Xbox-Kinect-深度相机

Author: makelove

README.md

@@ -76,3 +76,4 @@ Intel Media SDK现在可以被我们的videoio模块用来进行硬件加速的
 - 支付宝
     - <img src="data/alipay_donate.jpg" width = "200" height = "200" alt="alipay_donate"  />
 
+- 比特币

cv-Kinect深度相机/Xbox-Kinect-深度相机.md

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+## Xbox-Kinect-深度相机
+- 参考
+    - [Using Kinect and other OpenNI compatible depth sensors](https://docs.opencv.org/3.0-rc1/d7/df5/tutorial_ug_highgui.html)
+    - [Use Kinect with OpenCV (Python)](https://gist.github.com/joinAero/1f76844278f141cea8338d1118423648)
+    - [Experimenting with Kinect using opencv, python and open kinect (libfreenect)](https://naman5.wordpress.com/2014/06/24/experimenting-with-kinect-using-opencv-python-and-open-kinect-libfreenect/)
+    - [Getting Started With Kinect and OpenCV](https://electronicsforu.com/electronics-projects/software-projects-ideas/getting-started-kinect-opencv)

cv-Kinect深度相机/camera.py

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+# -*- coding: utf-8 -*-
+# @Time    : 2017/12/8 19:37
+# @Author  : play4fun
+# @File    : camera.py
+# @Software: PyCharm
+
+"""
+camera.py:
+"""
+
+import cv2
+import sys
+
+
+class Camera(object):
+
+    def __init__(self, index=0):
+        self.cap = cv2.VideoCapture(index)
+        self.openni = index in (cv2.CAP_OPENNI, cv2.CAP_OPENNI2)
+        self.fps = 0
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        self.release()
+
+    def release(self):
+        if not self.cap: return
+        self.cap.release()
+        self.cap = None
+
+    def capture(self, callback, gray=True):
+        if not self.cap:
+            sys.exit('The capture is not ready')
+
+        while True:
+            t = cv2.getTickCount()
+
+            if self.openni:
+                if not self.cap.grab():
+                    sys.exit('Grabs the next frame failed')
+                ret, depth = self.cap.retrieve(cv2.CAP_OPENNI_DEPTH_MAP)
+                ret, frame = self.cap.retrieve(cv2.CAP_OPENNI_GRAY_IMAGE
+                    if gray else cv2.CAP_OPENNI_BGR_IMAGE)
+                if callback:
+                    callback(frame, depth, self.fps)
+            else:
+                ret, frame = self.cap.read()
+                if not ret:
+                    sys.exit('Reads the next frame failed')
+                if gray:
+                    frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+                if callback:
+                    callback(frame, self.fps)
+
+            t = cv2.getTickCount() - t
+            self.fps = cv2.getTickFrequency() / t
+
+            # esc, q
+            ch = cv2.waitKey(10) & 0xFF
+            if ch == 27 or ch == ord('q'):
+                break
+
+    def fps(self):
+        return self.fps
+
+    def get(self, prop_id):
+        return self.cap.get(prop_id)
+
+    def set(self, prop_id, value):
+        self.cap.set(prop_id, value)
+
+
+if __name__ == '__main__':
+    callback = lambda gray, fps: cv2.imshow('gray', gray)
+
+    with Camera(0) as cam:
+        print("Camera: %dx%d, %d" % (
+            cam.get(cv2.CAP_PROP_FRAME_WIDTH),
+            cam.get(cv2.CAP_PROP_FRAME_HEIGHT),
+            cam.get(cv2.CAP_PROP_FPS)))
+        cam.capture(callback)
+
+    cv2.destroyAllWindows()

