HapticVest.py

import freenect
import numpy as np
from threading import Thread, RLock


class KinectParser:
    def __init__(self, x, y, function=False):
        if function is False:
            self.function = self.decayingAverage
        else:
            self.function = function
        self.subdivisions = np.zeros((y, x), dtype=tuple)

    def getValue(self, x, y):
        self.lock.acquire()
        return self.subdivisions[y, x]
        self.lock.release()

    def getValues(self):
        self.lock.acquire()
        return self.subdivisions
        self.lock.release()

    def _setValues(self):
        self.lock.acquire()
        array, _ = freenect.sync_get_depth()
        array = array.astype(np.uint8)
        heightStrides = array.shape[0] // self.y
        widthStrides = array.shape[1] // self.x
        for yi in range(self.y):
            yWindow = array[heightStrides * yi: heightStrides * (yi + 1)]
            for xi in range(self.x):
                xyWindow = yWindow[widthStrides * xi: widthStrides * (xi + 1)]
                self.subdivisions[yi, xi] = self.function(xyWindow, xi, yi)
        self.lock.release()

    def decayingAverage(self, xyWindow, x, y, numSamples=4):
        windowAverage = int(np.average(xyWindow))
        oldDistance = self.getDistanceValue(x, y)
        newDistChange = windowAverage - oldDistance
        newDistValue = windowAverage * \
            (1 / numSamples) + oldDistance * ((numSamples - 1) / numSamples)
        return (newDistValue, newDistChange)

    def run(self):
        self.lock = RLock()

        def startParsing():
            while True:
                self._setValues()
        Thread(target=startParsing).start()


def main(argv):
    parser = KinectParser(8, 4, KinectParser.decayingAverage)
    print(parser.getValue(4, 4))