def init_camera(self):
openni2.initialize()
nite2.initialize()
self.dev = openni2.Device.open_any()
dev_name = self.dev.get_device_info().name.decode('UTF-8')
print("Device Name: {}".format(dev_name))
self.use_kinect = False
if dev_name == 'Kinect':
self.use_kinect = True
print('using Kinect.')
try:
self.user_tracker = nite2.UserTracker(self.dev)
except utils.NiteError:
print("Unable to start the NiTE human tracker. Check "
"the error messages in the console. Model data "
"(s.dat, h.dat...) might be inaccessible.")
sys.exit(-1)
(self.img_w, self.img_h
) = CAPTURE_SIZE_KINECT if self.use_kinect else CAPTURE_SIZE_OTHERS
self.win_w = 256
self.win_h = int(self.img_h * self.win_w / self.img_w)
def init_capture_device(self):
openni2.initialize()
nite2.initialize()
return openni2.Device.open_any()
}
if __name__ == "__main__":
logging.basicConfig(level=logging.INFO)
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("world", help="Underworlds world to monitor")
#parser.add_argument("-d", "--debug", help="run in interactive, debug mode", action="store_true")
args = parser.parse_args()
### OpenNI/NiTE initialization
openni2.initialize()
nite2.initialize()
logger.info("Opening a freenect device...")
dev = openni2.Device.open_any()
info = dev.get_device_info()
logger.info("Device <%s %s> successfully opened." %
(info.vendor, info.name))
logger.info("Loading the NiTE user tracker...")
try:
userTracker = nite2.UserTracker(dev)
except utils.NiteError as ne:
logger.error("Unable to start the NiTE human tracker. Check "
"the error messages in the console. Model data "
"(s.dat, h.dat...) might be missing.")
sys.exit(-1)
if __name__ == "__main__":
logging.basicConfig(level=logging.INFO)
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("world", help="Underworlds world to monitor")
#parser.add_argument("-d", "--debug", help="run in interactive, debug mode", action="store_true")
args = parser.parse_args()
### OpenNI/NiTE initialization
openni2.initialize()
nite2.initialize()
logger.info("Opening a freenect device...")
dev = openni2.Device.open_any()
info = dev.get_device_info()
logger.info("Device <%s %s> successfully opened." % (info.vendor, info.name))
logger.info("Loading the NiTE user tracker...")
try:
userTracker = nite2.UserTracker(dev)
except utils.NiteError as ne:
logger.error("Unable to start the NiTE human tracker. Check "
"the error messages in the console. Model data "
"(s.dat, h.dat...) might be missing.")
sys.exit(-1)
logger.info("User tracker loaded.")
def pegarMovimentos():
global player1HandRightx
global player1HandRighty
global player1HandLeftx
global player1HandLefty
global player2HandRightx
global player2HandRighty
global player2HandLefty
global player2HandLeftx
global joints
global leoteste
#openni2.initialize("/home/leonardo/Downloads/OpenNI-Linux-x64-2.2/Redist")
openni2.initialize("/home/leonardo/Tcc/OpenNI-Linux-x64-2.2/Redist")
#nite2.initialize("/home/leonardo/Downloads/NiTE-Linux-x64-2.2/Redist")
nite2.initialize("/home/leonardo/Tcc/NiTE-2.0.0/Redist")
dev = openni2.Device.open_any()
device_info = dev.get_device_info()
try:
userTracker = nite2.UserTracker(dev)
except utils.NiteError as ne:
print "entrou em exept"
print(
"Unable to start the NiTE human tracker. Check the error messages in the console. Model data (s.dat, h.dat...) might be inaccessible."
)
print(ne)
sys.exit(-1)
print "antes do while"
while True:
frame = userTracker.read_frame()
depth_frame = frame.get_depth_frame()
if frame.users:
i = 1
for user in frame.users:
user.id = i
i += 1
if user.skeleton.state == nite2.SkeletonState.NITE_SKELETON_TRACKED:
print user.id
else:
print user.id
print user.is_new()
print user.is_visible()
print("Skeleton state: " + str(user.skeleton.state))
#print 'leo' + str(user.id)
#if user.id == 0 and leoteste==0:
# print 'e zero'
# leoteste=+1
userTracker.start_skeleton_tracking(user.id)
print("Skeleton state: " + str(user.skeleton.state))
# userTracker.start_skeleton_tracking(2)
#if user.is_new():
# print("New human detected! ID: %d Calibrating...", user.id)
# userTracker.start_skeleton_tracking(1)
#elif user.skeleton.state == nite2.SkeletonState.NITE_SKELETON_TRACKED:
#else:
#print user.skeleton.joints
#print user.id
#print str(user.is_visible())
preenchermovimento(user.id, user.skeleton.joints)
else:
print("No users")
nite2.unload()
openni2.unload()
def main(argv):
"""
Main function that do the OpenNI and Nite loop
parameters
-------------------
argv : should contains parameters to configure the broker
-H : the hostname
"""
robot = None
#Read the parameters
try:
opts, args = getopt.getopt(argv, "H:", ["hostname="])
except getopt.GetoptError:
print('main.py -H <hostname>')
sys.exit(2)
for opt, arg in opts:
if opt in ("-H", "--hostname"):
robot = cr.CommandRobot(arg)
if robot is None:
robot = cr.CommandRobot()
# Init OpenNi2 and Nite 2
openni2.initialize(
) # can also accept the path of the OpenNI redistribution
nite2.initialize()
dev = openni2.Device.open_any()
print "device: {}".format(dev.get_device_info())
try:
handTracker = nite2.HandTracker(dev)
handTracker.start_gesture_detection(
nite2.GestureType.NITE_GESTURE_WAVE)
except utils.NiteError as ne:
logging.error("Unable to start the NiTE human tracker. Check "
"the error messages in the console. Model data "
"(s.dat, h.dat...) might be inaccessible.")
