def __init__(self,
x=640,
y=480,
fps=30,
rgb_mirror=False,
depth_mirror=False,
rgb=True,
depth=True):
self.x = x
self.y = y
self.fps = fps
self.rgb_mirror = rgb_mirror
self.depth_mirror = depth_mirror
self.rgb = rgb
self.depth = depth
# Linux
self.dist = '/home/test/ws/src/pyRamon/pyConn/OpenNI-Linux-x64-2.3/Redist/'
openni2.initialize(self.dist)
if (openni2.is_initialized()):
print("openNI2 initialized")
else:
print("openNI2 not initialized")
## Register the device
self.dev = openni2.Device.open_any()
if rgb:
self.createColor()
if depth:
self.createDepth()
if rgb and depth:
self.sync()
if rgb:
self.startColor()
if depth:
self.startDepth()
def initRun(self):
openni2.initialize(self.dist)
if (openni2.is_initialized()):
print("openNI2 initialized")
else:
print("openNI2 not initialized")
self.device = openni2.Device.open_any()
print("Device opened")
def __init__(self):
# Linux
self.dist = '/home/test/ws/src/pyRamon/pyConn/OpenNI-Linux-x64-2.3/Redist/'
openni2.initialize(self.dist)
if (openni2.is_initialized()):
print("openNI2 initialized")
else:
print("openNI2 not initialized")
## Register the device
self.dev = openni2.Device.open_any()
def __init__(self, fp):
super().__init__(fp)
self.depth_stream = None
# Initialize openni and check
print("Starting openNI initialization")
openni2.initialize(dist) #
if openni2.is_initialized():
print("openNI2 initialized")
else:
print("openNI2 not initialized")
def isOpened(self):
if not openni2.is_initialized():
return False
self.device = openni2.Device.open_any()
self.getDepthStream()
self.depth_stream.start()
return True
def setup_camera(w, h, fps):
## Initialize OpenNi
# dist = './driver/OpenNI-Linux-x64-2.3/Redist'
dist = './driver/OpenNI-Windows-x64-2.3/Redist'
openni2.initialize(dist)
if (openni2.is_initialized()):
print("openNI2 initialized")
else:
print("openNI2 not initialized")
## Register the device
dev = openni2.Device.open_any()
## Create the streams stream
rgb_stream = dev.create_color_stream()
depth_stream = dev.create_depth_stream()
## Configure the rgb_stream -- changes automatically based on bus speed
rgb_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888,
resolutionX=w,
resolutionY=h,
fps=fps))
## Configure the depth_stream -- changes automatically based on bus speed
# print 'Depth video mode info', depth_stream.get_video_mode() # Checks depth video configuration
depth_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_1_MM,
resolutionX=w,
resolutionY=h,
fps=fps))
## Check and configure the mirroring -- default is True
## Note: I disable mirroring
# print 'Mirroring info1', depth_stream.get_mirroring_enabled()
depth_stream.set_mirroring_enabled(False)
rgb_stream.set_mirroring_enabled(False)
## Start the streams
rgb_stream.start()
depth_stream.start()
## Synchronize the streams
dev.set_depth_color_sync_enabled(True) # synchronize the streams
## IMPORTANT: ALIGN DEPTH2RGB (depth wrapped to match rgb stream)
dev.set_image_registration_mode(openni2.IMAGE_REGISTRATION_DEPTH_TO_COLOR)
return rgb_stream, depth_stream
def initialize(dll_directories=_default_dll_directories):
global _nite2_initialized
global loaded_dll_directory
if _nite2_initialized:
return
if isinstance(dll_directories, str):
dll_directories = [dll_directories]
if not openni2.is_initialized():
openni2.initialize()
if loaded_dll_directory:
c_api.niteInitialize()
_nite2_initialized = True
return
found = False
prev = os.getcwd()
exceptions = []
dll_directories = [
os.path.normpath(os.path.abspath(d)) for d in dll_directories
]
for dlldir in dll_directories:
if not os.path.isdir(dlldir):
exceptions.append((dlldir, "Directory does not exist"))
continue
fullpath = os.path.join(dlldir, _dll_name)
if not os.path.isfile(fullpath):
exceptions.append((fullpath, "file does not exist"))
continue
try:
os.chdir(dlldir)
c_api.load_dll(fullpath)
