src/kinect/pygamedisplay.py

   1 # -*- coding: utf-8 -*-
   2 """
   3 Affichage vidéo (et autres) de la kinect pour expérimentations / debug.
   4
   5 $Id$
   6 $URL$
   7 """
   8
   9 from openni import *
  10 import numpy
  11 import cv
  12 import pygame
  13
  14 SCREEN_SIZE = 640, 480
  15 SCREEN_TITLE = "Kinect debug"
  16 FPS = 30
  17
  18 def capture_rgb(imgGene):
  19     rgb_frame = numpy.fromstring(imgGene.get_raw_image_map_bgr(), dtype=numpy.uint8).reshape(480, 640, 3)
  20     image = cv.fromarray(rgb_frame)
  21     cv.CvtColor(cv.fromarray(rgb_frame), image, cv.CV_BGR2RGB)
  22     pyimage = pygame.image.frombuffer(image.tostring(), cv.GetSize(image), 'RGB')
  23
  24     return pyimage
  25
  26 def main() :
  27     # init openni
  28     context = Context()
  29     context.init()
  30
  31     #init pygame
  32     pygame.init()
  33     screen = pygame.display.set_mode(SCREEN_SIZE)
  34     pygame.display.set_caption(SCREEN_TITLE)
  35
  36     imgGene = ImageGenerator()
  37     imgGene.create(context)
  38     imgGene.set_resolution_preset(RES_VGA)
  39     imgGene.fps = FPS
  40
  41     context.start_generating_all()
  42
  43
  44     sur = pygame.Surface((640, 480))
  45     sur.fill((255, 255, 255))
  46
  47     while True :
  48         for event in pygame.event.get():
  49             pass
  50
  51         context.wait_one_update_all(imgGene)
  52         cv.WaitKey(10)
  53
  54         rgbImg = capture_rgb(imgGene)
  55         sur.blit(rgbImg, (0, 0))
  56         screen.blit(sur, (0, 0))
  57         pygame.display.flip()
  58
  59 if __name__ == "__main__" :
  60     main()