def kill():
[ctx, dev] = initkinect()
cv2.destroyAllWindows()
freenect.sync_stop()
freenect.stop_video(dev)
freenect.stop_depth(dev)
freenect.close_device(dev)
freenect.shutdown(ctx)
quit()
def body_callback(self, dev, ctx):
# _set_led hackery is required because for some reason calling set_led
# from update loop hangs the process
if self._set_led:
freenect.set_led(dev, self._set_led)
self._set_led = None
if self._set_video is not None:
freenect.stop_video(dev)
freenect.set_video_mode(dev, freenect.RESOLUTION_MEDIUM,
self._set_video)
freenect.start_video(dev)
self._set_video = None
if self._last_setting_check + self.settings_delay < time.time():
self.load_settings()
self._last_setting_check = time.time()
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
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