c_api.niteInitialize()
except Exception as ex:
exceptions.append((fullpath, ex))
else:
found = True
loaded_dll_directory = dlldir
break
os.chdir(prev)
if not found:
raise InitializationError(
"NiTE2 could not be loaded:\n %s" % ("\n ".join(
"%s: %s" % (dir, ex) for dir, ex in exceptions)), )
_nite2_initialized = True
def initialize(dll_directories=_default_dll_directories):
global _nite2_initialized
global loaded_dll_directory
if _nite2_initialized:
return
if isinstance(dll_directories, str):
dll_directories = [dll_directories]
if not openni2.is_initialized():
openni2.initialize()
if loaded_dll_directory:
c_api.niteInitialize()
_nite2_initialized = True
return
found = False
prev = os.getcwd()
exceptions = []
dll_directories = [
os.path.normpath(os.path.abspath(d)) for d in dll_directories
]
for dlldir in dll_directories:
if not os.path.isdir(dlldir):
exceptions.append((dlldir, "Directory does not exist"))
continue
fullpath = os.path.join(dlldir, _dll_name)
if not os.path.isfile(fullpath):
exceptions.append((fullpath, "file does not exist"))
continue
try:
os.chdir(dlldir)
c_api.load_dll(fullpath)
c_api.niteInitialize()
except Exception as ex:
exceptions.append((fullpath, ex))
else:
found = True
loaded_dll_directory = dlldir
break
os.chdir(prev)
if not found:
raise InitializationError(
"NiTE2 could not be loaded:\n %s" %
("\n ".join("%s: %s" % (dir, ex) for dir, ex in exceptions)), )
_nite2_initialized = True
def __init__(self, width=320, height=240, fps=30):
if not openni2.is_initialized():
openni2.initialize("/usr/lib/")
self.width = width
self.height = height
# maybe change this to a more specific device
self.device = openni2.Device.open_any()
self.rgb_stream = self.device.create_color_stream()
self.rgb_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888,
resolutionX=width,
resolutionY=height,
fps=fps))
self.rgb_stream.start()
def __init__(self, width=320, height=240, fps=30):
if not openni2.is_initialized():
openni2.initialize("/usr/lib/")
self.width = width
self.height = height
# maybe change this to a more specific device
self.device = openni2.Device.open_any()
self.depth_stream = self.device.create_depth_stream()
self.depth_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_100_UM,
resolutionX=width,
resolutionY=height,
fps=30))
# self.depth_stream.set_mirroring_enabled(False)
self.depth_stream.start()
Use to record with the primesense camera RGB and depth cameras and the seek thermal camera
"""
import numpy as np
import cv2
import os
import shutil
from primesense import openni2 # , nite2
from primesense import _openni2 as c_api
from seek_camera import thermal_camera
#############################################################################
# set-up primesense camera
dist = '/home/julian/Install/OpenNI2-x64/Redist'
# Initialize openni and check
openni2.initialize(dist)
if (openni2.is_initialized()):
print "openNI2 initialized"
else:
print "openNI2 not initialized"
# Register the device
prime = openni2.Device.open_any()
# Create the streams
rgb_stream = prime.create_color_stream()
depth_stream = prime.create_depth_stream()
# Configure the depth_stream -- changes automatically based on bus speed
# print 'Depth video mode info', depth_stream.get_video_mode() # Checks depth video configuration
depth_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_1_MM,
resolutionX=320,
resolutionY=240,
def main(argv=None):
print('Hello! This is XXXXXX Program')
## Load PointNet config
parser = argparse.ArgumentParser()
parser.add_argument('--model', type=str, default='./seg/seg_model_1.pth', help='model path')
opt = parser.parse_args()
print(opt)
## Load PointNet model
num_points = 2700
classifier = PointNetDenseCls(num_points=num_points, k=10)
classifier.load_state_dict(torch.load(opt.model))
classifier.eval()