cv-Kinect深度相机/draw.py

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+# -*- coding: utf-8 -*-
+# @Time    : 2017/12/8 19:37
+# @Author  : play4fun
+# @File    : draw.py
+# @Software: PyCharm
+
+"""
+draw.py:
+"""
+
+import cv2
+
+
+FONT_FACE = cv2.FONT_HERSHEY_SIMPLEX
+FONT_SCALE = 1
+THICKNESS = 1
+
+
+class Gravity:
+    TOP_LEFT        = 1
+    TOP_RIGHT       = 2
+    BOTTOM_LEFT     = 3
+    BOTTOM_RIGHT    = 4
+
+
+def put_text(img, text, gravity, margin=10):
+    h, w = img.shape[:2]
+    # getTextSize, result: ((width, height), baseline)
+    x, y = cv2.getTextSize(text, FONT_FACE, FONT_SCALE, THICKNESS)[0];
+    # putText(img, text, org, fontFace, fontScale, color, thickness, lineType)
+    org = {
+        Gravity.TOP_LEFT:       (margin, margin+y),
+        Gravity.TOP_RIGHT:      (w-margin-x, margin+y),
+        Gravity.BOTTOM_LEFT:    (margin, h-margin),
+        Gravity.BOTTOM_RIGHT:   (w-margin-x, h-margin),
+    }.get(gravity, (margin, margin+y))
+    cv2.putText(img, text, org, FONT_FACE, FONT_SCALE,
+        (255,255,255), THICKNESS, cv2.LINE_AA)

cv-Kinect深度相机/kinect.py

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+# -*- coding: utf-8 -*-
+# @Time    : 2017/12/8 19:38
+# @Author  : play4fun
+# @File    : kinect.py
+# @Software: PyCharm
+
+"""
+kinect.py:
+"""
+
+#!/usr/bin/env python
+# -*- coding:utf-8 -*-
+
+import cv2
+import numpy as np
+
+from .camera import Camera
+from .draw import Gravity, put_text
+
+
+def main():
+    def callback(frame, depth, fps):
+        # Normalize the depth for representation
+        min, max = depth.min(), depth.max()
+        depth = np.uint8(255 * (depth - min) / (max - min))
+
+        # Unable to retrieve correct frame, it's still depth here
+        put_text(frame, "{1}x{0}".format(*frame.shape), Gravity.TOP_LEFT)
+        put_text(depth, "{1}x{0}".format(*depth.shape), Gravity.TOP_LEFT)
+
+        put_text(depth, "%.1f" % fps, Gravity.TOP_RIGHT)
+
+        cv2.imshow('frame', frame)
+        cv2.imshow('depth', depth)
+
+    with Camera(cv2.CAP_OPENNI2) as cam:
+        print("Camera: %dx%d, %d" % (
+            cam.get(cv2.CAP_OPENNI_IMAGE_GENERATOR + cv2.CAP_PROP_FRAME_WIDTH),
+            cam.get(cv2.CAP_OPENNI_IMAGE_GENERATOR + cv2.CAP_PROP_FRAME_HEIGHT),
+            cam.get(cv2.CAP_OPENNI_IMAGE_GENERATOR + cv2.CAP_PROP_FPS)))
+        cam.capture(callback, False)
+
+    cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+    main()
+
+
+# Using Kinect and other OpenNI compatible depth sensors:
+#   http://docs.opencv.org/master/d7/d6f/tutorial_kinect_openni.html
+# OpenCV Python unable to access correct OpenNI device channels:
+#   https://github.com/opencv/opencv/issues/4735

cv-Kinect深度相机/kinect_test.py

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+# -*- coding: utf-8 -*-
+# @Time    : 2017/12/8 19:34
+# @Author  : play4fun
+# @File    : kinect_test.py
+# @Software: PyCharm
+
+"""
+kinect_test.py:
+https://naman5.wordpress.com/2014/06/24/experimenting-with-kinect-using-opencv-python-and-open-kinect-libfreenect/
+"""
+
+# import the necessary modules
+import freenect
+import cv2
+import numpy as np
+
+
+# function to get RGB image from kinect
+def get_video():
+    array, _ = freenect.sync_get_video()
+    array = cv2.cvtColor(array, cv2.COLOR_RGB2BGR)
+    return array
+
+
+# function to get depth image from kinect
+def get_depth():
+    array, _ = freenect.sync_get_depth()
+    array = array.astype(np.uint8)
+    return array
+
+
+if __name__ == "__main__":
+    while 1:
+        # get a frame from RGB camera
+        frame = get_video()
+        # get a frame from depth sensor
+        depth = get_depth()
+        # display RGB image
+        cv2.imshow('RGB image', frame)
+        # display depth image
+        cv2.imshow('Depth image', depth)
+
+        # quit program when 'esc' key is pressed
+        k = cv2.waitKey(5) & 0xFF
+        if k == 27:
+            break