Add kinect "shadows" demo (from Codebits V)

2012-06-08 22:28:13 +01:00 · 2012-06-08 22:28:13 +01:00 · ddc058227e
commit ddc058227e
parent c837661da1
1 changed files with 112 additions and 0 deletions
--- a/examples/kinect_shadows.py
+++ b/examples/kinect_shadows.py
@ -0,0 +1,112 @@
+# -*- coding: utf-8 -*-
+#         OpenLase - a realtime laser graphics toolkit
+#
+# Copyright (C) 2009-2011 Hector Martin "marcan" <hector@marcansoft.com>
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 2 or version 3.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+
+import pylase as ol
+import threading
+import time
+import numpy as np
+import cv2
+import freenect
+import sys
+
+class LaserThread(threading.Thread):
+	def __init__(self):
+		threading.Thread.__init__(self)
+		self.die = False
+		self.trace = None
+
+	def run(self):
+		while self.trace is None and not self.die:
+			time.sleep(0.1)
+
+		if self.die:
+			return
+
+		if ol.init(4) < 0:
+			return
+		print "OL Initialized"
+		params = ol.RenderParams()
+		params.render_flags = ol.RENDER_GRAYSCALE
+		params.on_speed = 2/120.0
+		params.off_speed = 2/30.0
+		params.flatness = 0.000001
+		params.max_framelen = 48000 / 25
+		params.min_length = 30
+		params.snap = 0.04
+		ol.setRenderParams(params)
+		ol.loadIdentity()
+		ol.scale((2, -2))
+		ol.translate((-0.5, -0.5))
+		ol.scale((1/640.0, 1/640.0))
+		ol.translate((0, (640-480)/2))
+
+		while not self.die:
+			#ol.rect((100, 100), (640-100, 480-100), ol.C_WHITE)
+			objects = self.trace
+			for o in objects:
+				ol.begin(ol.POINTS)
+				for point in o[::2]:
+					ol.vertex(point, ol.C_WHITE)
+				ol.end()
+			ftime = ol.renderFrame(60)
+		ol.shutdown()
+
+olt = LaserThread()
+print "Starting thread"
+olt.start()
+print "Thread running"
+
+try:
+	tracer = ol.Tracer(640, 480)
+	tracer.mode = ol.TRACE_CANNY
+	tracer.threshold = 30
+	tracer.threshold2 = 10
+	tracer.sigma = 1.2
+
+	try:
+		floor = np.load("floor.npy")
+		print "floor loaded"
+	except:
+		floor = None
+
+	while True:
+		frame, timestamp = freenect.sync_get_depth()
+		frame = frame.astype(np.float)
+		mask = frame > 1070
+		depth = 1.0 / (frame * -0.0030711016 + 3.3309495161)
+		depth = np.ma.filled(np.ma.array(depth, mask=mask), 100)
+		if floor is not None:
+			depth = np.minimum(floor, depth)
+
+		image = np.clip((depth * 250 / 6),0,255).astype(np.uint8)
+
+		data = image.tostring()
+		objects = tracer.trace(data)
+		#print objects
+
+		olt.trace = objects
+
+		#cv2.imshow("Depth", image)
+		#cv2.imshow("Floor", np.clip((floor * 250 / 6),0,255).astype(np.uint8))
+		#if cv2.waitKey(10) == 27:
+	#		break
+
+finally:
+	olt.die = True
+	olt.join()
+