def display_depth(dev, data, timestamp): global image_depth global filenum filenum = filenum+1 #print data.shape ''' print type(data) print 100.0/(-0.00307 * data[240,320] + 3.33) print 0.1236 * math.tan(data[240,320] / 2842.5 + 1.1863) print data[240,320] print '-------' ''' depth = 100/(-0.00307*data + 3.33) #savedepth(depth) t = time.time() fname = '%s/D%s.nparray'%(directory,t) np.save(fname, data) print "Writing %s"%fname data = frame_convert.pretty_depth(data) mp.gray() mp.figure(1) if image_depth: image_depth.set_data(data) else: image_depth = mp.imshow(data, interpolation='nearest', animated=True) mp.draw()
def display_depth(dev, data, timestamp): #numpy.set_printoptions(threshold='nan') # numpy.savetxt("outputnumpy.txt", data, fmt='%f', delimiter=',', newline='] ') #numpy.ndarray.tofile("outputnumpy.txt", sep=' ', format='%f') #data.numpy.tolist() #a=numpy.fromstring(data) # M=[[int(num) for num in line.strip().split()] for line in data.split('\n')] array = frame_convert.pretty_depth(data) print array
def log_dep(dev, data, timestamp): global rgb_data, dep_data, frame_number, rgb_time data = frame_convert.pretty_depth(data)[:,:,None] dep_data.append( data ) rgb_data.append( rgb_temp ) frame_number += 1 print "Writing frame", frame_number, print "\tColor data is %ims stale" % ((time.time() - rgb_time)*1000)
def display_depth(dev, data, timestamp): global image_depth data = frame_convert.pretty_depth(data) mp.gray() mp.figure(1) if image_depth: image_depth.set_data(data) else: image_depth = mp.imshow(data, interpolation="nearest", animated=True) mp.draw()
def display_depth(dev, data, timestamp): global image_depth data = frame_convert.pretty_depth(data) mp.gray() mp.figure(1) if image_depth: image_depth.set_data(data) else: image_depth = mp.imshow(data, interpolation='nearest', animated=True) mp.draw()
def get_depth(raw=False): frame = fn.sync_get_depth()[0] if not raw: frame = frame_convert.pretty_depth(frame) if raw: frame = make_pretty_raw(frame) else: frame = np.invert(frame) # frame /= 8 # frame = frame.astype(np.uint8) return frame
def display_depth(dev, data, timestamp): global image_depth data = frame_convert.pretty_depth(data) mp.gray() mp.figure(1) if image_depth: image_depth.set_data(data) else: image_depth = mp.imshow(data, interpolation='nearest', animated=True) mp.draw() im = Image.fromarray(data) im.save('./static/image/img2.jpg')
def display_depth(data): global image_depth global filenum filenum = filenum+1 #print data.shape ''' print type(data) print 100.0/(-0.00307 * data[240,320] + 3.33) print 0.1236 * math.tan(data[240,320] / 2842.5 + 1.1863) print data[240,320] print '-------' ''' depth = 100/(-0.00307*data + 3.33) savedepth(depth) data = frame_convert.pretty_depth(data) mp.gray() mp.figure(1) if image_depth: image_depth.set_data(data) else: image_depth = mp.imshow(data, interpolation='nearest', animated=True) mp.draw()
def get_depth(): d,_ = freenect.sync_get_depth() try: np.where(d <= 600)[0][0] points = np.where(d <=600) go = True except: IndexError go = False if go: device.emit(uinput.EV_ABS, uinput.ABS_X, points[0][0], syn=False) device.emit(uinput.EV_ABS, uinput.ABS_Y, points[0][1]) # time.sleep(0.01) print "x: %d"%(points[0][0]) print "y: %d"%(points[0][1]) else: device.emit(uinput.EV_ABS, uinput.ABS_X, 10, syn=False) device.emit(uinput.EV_ABS, uinput.ABS_Y, 20) print 'no 2000' print d[240, 320] return frame_convert.pretty_depth(d)[120:360, 160:480]
def get_depth(): data = freenect.sync_get_depth()[0] print type(data) return {'pretty':frame_convert.pretty_depth(data),'raw':data}
def get_depth(): img=frame_convert.pretty_depth(sync_get_depth()[0]) return img
def get_depth(): return frame_convert.pretty_depth(sync_get_depth()[0])
def get_depth(): """ This function obtains the depth image from the kinect, if any is connected. """ img = frame_convert.pretty_depth(sync_get_depth()[0]) return img
def get_depth(): return frame_convert.pretty_depth(opennpy.sync_get_depth()[0])
def get_depth(): #array = array.astype(np.uint8) return frame_convert.pretty_depth(freenect.sync_get_depth()[0])
def get_depth(): temp = freenect.sync_get_depth()[0] return frame_convert.pretty_depth(temp)
pyr_area = moments['m00'] xpyr = int(moments['m10']/moments['m00']) # cx = M10/M00 ypyr = int(moments['m01']/moments['m00']) # cy = M01/M00 if second_area < 1000: x3 = x2 y3 = y2 table.PutNumber(u"x3", (x3-320)) table.PutNumber(u"y3", (y3-240)) table.PutNumber(u"x2", (x2-320)) table.PutNumber(u"y2", (y2-240)) table.PutNumber(u"xpyr", (xpyr-320)) table.PutNumber(u"ypyr", (ypyr-240)) print xpyr, ypyr return table.PutNumber(u"PYRAMIDSHOT", 0) while 1: ir = frame_convert.pretty_depth(freenect.sync_get_video(0, freenect.VIDEO_IR_8BIT)[0]) morph = denoise(ir) centroid(morph) if int(time.time() - start) > pic_num: cv2.imwrite('/media/DISK_IMG/Robotpics/inputtest'+str(pic_num)+'.jpg',ir) cv2.imwrite('/media/DISK_IMG/Robotpics/filttest'+str(pic_num)+'.jpg',morph) pic_num+=1 print (time.time() - start)
# position = (0, 0) # Circle position precision = 10 # Amount of pixels to skip each step threshold = 20 # Threshold for depth pixels oldMinVal = 255 # while True: # Reset these params every at every frame catch meanX = 0 MeanY = 0 count = 0 minVal = 255 # Get depth and try to normalize it depth = frame_convert.pretty_depth(freenect.sync_get_depth()[0]) # Loop through pixels and find the closest ones, Calculate thier mean position for y in xrange(0, len(depth), precision): for x in xrange(0, len(depth[0]), precision): if depth[y][x] < minVal: minVal = depth[y][x] if depth[y][x] < oldMinVal + threshold: meanX = meanX + x MeanY = MeanY + y count = count + 1 # Set previous frame threshold value to new min value oldMinVal = minVal
def get_depth(): return frame_convert.pretty_depth(freenect.sync_get_depth()[0])
def display_depth(dev, data, timestamp): global keep_running cv2.imshow('Depth', frame_convert.pretty_depth(data)) if cv2.waitKey(10) == 27: keep_running = False