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#!/usr/bin/env python
"""Sweeps throught the depth image showing 100 range at a time"""
import freenect
import cv
import numpy as np
import time
cv.NamedWindow('Depth')
def disp_thresh(lower, upper):
depth, timestamp = freenect.sync_get_depth()
depth = 255 * np.logical_and(depth > lower, depth < upper)
depth = depth.astype(np.uint8)
image = cv.CreateImageHeader((depth.shape[1], depth.shape[0]),
cv.IPL_DEPTH_8U,
1)
cv.SetData(image, depth.tostring(),
depth.dtype.itemsize * depth.shape[1])
cv.ShowImage('Depth', image)
cv.WaitKey(10)
lower = 0
upper = 100
max_upper = 2048
while upper < max_upper:
print('%d < depth < %d' % (lower, upper))
disp_thresh(lower, upper)
time.sleep(.1)
lower += 20
upper += 20
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