read_ir_stream.py

# https://docs.opencv.org/3.0-beta/doc/py_tutorials/py_tutorials.html

# Contains Enumerations for ONI devices
# http://docs.ros.org/kinetic/api/libfreenect/html/OniCEnums_8h.html#ac214498322fe73b8c454335aeb7f289f

# List of mat types in opencv
# http://ninghang.blogspot.com/2012/11/list-of-mat-type-in-opencv.html

import sys
from datetime import datetime
import numpy as np
import cv2
from openni import openni2
from openni import _openni2 as c_api

openni2.initialize("C:/Dev/Downloads/Orbbec/OpenNI_2.3.0.43/Windows/OpenNI-Windows-x64-2.3/Redist")
if openni2.is_initialized() == True:
    print("Initialzed")
else:
    print("Something went wrong")

device = openni2.Device.open_any()
if device.get_depth_color_sync_enabled():
    print('depth_color_sync is enabled')
else:
    print('depth_color_sync is disabled')

device_info = device.get_device_info()
print('Vendor: ', device_info.vendor.decode("utf-8"))
print('Name: ', device_info.name.decode("utf-8"))

print('InfraRed sensor info')
ir_sensor_info = device.get_sensor_info(c_api.OniSensorType.ONI_SENSOR_IR)
for row in ir_sensor_info.videoModes:
    print(row)

print('Depth sensor info')
depth_sensor_info = device.get_sensor_info(c_api.OniSensorType.ONI_SENSOR_DEPTH)
for row in depth_sensor_info.videoModes:
    print(row)

# It seems we only can obtain depth and ir streams
# color streams seems not available... no idea why
ir_stream = device.create_ir_stream()

# Read 16bit gray scale image with provided resolution
#ir_stream.set_video_mode(c_api.OniVideoMode(pixelFormat = c_api.OniPixelFormat.ONI_PIXEL_FORMAT_GRAY16, resolutionX = 320, resolutionY = 240, fps = 30))
ir_stream.set_video_mode(c_api.OniVideoMode(pixelFormat = c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888, resolutionX = 320, resolutionY = 240, fps = 30))
ir_stream.start()

while(True):
    # http://docs.ros.org/kinetic/api/libfreenect/html/classopenni_1_1VideoFrameRef.html
    # Returns a VideoRameRef
    frame = ir_stream.read_frame()

    # Display frame index we are currently at
    print('FrameIndex: ', frame.frameIndex)

    # returns a 1-dim c_ushort_array of len: 76'800 = 320x240 each pixel having an uint16 value 0..65535
    frame_data = frame.get_buffer_as_uint16()

    # converting to numpy.ndarray which is still 1-dimension only
    img = np.frombuffer(frame_data, dtype=np.uint16)

    # convert to 3-dimensional array
    temp = img.reshape(240, 320)

    # fill first dimension with data
    temp = np.concatenate((temp, temp, temp), axis=0)

    # Mat needs to be in format of mat(high, width, channels)
    # we swap 1 with 1 with 320
    temp = np.swapaxes(temp, 0, 2)

    # we swap 320 with 240 => (240, 320, 1)
    temp = np.swapaxes(temp, 0, 1)

    # Display image
    cv2.imshow("image", temp)

    # Wait for input
    if cv2.waitKey(1) & 0xFF == ord('q'):
        cv2.destroyAllWindows()
        break

ir_stream.stop()
openni2.unload()