def run(self):
try:
self.ctx = freenect.init()
self.dev = freenect.open_device(self.ctx, 0)
freenect.set_depth_mode(self.dev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_11BIT)
freenect.set_depth_callback(self.dev, self._depth_cb)
freenect.set_video_mode(self.dev, freenect.RESOLUTION_MEDIUM, freenect.VIDEO_RGB)
freenect.set_video_callback(self.dev, self._video_cb)
self.video_started = False
self.depth_started = False
while self.keep_running:
with self.lock:
if self.led_update is not None:
freenect.set_led(self.dev, self.led_update)
self.led_update = None
self.update_streams()
if not self.video_started and not self.depth_started:
self.update_cond.wait()
continue
self.update.clear()
if not self.keep_running:
break
freenect.base_runloop(self.ctx, self._body)
finally:
with self.lock:
for k in self.depth_consumers.keys() + self.video_consumers.keys():
k.put(StreamerDied("The Kinect streamer died"))
self.depth_consumers = {}
self.video_consumers = {}
self.update_streams()
freenect.close_device(self.dev)
freenect.shutdown(self.ctx)
def testkinect1():
# test video modes
[ctx,dev] = initkinect()
print(freenect.get_video_format(dev))
freenect.set_video_mode(dev,1,1)
print(freenect.get_video_format(dev))
killkinect(ctx,dev)
old_time = time.time()
while time.time()-old_time < 10:
cv.ShowImage('Video', get_video())
cv2.waitKey(1)
cv2.destroyAllWindows()
cv2.waitKey(1000)
freenect.sync_stop()
[ctx,dev] = initkinect()
freenect.set_video_mode(dev,1,2)
print(freenect.get_video_format(dev))
killkinect(ctx,dev)
old_time = time.time()
while time.time()-old_time < 10:
cv.ShowImage('Video', get_video())
cv2.waitKey(1)
cv2.destroyAllWindows()
cv2.waitKey(1000)
freenect.sync_stop()
[ctx,dev] = initkinect()
freenect.set_video_mode(dev,1,3)
print(freenect.get_video_format(dev))
killkinect(ctx,dev)
old_time = time.time()
while time.time()-old_time < 10:
cv.ShowImage('Video', get_video())
cv2.waitKey(1)
cv2.destroyAllWindows()
freenect.sync_stop()
[ctx,dev] = initkinect()
freenect.set_video_mode(dev,1,5)
print(freenect.get_video_format(dev))
killkinect(ctx,dev)
old_time = time.time()
while time.time()-old_time < 10:
cv.ShowImage('Video', get_video())
cv2.waitKey(1)
cv2.destroyAllWindows()
freenect.sync_stop()
[ctx,dev] = initkinect()
freenect.set_video_mode(dev,1,6)
print(freenect.get_video_format(dev))
killkinect(ctx,dev)
old_time = time.time()
while time.time()-old_time < 10:
cv.ShowImage('Video', get_video())
cv2.waitKey(1)
cv2.destroyAllWindows()
freenect.sync_stop()
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 __init__(self, dev, device_num, stream_type, streamer):
self.dev = dev
self.device_num = device_num
self.stream_type = stream_type
self.streamer = streamer
self.consumers = set() # set([KinectConsumer])
self.lock = threading.Lock()
self.frame = 0 # frame counter
self.producing = False # true if freenect is sending us data
assert stream_type in ('depth', 'video')
if stream_type == 'depth':
freenect.set_depth_mode(dev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_11BIT)
freenect.set_depth_callback(dev, self._data_cb)
elif stream_type == 'video':
freenect.set_video_mode(dev, freenect.RESOLUTION_MEDIUM, freenect.VIDEO_RGB)
freenect.set_video_callback(dev, self._data_cb)
def run(self):
try:
self.ctx = freenect.init()
self.dev = freenect.open_device(self.ctx, 0)
freenect.set_depth_mode(self.dev, freenect.RESOLUTION_MEDIUM,
freenect.DEPTH_11BIT)
freenect.set_depth_callback(self.dev, self._depth_cb)
freenect.set_video_mode(self.dev, freenect.RESOLUTION_MEDIUM,
freenect.VIDEO_RGB)
freenect.set_video_callback(self.dev, self._video_cb)
self.video_started = False
self.depth_started = False
while self.keep_running:
with self.lock:
if self.led_update is not None:
freenect.set_led(self.dev, self.led_update)
self.led_update = None
self.update_streams()
if not self.video_started and not self.depth_started:
self.update_cond.wait()
continue
self.update.clear()
if not self.keep_running:
break
freenect.base_runloop(self.ctx, self._body)
finally:
with self.lock:
for k in self.depth_consumers.keys(
) + self.video_consumers.keys():
k.put(StreamerDied("The Kinect streamer died"))
self.depth_consumers = {}
self.video_consumers = {}
self.update_streams()
freenect.close_device(self.dev)
freenect.shutdown(self.ctx)
def set_video_mode(self):
if self.video_mode:
self.log.debug('Setting video mode')
fn.set_video_mode(self.device, self.video_mode.resolution,
self.video_mode.fmt)
