def loop(sock, camera, app, show=True):
if show:
color_window = NumpyWidget()
color_window.show()
depth_window = NumpyWidget()
depth_window.show()
colormap = numpy.float32(matplotlib.cm.jet(numpy.arange(1001) / 1000.0))
n = 0
clients = []
try:
mark = time()
while True:
# check for new clients
check_connections(sock, clients)
# read and process the camera frame
try:
frame = camera.read()
except RuntimeError as e:
logger.error('error while capturing frame')
logger.error(traceback.format_exc())
break
color_buffer = frame.color.open(PixelFormat.RGB24)
color_image = numpy.frombuffer(color_buffer.data(), dtype=numpy.uint8).reshape((color_buffer.height, color_buffer.width, -1))
# BGR -> RGB
color_image = color_image[:,:,::-1]
try:
cloud_buffer = frame.computePointCloud()
except RuntimeError as e:
logger.warn('{} -> skipping frame'.format(e))
continue
cloud = numpy.frombuffer(cloud_buffer, dtype=numpy.float32).reshape((frame.depth.height, frame.depth.width, 3))
# send the frame
if clients:
send_frame(clients, (color_image, cloud))
# update the view
if show and (not clients or n % 10 == 0):
color_window.update_frame(color_image)
depth_window.update_frame(colormap[numpy.clip(cloud[:,:,2], 0, len(colormap) - 1).astype(numpy.int)])
# process events for the windows
app.processEvents()
n += 1
if n % 30 == 0:
# print some debug stats
fps = 30 / (time() - mark)
mark = time()
logger.debug('{:.1f} fps'.format(fps))
except KeyboardInterrupt:
pass
for (conn, addr) in clients:
conn.close()
logger.info('closed connection with {}'.format(addr))
def loop(sock, camera, show=True):
if show:
from ui.numpy_widget import NumpyWidget
import matplotlib.cm
from PySide.QtGui import QApplication
app = QApplication(sys.argv)
color_window = NumpyWidget()
color_window.show()
depth_window = NumpyWidget()
depth_window.show()
colormap = numpy.float32(matplotlib.cm.jet(
numpy.arange(1001) / 1000.0))
n = 0
clients = []
try:
mark = time()
while True:
# check for new clients
check_connections(sock, clients)
# read and process the camera frame
try:
frame = camera.read()
except RuntimeError as e:
logger.error('error while capturing frame')
logger.error(traceback.format_exc())
break
color_buffer = frame.color.open(PixelFormat.RGB24)
color_image = numpy.frombuffer(color_buffer.data(),
dtype=numpy.uint8).reshape(
(color_buffer.height,
color_buffer.width, -1))
# BGR -> RGB
color_image = color_image[:, :, ::-1]
try:
cloud_buffer = frame.computePointCloud()
except RuntimeError as e:
logger.warn('{} -> skipping frame'.format(e))
continue
cloud = numpy.frombuffer(cloud_buffer,
dtype=numpy.float32).reshape(
(frame.depth.height,
frame.depth.width, 3))
try:
depth_uv_buffer = frame.computeDepthUVMap()
except RuntimeError as e:
logger.warn('{} -> skipping frame'.format(e))
continue
depth_uv = numpy.frombuffer(depth_uv_buffer,
dtype=numpy.float32).reshape(
(frame.depth.height,
frame.depth.width, 2))
try:
color_uv_buffer = frame.computeColorUVMap()
except RuntimeError as e:
logger.warn('{} -> skipping frame'.format(e))
continue
inverse_uv = numpy.frombuffer(color_uv_buffer,
dtype=numpy.float32).reshape(
(color_buffer.height,
color_buffer.width, 2))
#color_image = numpy.empty((cloud.shape[0], cloud.shape[1], 3), dtype=numpy.uint8)
#color_image[:,:] = [ 0, 255, 0 ]
#depth_uv = numpy.empty((cloud.shape[0], cloud.shape[1], 2), dtype=numpy.float32)
#depth_uv[:,:] = [ -1, -1 ]
# send the frame
if clients:
send_frame(clients, (color_image, cloud, depth_uv, inverse_uv))
# update the view
if show and (not clients or n % 10 == 0):
color_window.update_frame(color_image)
depth_window.update_frame(colormap[numpy.clip(
cloud[:, :, 2], 0,
len(colormap) - 1).astype(numpy.int)])
# process events for the windows
app.processEvents()
n += 1
if n % 30 == 0:
# print some debug stats
fps = 30 / (time() - mark)
mark = time()
logger.debug('{:.1f} fps'.format(fps))
except KeyboardInterrupt:
pass
for (conn, addr) in clients:
conn.close()
logger.info('closed connection with {}'.format(addr))
app = QApplication(sys.argv)
color_window = NumpyWidget()
color_window.show()
depth_window = NumpyWidget()
depth_window.show()
colormap = numpy.float32(matplotlib.cm.jet(numpy.arange(1001) / 1000.0))
n = 0
try:
mark = time()
while True:
(color, cloud, _, _) = camera.read()
color_window.update_frame(color)
depth_window.update_frame(colormap[numpy.clip(
cloud[:, :, 2], 0,
len(colormap) - 1).astype(numpy.int)])
app.processEvents()
n += 1
if n % 30 == 0:
# print some debug stats
fps = 30 / (time() - mark)
mark = time()
logger.debug('{:.1f} fps'.format(fps))
except KeyboardInterrupt:
pass
color_window = NumpyWidget()
color_window.show()
depth_window = NumpyWidget()
depth_window.show()
colormap = numpy.float32(matplotlib.cm.jet(numpy.arange(1001) / 1000.0))
n = 0
try:
mark = time()
while True:
(color, cloud, depth_uv, color_uv) = camera.read()
if show:
color_window.update_frame(color)
depth_window.update_frame(colormap[numpy.clip(cloud[:,:,2], 0, len(colormap) - 1).astype(numpy.int)])
app.processEvents()
n += 1
if n % 30 == 0:
# print some debug stats
fps = 30 / (time() - mark)
mark = time()
logger.debug('{:.1f} fps'.format(fps))
except KeyboardInterrupt:
pass
camera.close()
