gistfile1.py

#!/usr/bin/env python
import ecto
from ecto_opencv.highgui import imshow
from image_pipeline.io.source import create_source
import sys
import argparse

from ecto_opencv import cv_bp
import numpy as np

class DepthProc(ecto.Cell):
    def declare_io(self, p, i, o):
        i.declare('depth','Depth, 16 bit...')
        i.declare('image','Image, 3 channel 8 bit RGB')
        i.declare('K', '3x3 camera calibration matrix.')
    def process(self, i, o):
        #convert to numpy arrays
        K = i.K.toarray()
        image = i.image.toarray()
        depth = i.depth.toarray()
        
        print 'K=',K
        print 'image', image.dtype, image.shape
        print 'depth', depth.dtype, depth.shape
        
        #do awesome processing here...

parser = argparse.ArgumentParser(description='OpenNI capture.')
args = parser.parse_args()

source = create_source(package_name='image_pipeline', source_type='OpenNISource',
                       sync=True) #optionally pass keyword args here...

proc = DepthProc()

plasm = ecto.Plasm()
plasm.connect(source['image'] >> imshow(name='RGB')['image'],
              source['depth_raw'] >> imshow(name='Depth 16 bit')['image'],
              source['image','depth_raw','K'] >> proc['image','depth','K'],
              )

sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute()