Utilisation de la kinect sur une plage de distance plus réduite.

[minwii.git] / src / kinect / pygamedisplay.py

diff --git a/src/kinect/pygamedisplay.py b/src/kinect/pygamedisplay.py
index 7b646ad..321578d 100755 (executable)
--- a/src/kinect/pygamedisplay.py
+++ b/src/kinect/pygamedisplay.py
@@ -14,28 +14,104 @@ import pygame
 SCREEN_SIZE = 640, 480
 SCREEN_TITLE = "Kinect debug"
 FPS = 30
-
+MOUSE_SCREEN_COORDINATES = 0
+MOUSE_REAL_COORDINATES = 1
+DEFAULT_HAND_DISTANCE_RANGE = 150 # distance de débatement, autour du centre, en mm
 
 class RGB :
-    def __init__(self) :
+    def __init__(self, mouseMode=MOUSE_REAL_COORDINATES) :
+        self.mouseMode = mouseMode
         self.context = Context()
         self.context.init()
         self.imgGene = ImageGenerator()
         self.imgGene.create(self.context)
         self.imgGene.set_resolution_preset(RES_VGA)
         self.imgGene.fps = FPS
+        
+        self.depthGene = DepthGenerator()
+        self.depthGene.create(self.context)
+        self.depthGene.set_resolution_preset(RES_VGA)
+        self.depthGene.fps = FPS
+        
+        self.handsGene = HandsGenerator()
+        self.handsGene.create(self.context)
+        self.handsGene.register_hand_cb(self.handCreateCB, self.handUpdateCB, self.handDestroyCB)
+        
+        self.gestGene = GestureGenerator()
+        self.gestGene.create(self.context)
+        self.gestGene.add_gesture('Click')
+        self.gestGene.register_gesture_cb(self.gestureRecognizedCB, self.gestureProgressCB)
+        
+
+        self.userGene = UserGenerator()
+        self.userGene.create(self.context)
+        self.userGene.register_user_cb(self.newUserCB, self.lostUserCB)
+        
         self.context.start_generating_all()
+        
+        screen = pygame.display.get_surface()
+        self.xratio = float(screen.get_size()[0]) / SCREEN_SIZE[0]
+        self.yratio = float(screen.get_size()[1]) / SCREEN_SIZE[1]
+        self.handCenteredPosition = None
+        self.pygameScreenWidth, self.pygameScreenHeight = screen.get_size()
+    
+    def getProjPos(self, realPos) :
+        return self.depthGene.to_projective([realPos])[0]
+    
+    def setMousePosition(self, realPos) :
+        if self.mouseMode == MOUSE_SCREEN_COORDINATES :
+            x, y, z = self.getProjPos(realPos)
+            # mirror
+            x = SCREEN_SIZE[0] - x
+            # scale
+            x, y = x * self.xratio, y * self.yratio
+        elif self.mouseMode == MOUSE_REAL_COORDINATES :
+            x, y = realPos[:2]
+            x, y = x - self.handCenteredPosition[0], y - self.handCenteredPosition[1]
+            x = -x # miroir
+            x, y = x + DEFAULT_HAND_DISTANCE_RANGE, DEFAULT_HAND_DISTANCE_RANGE - y
+            x, y = map(lambda i : numpy.clip(i, 0, DEFAULT_HAND_DISTANCE_RANGE * 2), [x, y])
+            x = x * (self.pygameScreenWidth / (2. * DEFAULT_HAND_DISTANCE_RANGE))
+            y = y * (self.pygameScreenHeight / (2. * DEFAULT_HAND_DISTANCE_RANGE))
+            print x, y
+        pygame.mouse.set_pos(int(x), int(y))
+
+    def handCreateCB(self, src, id, pos, time):
+        print 'Create ', id, pos
+
+    def handUpdateCB(self, src, id, pos, time):
+        self.setMousePosition(pos)
+
+    def handDestroyCB(self, src, id, time):
+        print 'Destroy ', id
+
+    def gestureRecognizedCB(self, src, gesture, id, end_point) :
+        print 'gestureDetected', src, gesture, id, end_point
+
+    def gestureProgressCB(self, src, gesture, point, progress) :
+        print 'gestureProgress', src, gesture, point, progress
+        self.handsGene.start_generating()
+        self.handsGene.start_tracking(point)
+        self.handCenteredPosition = point
+
+    def newUserCB(self, *args, **kw) :
+        print 'newUserCB', args, kw
+
+    def lostUserCB(self, *args, **kw) :
+        print 'lostUserCB', args, kw
+    
     
     def capture(self) :
         rgb_frame = numpy.fromstring(self.imgGene.get_raw_image_map_bgr(), dtype=numpy.uint8).reshape(480, 640, 3)
         image = cv.fromarray(rgb_frame)
         cv.CvtColor(cv.fromarray(rgb_frame), image, cv.CV_BGR2RGB)
         pyimage = pygame.image.frombuffer(image.tostring(), cv.GetSize(image), 'RGB')
-
         return pyimage
     
     def update(self) :
-        return self.context.wait_one_update_all(self.imgGene)
+        self.context.wait_any_update_all()
+        #self.context.wait_and_update_all()
+        #return self.context.wait_one_update_all(self.imgGene)
 
 
 class RGBSprite(pygame.sprite.DirtySprite, RGB) :