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Commit 0e8151e

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Xbox-Kinect-深度相机
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‎README.md‎

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@@ -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
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- 支付宝
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- <img src="data/alipay_donate.jpg" width = "200" height = "200" alt="alipay_donate" />
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- 比特币
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## Xbox-Kinect-深度相机
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- 参考
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- [Using Kinect and other OpenNI compatible depth sensors](https://docs.opencv.org/3.0-rc1/d7/df5/tutorial_ug_highgui.html)
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- [Use Kinect with OpenCV (Python)](https://gist.github.com/joinAero/1f76844278f141cea8338d1118423648)
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- [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/)
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- [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 -*-
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# @Time : 2017年12月8日 19:37
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# @Author : play4fun
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# @File : camera.py
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# @Software: PyCharm
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"""
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camera.py:
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"""
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import cv2
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import sys
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class Camera(object):
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def __init__(self, index=0):
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self.cap = cv2.VideoCapture(index)
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self.openni = index in (cv2.CAP_OPENNI, cv2.CAP_OPENNI2)
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self.fps = 0
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def __enter__(self):
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return self
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def __exit__(self, exc_type, exc_value, traceback):
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self.release()
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def release(self):
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if not self.cap: return
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self.cap.release()
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self.cap = None
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def capture(self, callback, gray=True):
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if not self.cap:
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sys.exit('The capture is not ready')
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while True:
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t = cv2.getTickCount()
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if self.openni:
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if not self.cap.grab():
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sys.exit('Grabs the next frame failed')
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ret, depth = self.cap.retrieve(cv2.CAP_OPENNI_DEPTH_MAP)
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ret, frame = self.cap.retrieve(cv2.CAP_OPENNI_GRAY_IMAGE
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if gray else cv2.CAP_OPENNI_BGR_IMAGE)
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if callback:
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callback(frame, depth, self.fps)
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else:
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ret, frame = self.cap.read()
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if not ret:
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sys.exit('Reads the next frame failed')
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if gray:
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frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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if callback:
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callback(frame, self.fps)
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t = cv2.getTickCount() - t
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self.fps = cv2.getTickFrequency() / t
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# esc, q
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ch = cv2.waitKey(10) & 0xFF
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if ch == 27 or ch == ord('q'):
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break
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def fps(self):
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return self.fps
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def get(self, prop_id):
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return self.cap.get(prop_id)
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def set(self, prop_id, value):
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self.cap.set(prop_id, value)
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if __name__ == '__main__':
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callback = lambda gray, fps: cv2.imshow('gray', gray)
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with Camera(0) as cam:
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print("Camera: %dx%d, %d" % (
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cam.get(cv2.CAP_PROP_FRAME_WIDTH),
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cam.get(cv2.CAP_PROP_FRAME_HEIGHT),
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cam.get(cv2.CAP_PROP_FPS)))
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cam.capture(callback)
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cv2.destroyAllWindows()

‎cv-Kinect深度相机/draw.py‎

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

‎cv-Kinect深度相机/kinect.py‎

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

‎cv-Kinect深度相机/kinect_test.py‎

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

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