X-Git-Url: https://scm.cri.ensmp.fr/git/minwii.git/blobdiff_plain/7f861db051bcbbaed3f47e3a90e60a3b9781f5e4..refs/heads/master:/src/kinect/pygamedisplay.py?ds=sidebyside diff --git a/src/kinect/pygamedisplay.py b/src/kinect/pygamedisplay.py index 6a4f834..196ad29 100755 --- a/src/kinect/pygamedisplay.py +++ b/src/kinect/pygamedisplay.py @@ -14,32 +14,135 @@ 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 -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)) @@ -48,13 +151,13 @@ def main() : 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()