### Config visualization
cmap = plt.cm.get_cmap("hsv", 5)
cmap = np.array([cmap(i) for i in range(10)])[:, :3]
# gt = cmap[seg - 1, :]
## Initialize OpenNi
# dist = './driver/OpenNI-Linux-x64-2.3/Redist'
dist = './driver/OpenNI-Windows-x64-2.3/Redist'
openni2.initialize(dist)
if (openni2.is_initialized()):
print("openNI2 initialized")
else:
print("openNI2 not initialized")
## Register the device
dev = openni2.Device.open_any()
## Create the streams stream
rgb_stream = dev.create_color_stream()
depth_stream = dev.create_depth_stream()
## Define stream parameters
w = 320
h = 240
fps = 30
## Configure the rgb_stream -- changes automatically based on bus speed
rgb_stream.set_video_mode(
c_api.OniVideoMode(pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888, resolutionX=w, resolutionY=h,
fps=fps))
## Configure the depth_stream -- changes automatically based on bus speed
# print 'Depth video mode info', depth_stream.get_video_mode() # Checks depth video configuration
depth_stream.set_video_mode(
c_api.OniVideoMode(pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_1_MM, resolutionX=w, resolutionY=h,
fps=fps))
## Check and configure the mirroring -- default is True
## Note: I disable mirroring
# print 'Mirroring info1', depth_stream.get_mirroring_enabled()
depth_stream.set_mirroring_enabled(False)
rgb_stream.set_mirroring_enabled(False)
## Start the streams
rgb_stream.start()
depth_stream.start()
## Synchronize the streams
dev.set_depth_color_sync_enabled(True) # synchronize the streams
## IMPORTANT: ALIGN DEPTH2RGB (depth wrapped to match rgb stream)
dev.set_image_registration_mode(openni2.IMAGE_REGISTRATION_DEPTH_TO_COLOR)
saving_folder_path = './shapenetcore_partanno_segmentation_benchmark_v0/tools/'
if not os.path.exists(saving_folder_path):
os.makedirs(saving_folder_path+'RGB')
os.makedirs(saving_folder_path+'D')
os.makedirs(saving_folder_path+'PC')
os.makedirs(saving_folder_path+'points')
os.makedirs(saving_folder_path+'points_label')
from config import CAMERA_CONFIG
## main loop
s = 1000
done = False
while not done:
key = cv2.waitKey(1) & 255
## Read keystrokes
if key == 27: # terminate
print("\tESC key detected!")
done = True
elif chr(key) == 's': # screen capture
print("\ts key detected. Saving image {}".format(s))
rgb = rgb[60:180, 80:240, :]
dmap = dmap[60:180, 80:240]
ply_content, points_content = generate_ply_from_rgbd(rgb=rgb, depth=dmap, config=CAMERA_CONFIG)
cv2.imwrite(saving_folder_path + "RGB/" + str(s) + '.png', rgb)
cv2.imwrite(saving_folder_path + "D/" + str(s) + '.png', dmap)
print(rgb.shape, dmap.shape)
print(type(rgb), type(dmap))
with open(saving_folder_path + "PC/" + str(s) + '.ply', 'w') as output:
output.write(ply_content)
print(saving_folder_path + "PC/" + str(s) + '.ply', ' done')
s += 1 # uncomment for multiple captures
# ### Get pointcloud of scene for prediction
# points_np = (np.array(points_content)[:, :3]).astype(np.float32)
# choice = np.random.choice(len(points_np), num_points, replace=True)
# points_np = points_np[choice, :]
# points_torch = torch.from_numpy(points_np)
#
# points_torch = points_torch.transpose(1, 0).contiguous()
#
# points_torch = Variable(points_torch.view(1, points_torch.size()[0], points_torch.size()[1]))
#
# ### Predict to segment scene
# pred, _ = classifier(points_torch)
# pred_choice = pred.data.max(2)[1]
# print(pred_choice)
## Streams
# RGB
rgb = get_rgb(rgb_stream=rgb_stream, h=h, w=w)
# DEPTH
dmap, d4d = get_depth(depth_stream=depth_stream, h=h, w=w)
# canvas
canvas = np.hstack((rgb, d4d))
## Display the stream syde-by-side
cv2.imshow('depth || rgb', canvas)
# end while
## Release resources
cv2.destroyAllWindows()
rgb_stream.stop()
depth_stream.stop()
openni2.unload()
print("Terminated")
def main(argv=None):
print('Hello! This is XXXXXX Program')
cv2.namedWindow(window_detection_name)
