def refresh_data(self):
# Get raw data.
self._found_kinect, self._rgb, self._depth = kinect.get_buffers()
# Perform basic data extraction.
self._obstacles = kinect.extract_obstacles(self._depth, band=GAMING_DETECTION_ZONE, provide_raw=True)
# Convert numpy arrays to cairo surfaces.
alpha_channel = numpy.ones((480, 640, 1), dtype=numpy.uint8) * 255
# 1. RGB bitmap.
rgb32 = numpy.concatenate((alpha_channel, self._rgb), axis=2)
self._rgb_surface = cairo.ImageSurface.create_for_data(
rgb32[:, :, ::-1].astype(numpy.uint8), cairo.FORMAT_ARGB32, 640, 480
)
# 2. Depth map, take care of special NaN value.
i = numpy.amin(self._depth)
depth_clean = numpy.where(self._depth == kinect.UNDEF_DEPTH, 0, self._depth)
a = numpy.amax(depth_clean)
depth = numpy.where(self._depth == kinect.UNDEF_DEPTH, 0, 255 - (self._depth - i) * 254.0 / (a - i))
depth32 = numpy.dstack((alpha_channel, depth, numpy.where(depth == 0, 128, depth), depth))
self._depth_surface = cairo.ImageSurface.create_for_data(
depth32[:, :, ::-1].astype(numpy.uint8), cairo.FORMAT_ARGB32, 640, 480
)
self._notify_observers()
def _timedout(self):
# Stop auto refresh if no Kinect is detected.
found_kinect, _, _ = kinect.get_buffers()
if found_kinect:
self._display.refresh_data()
self.queue_draw()
else:
if not self._paused:
print 'No Kinect found, stopping auto-refresh'
self._pause_cb(None, True)
# Timer is repeated until False is returned.
return not self._paused