print(ne)
sys.exit(-1)
gestureStarted = False
oldPosition = None
newPosition = None
handId = None
tracker_hand = th.TrackerHand(handTracker, robot)
depth_display = dp.DisplayDepth()
cv2.namedWindow('Jarvis-View')
while True:
key = cv2.waitKey(10)
if key == 27:
break
frame = handTracker.read_frame()
#print "Resolution x:{}, y:{}".format(frame.depth_frame.width,frame.depth_frame.height)
depth_display.build_img(frame.depth_frame)
tracker_hand.track_hand(frame, depth_display)
depth_display.show_frame()
nite2.unload()
openni2.unload()
cv2.destroyAllWindows()
def init_capture_device(self):
openni2.initialize()
nite2.initialize("/usr/lib/")
# NiTE2 folder has to be in the same directory as this script!
return openni2.Device.open_any()
def __init__(self,
use_thread=False,
sleep_dt=0.,
verbose=False,
track_hand=False):
"""
Initialize the Kinect input interface using the `openni` library.
Args:
use_thread (bool): If True, it will run the interface in a separate thread than the main one.
The interface will update its data automatically.
sleep_dt (float): If :attr:`use_thread` is True, it will sleep the specified amount before acquiring
the next sample.
verbose (bool): If True, it will print information about the state of the interface. This is let to the
programmer what he / she wishes to print.
track_hand (bool): If True, it will track the hands.
"""
# initialize openni2 and nite2; you can give the path to the library as an argument.
# Otherwise, it will look for OPENNI2_REDIST / OPENNI2_REDIST64 and NITE2_REDIST / NITE2_REDIST64 environment
# variables.
openni2.initialize()
nite2.initialize()
# open all the devices
devices = openni2.Device.open_all()
# get the correct device (Microsoft Kinect)
self.device = None
for device in devices:
info = device.get_device_info()
if info.vendor == 'Microsoft' and info.name == 'Kinect': # Kinect Interface
self.device = device
break
# If didn't find it, return an error
if self.device is None:
devices = [device.get_device_info() for device in devices]
raise ValueError(
"No Asus devices were detected; we found these devices instead: {}"
.format(devices))
if verbose:
print(self.device.get_device_info())
# create tracker for the hand or user depending on the given parameter
if track_hand:
self.tracker = nite2.HandTracker(self.device)
else:
self.tracker = nite2.UserTracker(self.device)
# data
self.joints = [
'head', 'neck', 'torso', 'left_shoulder', 'left_elbow',
'left_hand', 'left_hip', 'left_knee', 'left_foot',
'right_shoulder', 'right_elbow', 'right_hand', 'right_hip',
'right_knee', 'right_foot'
]
joint = nite2.JointType
self.nite_joints = [
joint.NITE_JOINT_HEAD, joint.NITE_JOINT_NECK,
joint.NITE_JOINT_TORSO, joint.NITE_JOINT_LEFT_SHOULDER,
joint.NITE_JOINT_LEFT_ELBOW, joint.NITE_JOINT_LEFT_HAND,
joint.NITE_JOINT_LEFT_HIP, joint.NITE_JOINT_LEFT_KNEE,
joint.NITE_JOINT_LEFT_FOOT, joint.NITE_JOINT_RIGHT_SHOULDER,
joint.NITE_JOINT_RIGHT_ELBOW, joint.NITE_JOINT_RIGHT_HAND,
joint.NITE_JOINT_RIGHT_HIP, joint.NITE_JOINT_RIGHT_KNEE,
joint.NITE_JOINT_RIGHT_FOOT
]
self.data = {}
super(KinectSkeletonTrackingInterface,
self).__init__(use_thread=use_thread,
sleep_dt=sleep_dt,
verbose=verbose)