cv2.createTrackbar(low_H_name, window_detection_name, low_H, max_value_H,
on_low_H_thresh_trackbar)
cv2.createTrackbar(high_H_name, window_detection_name, high_H, max_value_H,
on_high_H_thresh_trackbar)
cv2.createTrackbar(low_S_name, window_detection_name, low_S, max_value,
on_low_S_thresh_trackbar)
cv2.createTrackbar(high_S_name, window_detection_name, high_S, max_value,
on_high_S_thresh_trackbar)
cv2.createTrackbar(low_V_name, window_detection_name, low_V, max_value,
on_low_V_thresh_trackbar)
cv2.createTrackbar(high_V_name, window_detection_name, high_V, max_value,
on_high_V_thresh_trackbar)
## Initialize OpenNi
# dist = './driver/OpenNI-Linux-x64-2.3/Redist'
dist = './driver/OpenNI-Windows-x64-2.3/Redist'
openni2.initialize(dist)
if (openni2.is_initialized()):
print("openNI2 initialized")
else:
print("openNI2 not initialized")
## Register the device
dev = openni2.Device.open_any()
## Create the streams stream
rgb_stream = dev.create_color_stream()
depth_stream = dev.create_depth_stream()
## Define stream parameters
w = 320
h = 240
fps = 30
## Configure the rgb_stream -- changes automatically based on bus speed
rgb_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888,
resolutionX=w,
resolutionY=h,
fps=fps))
## Configure the depth_stream -- changes automatically based on bus speed
# print 'Depth video mode info', depth_stream.get_video_mode() # Checks depth video configuration
depth_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_1_MM,
resolutionX=w,
resolutionY=h,
fps=fps))
## Check and configure the mirroring -- default is True
## Note: I disable mirroring
# print 'Mirroring info1', depth_stream.get_mirroring_enabled()
depth_stream.set_mirroring_enabled(False)
rgb_stream.set_mirroring_enabled(False)
## Start the streams
rgb_stream.start()
depth_stream.start()
## Synchronize the streams
dev.set_depth_color_sync_enabled(True) # synchronize the streams
## IMPORTANT: ALIGN DEPTH2RGB (depth wrapped to match rgb stream)
dev.set_image_registration_mode(openni2.IMAGE_REGISTRATION_DEPTH_TO_COLOR)
## main loop
done = False
while not done:
key = cv2.waitKey(1) & 255
## Read keystrokes
if key == 27: # terminate
print("\tESC key detected!")
done = True
## Streams
# RGB
rgb = get_rgb(rgb_stream=rgb_stream, h=h, w=w)
# DEPTH
dmap, d4d = get_depth(depth_stream=depth_stream, h=h, w=w)
# canvas
canvas = np.hstack((rgb, d4d))
cv2.rectangle(canvas, (119, 79), (202, 162), (0, 255, 0), 1)
cv2.rectangle(canvas, (119 + 320, 79), (202 + 320, 162), (0, 255, 0),
1)
## Display the stream syde-by-side
cv2.imshow('depth || rgb', canvas)
hsv = cv2.cvtColor(src=rgb, code=cv2.COLOR_BGR2HSV)
### for black
# tblack = cv2.inRange(hsv, (low_H, low_S, low_V), (high_H, high_S, high_V))
tblack = cv2.inRange(hsv, (100, 130, 0), (130, 220, 150))
### for white
# twhite = cv2.inRange(hsv, (low_H, low_S, low_V), (high_H, high_S, high_V))
twhite = cv2.inRange(hsv, (0, 0, 230, 0), (160, 200, 255, 0))
cv2.imshow('black', tblack)
cv2.imshow('white', twhite)
# end while
## Release resources
cv2.destroyAllWindows()
rgb_stream.stop()
depth_stream.stop()
openni2.unload()
print("Terminated")
x = h/2
y = w/2
# Device number
devN=3
## Array to store the image modalities+overlayed_skeleton (4images)
#rgb = np.zeros((480,640,3), np.uint8)
#rgbdm = np.zeros((480,640*4, 3), np.uint8)
##pi3
dist = "/home/carlos/Install/kinect/OpenNI-Linux-Arm-2.2/Redist/"
## initialize openni and check
openni2.initialize(dist)
if (openni2.is_initialized()):
print "openNI2 initialized"
else:
print "openNI2 not initialized"
#if
## Register the device
dev = openni2.Device.open_any()
## create the streams stream
rgb_stream = dev.create_color_stream()
depth_stream = dev.create_depth_stream()
"""Usage examples of the Python_OpenNI2 wrapper
The examples are taken from https://github.com/elmonkey/Python_OpenNI2/tree/master/samples.
