Differences

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--- sensors:kinect_library [2017/03/01 17:03]
m16devan [Processing data]
+++ sensors:kinect_library [2019/04/25 14:08] (current)
@@ Line 277: / Line 277: @@
 ==== Processing data ====
-Here is some examples how to proceed data in order to display it using pygame.
+Here is some examples how to proceed data in order to display it using pygame. Some packages must be first imported for this example
+<code python>
+import ctypes
+import _ctypes
+import pymedia.video.vcodec as vcodec
+import pygame
+from pygame.locals import *
+import numpy as np
+</code>
 === Color data ===
@@ Line 283: / Line 292: @@
 <code python>
 pygame.init()
-screen = pygame.display.set_mode((self._infoObject.current_w >> 1, self._infoObject.current_h >> 1),
+infoObject = pygame.display.Info()
+screen = pygame.display.set_mode((infoObject.current_w >> 1, infoObject.current_h >> 1),
                                                pygame.HWSURFACE|pygame.DOUBLEBUF|pygame.RESIZABLE, 32)
 # back buffer surface for getting Kinect color frames, 32bit color, width and height equal to the Kinect color frame size
-frame_surface = pygame.Surface((self._kinect.color_frame_desc.Width, self._kinect.color_frame_desc.Height), 0, 32)
+frame_surface = pygame.Surface((kinect.color_frame_desc.Width, kinect.color_frame_desc.Height), 0, 32)
 frame_surface.lock()
@@ Line 296: / Line 306: @@
 # --- copy back buffer surface pixels to the screen, resize it if needed and keep aspect ratio
 # --- (screen size may be different from Kinect's color frame size)
-h_to_w = float(self._frame_surface.get_height()) / self._frame_surface.get_width()
+h_to_w = float(frame_surface.get_height()) / frame_surface.get_width()
-target_height = int(h_to_w * self._screen.get_width())
+target_height = int(h_to_w * screen.get_width())
-surface_to_draw = pygame.transform.scale(self._frame_surface, (self._screen.get_width(), target_height));
+surface_to_draw = pygame.transform.scale(frame_surface, (screen.get_width(), target_height));
-self._screen.blit(surface_to_draw, (0,0))
+screen.blit(surface_to_draw, (0,0))
 surface_to_draw = None
 pygame.display.update()
@@ Line 313: / Line 323: @@
 <code python>
 # --- draw skeletons to _frame_surface
-if self._bodies is not None:
+if bodies is not None:
-      for i in range(0, self._kinect.max_body_count):
+      for i in range(0, kinect.max_body_count):
-           body = self._bodies.bodies[i]
+           body = bodies.bodies[i]
            if not body.is_tracked:
                continue
@@ Line 322: / Line 332: @@
            ori = body.joint_orientations
            # convert joint coordinates to color space
-           joint_points_color = self._kinect.body_joints_to_color_space(joints)
+           joint_points_color = kinect.body_joints_to_color_space(joints)
-           self.draw_body(joints, joint_points_color, pygame.color.THECOLORS["red"])
+           draw_body(joints, joint_points_color, pygame.color.THECOLORS["red"])
+</code>
+Similarly to C library, two external functions are used to display the skeleton
+<code python>
+def draw_body_bone(joints, jointColorPoints, color, joint0, joint1):
+    joint0State = joints[joint0].TrackingState;
+    joint1State = joints[joint1].TrackingState;
+    # both joints are not tracked
+    if (joint0State == PyKinectV2.TrackingState_NotTracked) or (joint1State == PyKinectV2.TrackingState_NotTracked):
+        return
+    # both joints are not *really* tracked
+    if (joint0State == PyKinectV2.TrackingState_Inferred) and (joint1State == PyKinectV2.TrackingState_Inferred):
+       return
+    # at least one is good
+    start = (jointColorPoints[joint0].x, jointColorPoints[joint0].y)
+    end = (jointColorPoints[joint1].x, jointColorPoints[joint1].y)
+    try:
+       pygame.draw.line(frame_surface, color, start, end, 8)
+    except: # need to catch it due to possible invalid positions (with inf)
+       pass
+def draw_body(joints, jointColorPoints, color):
+    # Torso
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_Head, PyKinectV2.JointType_Neck);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_Neck, PyKinectV2.JointType_SpineShoulder);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_SpineMid);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_SpineMid, PyKinectV2.JointType_SpineBase);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_ShoulderRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_ShoulderLeft);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_SpineBase, PyKinectV2.JointType_HipRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_SpineBase, PyKinectV2.JointType_HipLeft);
+    # Right Arm
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_ShoulderRight, PyKinectV2.JointType_ElbowRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_ElbowRight, PyKinectV2.JointType_WristRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_WristRight, PyKinectV2.JointType_HandRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_HandRight, PyKinectV2.JointType_HandTipRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_WristRight, PyKinectV2.JointType_ThumbRight);
+    # Left Arm
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_ShoulderLeft, PyKinectV2.JointType_ElbowLeft);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_ElbowLeft, PyKinectV2.JointType_WristLeft);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_WristLeft, PyKinectV2.JointType_HandLeft);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_HandLeft, PyKinectV2.JointType_HandTipLeft);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_WristLeft, PyKinectV2.JointType_ThumbLeft);
+    # Right Leg
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_HipRight, PyKinectV2.JointType_KneeRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_KneeRight, PyKinectV2.JointType_AnkleRight);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_AnkleRight, PyKinectV2.JointType_FootRight);
+    # Left Leg
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_HipLeft, PyKinectV2.JointType_KneeLeft);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_KneeLeft, PyKinectV2.JointType_AnkleLeft);
+    draw_body_bone(joints, jointColorPoints, color, PyKinectV2.JointType_AnkleLeft, PyKinectV2.JointType_FootLeft);
+</code>
+=== Depth data ===
+This example shows how to display the depth frame using pygame. The depth frame has been captured in 'frameD'.
+<code python>
+pygame.init()
+infoObject = pygame.display.Info()
+screen = pygame.display.set_mode((infoObject.current_w >> 1, infoObject.current_h >> 1),
+                                               pygame.HWSURFACE|pygame.DOUBLEBUF|pygame.RESIZABLE, 32)
+# back buffer surface for getting Kinect depth frames, 16 bit depth, width and height equal to the Kinect depth frame size
+frame_surface = pygame.Surface((kinect.depth_frame_desc.Width, kinect.depth_frame_desc.Height), 0, 24)
+frame_surface.lock()
+f8=np.uint8(frameD.clip(1,4000)/16.)
+frame8bit=np.dstack((f8,f8,f8))
+address = kinect.surface_as_array(target_surface.get_buffer())
+ctypes.memmove(address, frame8bit.ctypes.data, frame8bit.size)
+del address
+frame_surface.unlock()
+# --- copy back buffer surface pixels to the screen, resize it if needed and keep aspect ratio
+h_to_w = float(frame_surface.get_height()) / frame_surface.get_width()
+target_height = int(h_to_w * screen.get_width())
+surface_to_draw = pygame.transform.scale(frame_surface, (screen.get_width(), target_height));
+screen.blit(surface_to_draw, (0,0))
+surface_to_draw = None
+pygame.display.update()
+# --- Go ahead and update the screen with what we've drawn.
+pygame.display.flip()
+</code>
+==== Closing the Kinect ====
+<code python>
+kinect.close()
 </code>