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
-def capture_rgb(imgGene):
- rgb_frame = numpy.fromstring(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')
+class RGB :
+ 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)
+
- return pyimage
+ 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))
-def main() :
- # init openni
- context = Context()
- context.init()
+ 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
- #init pygame
+ 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) :
+ 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) :
+
+ def __init__(self, alpha=255, size=SCREEN_SIZE) :
+ pygame.sprite.DirtySprite.__init__(self)
+ RGB.__init__(self)
+ self.dirty = 2 # toujours dirty !
+ self.size = size
+ self.image = pygame.Surface(size)
+ self.workSur = pygame.Surface(SCREEN_SIZE)
+ self.image.set_alpha(alpha)
+ self.rect = pygame.Rect((0, 0), (0, 0))
+
+ def update(self) :
+ RGB.update(self)
+ img = self.capture()
+ self.workSur.blit(img, (0, 0))
+ self.workSur = pygame.transform.flip(self.workSur, True, False) # miroir
+ if self.size != SCREEN_SIZE :
+ pygame.transform.scale(self.workSur, self.size, self.image) # étirement, blit implicite
+ else :
+ self.image.blit(self.workSur, (0, 0))
+
+
+def main() :
pygame.init()
screen = pygame.display.set_mode(SCREEN_SIZE)
pygame.display.set_caption(SCREEN_TITLE)
- imgGene = ImageGenerator()
- imgGene.create(context)
- imgGene.set_resolution_preset(RES_VGA)
- imgGene.fps = FPS
-
- context.start_generating_all()
-
+ rgb = RGB()
sur = pygame.Surface((640, 480))
sur.fill((255, 255, 255))
for event in pygame.event.get():
pass
- context.wait_one_update_all(imgGene)
- cv.WaitKey(10)
-
- rgbImg = capture_rgb(imgGene)
+ rgb.update()
+
+ rgbImg = rgb.capture()
sur.blit(rgbImg, (0, 0))
- screen.blit(sur, (0, 0))
+ screen.blit(pygame.transform.flip(sur, True, False), (0, 0))
pygame.display.flip()
+
if __name__ == "__main__" :
main()
projects / minwii.git / blobdiff