"""
from primesense import openni2
from primesense.utils import InitializationError
IS_INITIALIZED = False
try:
openni2.initialize("/usr/local/src/OpenNI-Linux-Arm-2.3/Redist")
if openni2.is_initialized():
IS_INITIALIZED = True
print "OpenNI2 is initialized"
else:
print "OpenNI2 is not initialized"
except InitializationError as err:
print("OpenNI2 is not initialized", err)
def main(argv=None):
print('Hello! This is XXXXXX Program')
## Initialize OpenNi
# dist = './driver/OpenNI-Linux-x64-2.3/Redist'
dist = './driver/OpenNI-Windows-x64-2.3/Redist'
openni2.initialize(dist)
if (openni2.is_initialized()):
print("openNI2 initialized")
else:
print("openNI2 not initialized")
## Register the device
dev = openni2.Device.open_any()
## Create the streams stream
rgb_stream = dev.create_color_stream()
depth_stream = dev.create_depth_stream()
## Define stream parameters
w = 320
h = 240
fps = 30
## Configure the rgb_stream -- changes automatically based on bus speed
rgb_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888,
resolutionX=w,
resolutionY=h,
fps=fps))
## Configure the depth_stream -- changes automatically based on bus speed
# print 'Depth video mode info', depth_stream.get_video_mode() # Checks depth video configuration
depth_stream.set_video_mode(
c_api.OniVideoMode(
pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_1_MM,
resolutionX=w,
resolutionY=h,
fps=fps))
## Check and configure the mirroring -- default is True
## Note: I disable mirroring
# print 'Mirroring info1', depth_stream.get_mirroring_enabled()
depth_stream.set_mirroring_enabled(False)
rgb_stream.set_mirroring_enabled(False)
## Start the streams
rgb_stream.start()
depth_stream.start()
## Synchronize the streams
dev.set_depth_color_sync_enabled(True) # synchronize the streams
## IMPORTANT: ALIGN DEPTH2RGB (depth wrapped to match rgb stream)
dev.set_image_registration_mode(openni2.IMAGE_REGISTRATION_DEPTH_TO_COLOR)
saving_folder_path = './shapenetcore_partanno_segmentation_benchmark_v0/tools/'
if not os.path.exists(saving_folder_path):
os.makedirs(saving_folder_path + 'RGB')
os.makedirs(saving_folder_path + 'D')
os.makedirs(saving_folder_path + 'PC')
os.makedirs(saving_folder_path + 'points')
os.makedirs(saving_folder_path + 'points_label')
from config import CAMERA_CONFIG
## main loop
s = 1000
done = False
while not done:
key = cv2.waitKey(1) & 255
## Read keystrokes
if key == 27: # terminate
print("\tESC key detected!")
done = True
elif chr(key) == 's': # screen capture
print("\ts key detected. Saving image {}".format(s))
### crop the image
rgb = rgb[80:160, 120:200, :]
dmap = dmap[80:160, 120:200]
### get hsv image
hsv = cv2.cvtColor(src=rgb, code=cv2.COLOR_BGR2HSV)
### get black area
tblack = cv2.inRange(hsv, (100, 130, 0), (130, 220, 150))
### get white area
twhite = cv2.inRange(hsv, (0, 0, 230, 0), (160, 200, 255, 0))
ply_content, points_content, label_content = generate_ply_from_rgbd(
rgb=rgb, depth=dmap, config=CAMERA_CONFIG)
cv2.imwrite(saving_folder_path + "RGB/" + str(s) + '.png', rgb)
cv2.imwrite(saving_folder_path + "D/" + str(s) + '.png', dmap)
print(rgb.shape, dmap.shape)
print(type(rgb), type(dmap))
with open(saving_folder_path + "PC/" + str(s) + '.ply',
'w') as output:
output.write(ply_content)
print(saving_folder_path + "PC/" + str(s) + '.ply', ' done')
s += 1 # uncomment for multiple captures
## Streams
# RGB
rgb = get_rgb(rgb_stream=rgb_stream, h=h, w=w)
# DEPTH
dmap, d4d = get_depth(depth_stream=depth_stream, h=h, w=w)
# canvas
canvas = np.hstack((rgb, d4d))
cv2.rectangle(canvas, (119, 79), (202, 162), (0, 255, 0), 1)
cv2.rectangle(canvas, (119 + 320, 79), (202 + 320, 162), (0, 255, 0),
1)
## Display the stream syde-by-side
cv2.imshow('depth || rgb', canvas)
hsv = cv2.cvtColor(src=rgb, code=cv2.COLOR_BGR2HSV)
### for black
# tblack = cv2.inRange(hsv, (low_H, low_S, low_V), (high_H, high_S, high_V))
tblack = cv2.inRange(hsv, (100, 180, 0), (130, 255, 150))
### for white
# twhite = cv2.inRange(hsv, (low_H, low_S, low_V), (high_H, high_S, high_V))
twhite = cv2.inRange(hsv, (0, 0, 230, 0), (100, 200, 255, 0))
cv2.imshow('black', tblack)
cv2.imshow('white', twhite)
# end while
## Release resources
cv2.destroyAllWindows()
rgb_stream.stop()
depth_stream.stop()
openni2.unload()
print("Terminated")
