def doloop():
global depth, rgb
while True:
# Get a fresh frame
(depth, _), (rgb, _) = sync_get_depth(), sync_get_rgb()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
da = np.hstack((d3, rgb))
# Simple Downsample
cv.ShowImage("both", np.array(da[::2, ::2, ::-1]))
cv.WaitKey(5)
def doloop():
global depth, rgb
while True:
# Get a fresh frame
(depth, _), (rgb, _) = sync_get_depth(), sync_get_rgb()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
da = np.hstack((d3, rgb))
# Simple Downsample
cv.ShowImage('both', np.array(da[::2, ::2, ::-1]))
cv.WaitKey(5)
def DrawPointCloud():
global CloudSample, CloudPointSize
#Camera Position/Orient
glTranslatef(CameraPos[0] / 2, CameraPos[1] / 2, -CameraPos[2] / 2)
glRotatef(-CameraRotate[1], 1, 0, 0)
glRotatef(-CameraRotate[0], 0, 1, 0)
DrawBlocks()
#get the kinecty goodness
depth, tstamp = freenect.sync_get_depth()
rgb, tstamp = freenect.sync_get_rgb()
X, Y = np.meshgrid(range(640), range(480))
#downsample size
dd = CloudSample
pointsize = CloudPointSize
q = depth
#to the cloud!
projpts = project(q[::dd, ::dd], X[::dd, ::dd], Y[::dd, ::dd])
xyz, uv = projpts
#use the rgb for texture
if not rgb is None:
rgb_ = (rgb.astype(np.float32) * 4 + 70).clip(200,
255).astype(np.uint8)
glBindTexture(TEXTURE_TARGET, rgbtex)
glTexSubImage2D(TEXTURE_TARGET, 0, 0, 0, 640, 480, GL_RGB,
GL_UNSIGNED_BYTE, rgb_)
# Draw the points from the kinect
glPointSize(pointsize)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_TEXTURE_COORD_ARRAY)
glVertexPointerf(xyz)
glTexCoordPointerf(uv)
glEnable(TEXTURE_TARGET)
glColor3f(1, 1, 1)
glDrawElementsui(GL_POINTS, np.array(range(len(xyz))))
#sys.stdout.write("xyz length: " + str(len(xyz)) + '\n')
#sys.stdout.write("uv length:" + str(len(uv)) +'\n')
glDisableClientState(GL_VERTEX_ARRAY)
glDisableClientState(GL_TEXTURE_COORD_ARRAY)
glDisable(TEXTURE_TARGET)
def DrawPointCloud():
global CloudSample,CloudPointSize
#Camera Position/Orient
glTranslatef(CameraPos[0]/2,CameraPos[1]/2,-CameraPos[2]/2)
glRotatef(-CameraRotate[1],1,0,0)
glRotatef(-CameraRotate[0],0,1,0)
DrawBlocks()
#get the kinecty goodness
depth,tstamp=freenect.sync_get_depth()
rgb, tstamp=freenect.sync_get_rgb()
X,Y = np.meshgrid(range(640),range(480))
#downsample size
dd=CloudSample
pointsize=CloudPointSize
q=depth
#to the cloud!
projpts = project(q[::dd,::dd],X[::dd,::dd],Y[::dd,::dd])
xyz, uv = projpts
#use the rgb for texture
if not rgb is None:
rgb_ = (rgb.astype(np.float32) * 4 + 70).clip(200,255).astype(np.uint8)
glBindTexture(TEXTURE_TARGET, rgbtex)
glTexSubImage2D(TEXTURE_TARGET, 0, 0, 0, 640, 480, GL_RGB, GL_UNSIGNED_BYTE, rgb_);
# Draw the points from the kinect
glPointSize(pointsize)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_TEXTURE_COORD_ARRAY)
glVertexPointerf(xyz)
glTexCoordPointerf(uv)
glEnable(TEXTURE_TARGET)
glColor3f(1,1,1)
glDrawElementsui(GL_POINTS, np.array(range(len(xyz))))
#sys.stdout.write("xyz length: " + str(len(xyz)) + '\n')
#sys.stdout.write("uv length:" + str(len(uv)) +'\n')
glDisableClientState(GL_VERTEX_ARRAY)
glDisableClientState(GL_TEXTURE_COORD_ARRAY)
glDisable(TEXTURE_TARGET)
def main():
pygame.init()
cv.NamedWindow('Depth')
screen = pygame.display.set_mode((480,640))
pygame.display.set_caption("Shoot")
clock = pygame.time.Clock()
x, y = 0, 0
running = True
load = True
shoot = False
change = False
ball_load = True
while running:
depth, _ = freenect.sync_get_depth()
rgb, _ = freenect.sync_get_rgb()
if load :
bullet = load_bullet()
bullet_rect = bullet.get_rect()
load = False
if ball_load :
ball = load_ball()
ball_rect = ball.get_rect()
y_axis = random.randrange(20, 610)
ball_rect.move_ip(430, y_axis)
ball_load = False
if depth[240, 20] > 2000 :
