#!/usr/bin/env python
"""
Kinect Demo using minimum values from the depth image.
@Author = Alex Wallar
@Date = 17 March, 2012
@Version = 1.1
@Filename = KinectJoystickMin.py
"""
from freenect import sync_get_depth as get_depth, sync_get_video as get_video, init, close_device, open_device, set_led
import cv
import numpy as np
import pygame
from math import *
from numpy import mean
def doloop():
#Series of commands to do pointer operations on the kinect (motor, led, accelerometer)
ctx = init() #Initiates device
mdev = open_device(ctx, 0) #Opens the device for commands
set_led(mdev, 1) #Sets LED to green
close_device(mdev #Closes device. Device must be closed immediately after usage
#Mean filter caches
yList = [0,0,0,0,0,0]
xList = [0,0,0,0,0,0]
#Sets color tuples
RED = (255,0,0)
BLUE = (0,0,255)
TEAL = (0,200,100)
BLACK = (0,0,0)
#Sets the size of the screen
xSize = 640
ySize = 480
done = False #Main while loop bool counter
pygame.init() #Initiates pygame
screen = pygame.display.set_mode((xSize, ySize), pygame.RESIZABLE) #Creates the pygame window
screen.fill(BLACK) #Fills the window black
#Initiates the xTempPos and yTempPos values so that the point will remain stationary
#if the minimum value is larger than 600
xTempPos = xSize/2
yTempPos = ySize/2
global depth, rgb #Makes the depth and rgb variables global
while not done:
screen.fill(BLACK) #Makes the pygame window black after each iteration
# Get a fresh frame
(depth,_) = get_depth()
(rgb, _) = get_video()
minVal = np.min(depth) #This is the minimum value from the depth image
minPos = np.argmin(depth) #This is the raw index of the minimum value above
xPos = np.mod(minPos, xSize) #This is the x component of the raw index
yPos = minPos//xSize #This is the y component of the raw index
#This is the mean filter process
"""
A mean filter works by collecting values in a cache list and taking the mean of them
to determine the final value. It works in this case to decrease the amount of
volatility the minimum position experiences to get a smoother display with a more
consistent value. My computer works smoothly with a 5 bit cache where as a faster
computer may need a larger cache and a slower computer may need a smaller cache
"""
xList.append(xPos)
del xList[0]
xPos = int(mean(xList))
yList.append(yPos)
del yList[0]
yPos = int(mean(yList))
"""
This if statement says that if the minimum value is below 600 to store the minimum
positions in xTempPos and yTempPos and to make the dot color red. Also if the minimum
value is larger than 600, xPos and yPos become the last stored minimum and maximum
positions. It also changes the color to purple
"""
if minVal < 600:
xTempPos = xPos
yTempPos = yPos
COLOR = cv.RGB(255,0,0)
else:
xPos = xTempPos
yPos = yTempPos
COLOR = cv.RGB(100,0,100)
cv.Circle(rgb, (xPos, yPos), 2, COLOR, 40) #draws a circle of a certain color at minimum position
cv.ShowImage('Image',rgb) #Shows the image
cv.WaitKey(5) #Keyboard interupt
"""
The if statement below sets up the virtual joystick by basically breaking the pygame
window into four parts. A dot representing the minimum position is drawn on the window
and the corresponding button based on the position is "pressed". The quarter of the
window in which the button "pressed" corresponds to turns teal after being "pressed"
Top Right : A
Bottom Right: B
Bottom Left : Y
Top Right : X
"""
if xPos <= xSize/2 and yPos <= ySize/2:
command = 'A'
rect1 = pygame.Rect((xSize/2,0),(xSize/2,ySize/2))
pygame.draw.rect(screen,TEAL,rect1)
elif xPos <= xSize/2 and yPos > ySize/2:
command = 'B'
rect1 = pygame.Rect((xSize/2,ySize/2),(xSize/2,ySize/2))
pygame.draw.rect(screen,TEAL,rect1)
elif xPos > xSize/2 and yPos <= ySize/2:
command = 'X'
rect1 = pygame.Rect((0,0),(xSize/2,ySize/2))
pygame.draw.rect(screen,TEAL,rect1)
else:
command = 'Y'
rect1 = pygame.Rect((0,ySize/2),(xSize/2,ySize/2))
pygame.draw.rect(screen,TEAL,rect1)
pygame.draw.line(screen, BLUE, (xSize/2, ySize/2), (xSize - xPos,yPos)) #Draws a line from the middle to the minimum position
pygame.draw.circle(screen, RED, (xSize - xPos,yPos), 10) #Draws the circle on pygame window
pygame.display.flip() #Displays the processed pygame window
print command, minVal #Prints the "pressed" button and the minimum value
for e in pygame.event.get(): #Itertates through current events
if e.type is pygame.QUIT: #If the close button is pressed, the while loop ends
done = True
doloop()
Diff to Previous Revision
--- revision 2 2012-03-18 03:09:26
+++ revision 3 2012-03-18 18:52:42
@@ -3,10 +3,10 @@
Kinect Demo using minimum values from the depth image.
@Author = Alex Wallar
@Date = 17 March, 2012
-@Version = 1.0
+@Version = 1.1
@Filename = KinectJoystickMin.py
"""
-from freenect import sync_get_depth as get_depth, sync_get_video as get_video
+from freenect import sync_get_depth as get_depth, sync_get_video as get_video, init, close_device, open_device, set_led
import cv
import numpy as np
import pygame
@@ -14,9 +14,16 @@
from numpy import mean
def doloop():
+
+ #Series of commands to do pointer operations on the kinect (motor, led, accelerometer)
+ ctx = init() #Initiates device
+ mdev = open_device(ctx, 0) #Opens the device for commands
+ set_led(mdev, 1) #Sets LED to green
+ close_device(mdev #Closes device. Device must be closed immediately after usage
+
#Mean filter caches
- yList = [0,0,0,0,0]
- xList = [0,0,0,0,0]
+ yList = [0,0,0,0,0,0]
+ xList = [0,0,0,0,0,0]
#Sets color tuples
RED = (255,0,0)
