def getDepthFrames(self, delay=.01, nFrames=10, maxDepth=2049):
self.nFrames = nFrames
self.delay = delay
self.maxDepth = maxDepth
freenect.start_depth(self.dev)
freenect.set_depth_callback(self.dev, self.depthAcq)
self.frames = []
previousProgress = -1
while len(self.frames) < nFrames:
progress = len(self.frames) / nFrames
if progress > previousProgress:
blinked.progressColor(progress, 'c', 'o', pix=[2])
previousProgress = progress
freenect.process_events(self.ctx)
time.sleep(delay)
def update_streams(self):
if self.depth_started and not self.depth_consumers:
logging.info("Stopping depth")
freenect.stop_depth(self.dev)
self.depth_started = False
elif not self.depth_started and self.depth_consumers:
logging.info("Starting depth")
freenect.start_depth(self.dev)
self.depth_started = True
if self.video_started and not self.video_consumers:
logging.info("Stopping video")
freenect.stop_video(self.dev)
self.video_started = False
elif not self.video_started and self.video_consumers:
logging.info("Starting video")
freenect.start_video(self.dev)
self.video_started = True
def update_streams(self):
if self.depth_started and not self.depth_consumers:
logging.info("Stopping depth")
freenect.stop_depth(self.dev)
self.depth_started = False
elif not self.depth_started and self.depth_consumers:
logging.info("Starting depth")
freenect.start_depth(self.dev)
self.depth_started = True
if self.video_started and not self.video_consumers:
logging.info("Stopping video")
freenect.stop_video(self.dev)
self.video_started = False
elif not self.video_started and self.video_consumers:
logging.info("Starting video")
freenect.start_video(self.dev)
self.video_started = True
def backGroundSubstractor(self, nFrames=100):
self.nFrames = nFrames
self.fgbg = cv2.createBackgroundSubtractorMOG2()
freenect.start_depth(self.dev)
freenect.set_depth_callback(self.dev, self.backAcq)
self.background = []
previousProgress = -1
while len(self.background) < nFrames:
freenect.process_events(self.ctx)
time.sleep(.01)
progress = len(self.background) / nFrames
if progress > previousProgress:
blinked.progressColor(progress, 'c', 'o', pix=[2])
previousProgress = progress
for frame in self.background:
fgmask = self.fgbg.apply(frame, learningRate=0.01)
self.background = []
def start_depth(self, callback):
freenect.start_depth(self._dev)
self._depth_callback = callback
return freenect.set_depth_callback(self._dev, callback)
def start_depth(self, callback):
freenect.start_depth(self._dev)
self._depth_callback = callback
return freenect.set_depth_callback(self._dev, callback)
cv.Resize(cv.fromarray(raw_image), cv.fromarray(image), cv.CV_INTER_AREA)
cv.CvtColor(cv.fromarray(image), cv.fromarray(image), cv.CV_RGB2HSV)
# Downsample the depth frame using nearest-neighbor to make sure
# invalid pixels are handled properly.
cv.Resize(cv.fromarray(raw_depth), cv.fromarray(depth), cv.CV_INTER_NN)
# Do the object recognition
color.identify(image, constants, colors)
global balls, yellow_walls, green_walls
balls = blobs.find_blobs(colors, depth, color=0)
yellow_walls = blobs.find_blobs(colors, depth, color=1, min_size=100)
green_walls = blobs.find_blobs(colors, depth, color=2, min_size=10)
# Work around an initialization bug for synchronous image
try:
ctx = freenect.init()
dev = freenect.open_device(ctx, 0)
if not dev:
raise Exception
freenect.start_video(dev) # sync_get_video hangs if we don't do this
freenect.start_depth(dev) # sync_get_depth hangs if we don't do this
freenect.stop_depth(dev)
freenect.stop_video(dev)
freenect.close_device(dev) # close the device so that c_sync can open it
freenect.shutdown(ctx)
process_frame()
initialized = True
except:
pass
