def __init__(self, camera_path):
self.serial_number = pyfreenect2.getDefaultDeviceSerialNumber()
self.device = pyfreenect2.Freenect2Device(self.serial_number)
self.frame_listener = pyfreenect2.SyncMultiFrameListener(
pyfreenect2.Frame.COLOR, pyfreenect2.Frame.IR,
pyfreenect2.Frame.DEPTH)
self.device.setColorFrameListener(self.frame_listener)
self.device.setIrAndDepthFrameListener(self.frame_listener)
self.camera = Camera.load_from_json(camera_path)
def frameData():
rgb_frames = rospy.Publisher("rgbFrames", Image, queue_size=1)
depth_frames = rospy.Publisher("depthFrames", Image, queue_size=1)
#ir_frame = rospy.Publisher("irFrames",Image,queue_size=1)
rospy.init_node("frameData", anonymous=True)
rate = rospy.Rate(100)
while not rospy.is_shutdown():
# Set up frame listener
frameListener = pyfreenect2.SyncMultiFrameListener(
pyfreenect2.Frame.COLOR, pyfreenect2.Frame.IR,
pyfreenect2.Frame.DEPTH)
kinect.setColorFrameListener(frameListener)
kinect.setIrAndDepthFrameListener(frameListener)
# Start recording
kinect.start()
# Print useful info
print "Kinect serial: %s" % kinect.serial_number
print "Kinect firmware: %s" % kinect.firmware_version
# What's a registration?
print kinect.ir_camera_params
registration = pyfreenect2.Registration(kinect.ir_camera_params,
kinect.color_camera_params)
#registration = pyfreenect2.Registration(kinect.color_camera_pacdrams, kinect.ir_camera_params)
#registration = pyfreenect2.Registration()
frames = frameListener.waitForNewFrame()
rgbFrame = frames.getFrame(pyfreenect2.Frame.COLOR)
#irFrame = frames.getFrame(pyfreenect2.Frame.IR)
depthFrame = frames.getFrame(pyfreenect2.Frame.DEPTH)
bridge = CvBridge()
rgb_frame = rgbFrame.getRGBData()
depth_frame = depthFrame.getDepthData()
rgbFramesROS = bridge.cv2_to_imgmsg(rgb_frame, encoding="passthrough")
depthFramesROS = bridge.cv2_to_imgmsg(depth_frame,
encoding="passthrough")
rgb_frames.publish(rgbFramesROS)
depth_frames.publish(depthFramesROS)
rate.sleep()
def __init__(self, serial_number=None):
serial = self.default_serial_number if serial_number is None else serial_number
self._kinect = pyfreenect2.Freenect2Device(serial)
self.is_activated = False
# Set up frame listener
self._frameListener = pyfreenect2.SyncMultiFrameListener(
pyfreenect2.Frame.COLOR, pyfreenect2.Frame.IR,
pyfreenect2.Frame.DEPTH)
self._kinect.setColorFrameListener(self._frameListener)
self._kinect.setIrAndDepthFrameListener(self._frameListener)
def initialize_(self):
# boostrapping code in pyfreenect2 todo: fix this...
import pyfreenect2
self.serial_number = pyfreenect2.getDefaultDeviceSerialNumber()
self.device = pyfreenect2.Freenect2Device(self.serial_number)
self.frame_listener = pyfreenect2.SyncMultiFrameListener(pyfreenect2.Frame.COLOR,
pyfreenect2.Frame.DEPTH)
self.device.setColorFrameListener(self.frame_listener)
self.device.setIrAndDepthFrameListener(self.frame_listener)
success = self.device.start()
self.registration = pyfreenect2.Registration(self.device)
return success
kinect = pyfreenect2.Freenect2Device(serialNumber)
# Set up signal handler
shutdown = False
def sigint_handler(signum, frame):
print("Got SIGINT, shutting down...")
shutdown = True
signal.signal(signal.SIGINT, sigint_handler)
# Set up frame listener
frameListener = pyfreenect2.SyncMultiFrameListener(pyfreenect2.Frame.COLOR,
pyfreenect2.Frame.IR,
pyfreenect2.Frame.DEPTH)
print(frameListener)
kinect.setColorFrameListener(frameListener)
kinect.setIrAndDepthFrameListener(frameListener)
# Start recording
kinect.start()
# Print useful info
print("Kinect serial: %s" % kinect.serial_number)
print("Kinect firmware: %s" % kinect.firmware_version)
# What's a registration?
print(kinect.ir_camera_params)