Created
October 11, 2016 17:57
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pylibfreenect2
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from pylibfreenect2 import Freenect2, SyncMultiFrameListener | |
from pylibfreenect2 import FrameType, Registration, Frame | |
import sys | |
import numpy as np | |
import cv2 | |
from multiprocessing import Process | |
try: | |
from pylibfreenect2 import OpenGLPacketPipeline | |
pipeline = OpenGLPacketPipeline() | |
except: | |
from pylibfreenect2 import CpuPacketPipeline | |
pipeline = CpuPacketPipeline() | |
class Processor(Process): | |
def __init__(self): | |
super(Processor, self).__init__() | |
self.fn = Freenect2() | |
num_devices = self.fn.enumerateDevices() | |
if num_devices == 0: | |
print("No device connected!") | |
sys.exit(1) | |
self.serial = self.fn.getDeviceSerialNumber(0) | |
self.device = self.fn.openDevice(self.serial, pipeline=pipeline) | |
self.listener = SyncMultiFrameListener(FrameType.Color | FrameType.Ir | FrameType.Depth) | |
# Register listeners | |
self.device.setColorFrameListener(self.listener) | |
self.device.setIrAndDepthFrameListener(self.listener) | |
self.device.start() | |
self.registration = Registration(self.device.getIrCameraParams(), | |
self.device.getColorCameraParams()) | |
self.undistorted = Frame(512, 424, 4) | |
self.registered = Frame(512, 424, 4) | |
# Optinal parameters for registration | |
# set True if you need | |
need_bigdepth = False | |
need_color_depth_map = False | |
self.bigdepth = Frame(1920, 1082, 4) if need_bigdepth else None | |
self.color_depth_map = np.zeros((424, 512), np.int32).ravel() \ | |
if need_color_depth_map else None | |
def run(self): | |
while True: | |
frames = self.listener.waitForNewFrame() | |
print(frames) | |
color = frames["color"] | |
ir = frames["ir"] | |
depth = frames["depth"] | |
self.registration.apply(color, depth, self.undistorted, self.registered, | |
bigdepth=self.bigdepth, | |
color_depth_map=self.color_depth_map) | |
cv2.imshow("color", cv2.resize(color.asarray(), | |
(int(1920) // 3, int(1080 // 3)))) | |
self.listener.release(frames) | |
key = cv2.waitKey(delay=1) | |
if key == ord('q'): | |
break | |
self.device.stop() | |
self.device.close() | |
p = Processor() | |
p.start() | |
sys.exit(0) |
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