112 lines
2.8 KiB
Python
112 lines
2.8 KiB
Python
# -*- 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()
|
|
|