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https://github.com/Astatin3/3Dscan.git
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Astatin3
109 lines
2.6 KiB
Python
109 lines
2.6 KiB
Python
from freenect2 import Device, FrameType
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import psutil
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import cv2
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import open3d as o3d
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import numpy as np
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from threading import Thread
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from copy import deepcopy
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voxel_size = 0.005
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vis = o3d.visualization.Visualizer()
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vis.create_window(height=480, width=640)
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reconstruction = o3d.geometry.PointCloud()
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reconstruction.points = o3d.utility.Vector3dVector(np.random.random((5, 3)))
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vis.add_geometry(reconstruction)
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threads = []
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def parse_frame(depth_frame, color_frame):
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global reconstruction
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undistorted, registered, big_depth = device.registration.apply(depth_frame,
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color_frame,
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with_big_depth=True)
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cv2.imshow("1", np.array(registered.to_image()))
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# points = device.registration.get_points_xyz_array(undistorted)
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# points = points[~np.isnan(points).any(axis=2)]
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# points = points.reshape(-1, 3) / 5
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# print(points.shape)
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# if np.isnan(points).any():
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# print("nan")
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# return
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#
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# reconstruction.points = o3d.utility.Vector3dVector(points)
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# vis.update_geometry(reconstruction)
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print("123")
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# global threads
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# threads.pop(thread_index)
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running = True
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device = Device()
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depth_frame = None
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color_frame = None
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n_cpus = psutil.cpu_count()
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with device.running():
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for type_, frame in device:
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if type_ == FrameType.Depth:
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depth_frame = frame
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elif type_ == FrameType.Color:
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color_frame = frame
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if depth_frame is not None and \
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color_frame is not None:
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#
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if len(threads) > 100:
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depth_frame = None
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color_frame = None
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continue
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undistorted, registered, big_depth = device.registration.apply(depth_frame,
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color_frame,
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with_big_depth=True)
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cv2.imshow('Grayscale', np.array(registered.to_image()))
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# cv2.imshow("1", np.array(registered.to_image()))
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# thread = Thread(target=parse_frame, args=(depth_frame, color_frame))
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# threads.append(thread)
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# thread.start()
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#
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# print(len(threads))
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#
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# depth_frame = None
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# color_frame = None
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if not vis.poll_events():
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break
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vis.update_renderer()
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vis.close()
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running = False
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print("joining threads...")
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for thread in threads:
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thread.join() |