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#!/usr/bin/env python
import freenect
import cv
import frame_convert
import numpy as np
threshold = 100
current_depth = 0
def change_threshold(value):
global threshold
threshold = value
def change_depth(value):
global current_depth
current_depth = value
def show_depth():
global threshold
global current_depth
depth, timestamp = freenect.sync_get_depth()
depth = 255 * np.logical_and(depth >= current_depth - threshold,
depth <= current_depth + threshold)
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)
def show_video():
cv.ShowImage('Video', frame_convert.video_cv(freenect.sync_get_video()[0]))
cv.NamedWindow('Depth')
cv.NamedWindow('Video')
cv.CreateTrackbar('threshold', 'Depth', threshold, 500, change_threshold)
cv.CreateTrackbar('depth', 'Depth', current_depth, 2048, change_depth)
print('Press ESC in window to stop')
while 1:
show_depth()
show_video()
if cv.WaitKey(10) == 27:
break
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