
freenect.set_depth_mode(self._dev, self._resolution, mode)
def background():
mdev = freenect.open_device(freenect.init(), 0)
freenect.set_depth_mode(mdev, freenect.RESOLUTION_MEDIUM,
freenect.DEPTH_MM)
freenect.runloop(dev=mdev, depth=depth_func, video=video_func)
import freenect
import numpy as np
import time
import cv2
int=freenect.init()
mdev = freenect.open_device(int, 0)
freenect.set_depth_mode(mdev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_REGISTERED)
<<<<<<< HEAD
#mdev2 = freenect.open_device(freenect.init(), 1)
#freenect.set_depth_mode(mdev2, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_REGISTERED)
=======
mdev2 = freenect.open_device(int, 1)
freenect.set_depth_mode(mdev2, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_REGISTERED)
>>>>>>> 851f7d8a2a40870019350bc52db5afdf02b61809
count=0
count2=0
def get_depth(dev,depth,time_stamp):
print("display iage ")
array=depth
global count
numpy.save(str(count),array)
count+=1
time.sleep(60)
#print(len(array),len(array[0]))