shoot = True
change = True
elif depth[470, 520] > 1800 :
x, y = 0, 5
change = True
elif depth[20, 620] > 1700 :
x, y = 0, -5
change = True
for event in pygame.event.get() :
if event.type == QUIT:
running = False
elif event.type == KEYDOWN and event.key == K_ESCAPE:
running = False
elif event.type == KEYDOWN and event.key == K_UP:
x, y = 0, -5
elif event.type == KEYDOWN and event.key == K_DOWN:
x, y = 0, 5
elif event.type == KEYDOWN and event.key == K_RIGHT:
shoot = True
bullet_rect.move_ip(x, y)
screen.fill(THECOLORS['white'])
screen.blit(bullet, bullet_rect)
screen.blit(ball, ball_rect)
if change :
bullet_rect.move_ip(x, y)
screen.fill(THECOLORS['white'])
screen.blit(bullet, bullet_rect)
screen.blit(ball, ball_rect)
change = False
if shoot :
x, y = 10, 0
bullet_rect.move_ip(x, y)
screen.fill(THECOLORS['white'])
screen.blit(bullet, bullet_rect)
screen.blit(ball, ball_rect)
if bullet_rect.x > 430 and bullet_rect.y < y_axis+30 and bullet_rect.y > y_axis-30:
ball_rect.move_ip(x,y)
screen.fill(THECOLORS['white'])
screen.blit(ball, ball_rect)
del(ball)
del(bullet)
screen.fill(THECOLORS['white'])
load = True
shoot = False
ball_load = True
elif bullet_rect.x > 480 :
del(bullet)
load = True
shoot = False
ball_load = False
pygame.display.update()
pygame.display.flip()
clock.tick(50)
cv.ShowImage('Depth', depth.astype(np.uint8))
cv.WaitKey(10)
cv.NamedWindow('Depth')
pygame.init()
screen = pygame.display.set_mode((480,640))
pygame.display.set_caption("Shoot")
clock = pygame.time.Clock()
bullet = pygame.image.load(os.path.join('data','bullet.png'))
bullet2 = pygame.image.load(os.path.join('data','bullet.png'))
chimp = pygame.image.load(os.path.join('data','chimp.jpg'))
bullet_rect = bullet.get_rect()
bullet2_rect = bullet2.get_rect()
bullet2_rect.move_ip(240,320)
angle = 0
while 1:
depth, timestamp = freenect.sync_get_depth()
rgb, timestamp = freenect.sync_get_rgb()
# final = np.zeros((480,640,3), dtype=np.uint8)
# for i in xrange(120, 360, 2):
# for j in xrange(160, 480, 2):
# if depth[i,j] > 1400:
# final[i,j] = rgb[i,j]
if depth[440,620] > 2000 :
angle = 180
bullet_rect.move_ip([sin((angle+90)*0.0174)*9, cos((angle+90)*0.0174)*9])
elif depth[440, 20] > 2000 :
angle = 270
bullet_rect.move_ip([sin((angle+90)*0.0174)*9, cos((angle+90)*0.0174)*9])
elif depth[20, 620] > 2000 :
angle = 0
bullet_rect.move_ip([sin((angle+90)*0.0174)*9, cos((angle+90)*0.0174)*9])
elif depth[20, 20] > 2000 :
def get_video(): return freenect.sync_get_rgb()[0][120:360, 160:480]
#!/usr/bin/env python
import freenect
import matplotlib.pyplot as mp
mp.ion()
mp.figure(1)
image_depth = mp.imshow(freenect.sync_get_depth()[0], interpolation='nearest', animated=True)
mp.figure(2)
image_rgb = mp.imshow(freenect.sync_get_rgb()[0], interpolation='nearest', animated=True)
while 1:
mp.figure(1)
image_depth.set_data(freenect.sync_get_depth()[0])
mp.figure(2)
image_rgb.set_data(freenect.sync_get_rgb()[0])
mp.draw()
#!/usr/bin/env python
import freenect
import matplotlib.pyplot as mp
mp.ion()
mp.figure(1)
image_depth = mp.imshow(freenect.sync_get_depth()[0],
interpolation='nearest',
animated=True)
mp.figure(2)
image_rgb = mp.imshow(freenect.sync_get_rgb()[0],
interpolation='nearest',
animated=True)
while 1:
mp.figure(1)
image_depth.set_data(freenect.sync_get_depth()[0])
mp.figure(2)
image_rgb.set_data(freenect.sync_get_rgb()[0])
mp.draw()
#!/usr/bin/env python
import freenect
import cv
import numpy as np
cv.NamedWindow('Depth')
cv.NamedWindow('RGB')
while 1:
depth, timestamp = freenect.sync_get_depth()
rgb, timestamp = freenect.sync_get_rgb()
cv.ShowImage('Depth', depth.astype(np.uint8))
cv.ShowImage('RGB', rgb.astype(np.uint8))
cv.WaitKey(10)
