mirror of
https://github.com/Astatin3/fabric-point-cloud.git
synced 2026-06-09 00:28:05 -06:00
Astatin3
71 lines
2.0 KiB
Python
71 lines
2.0 KiB
Python
from threading import Thread
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import cv2
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import numpy as np
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import ktb
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import open3d as o3d
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import math
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import skeleton
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# vis = o3d.visualization.Visualizer()
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# vis.create_window()
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# reconstruction = o3d.geometry.PointCloud()
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# reconstruction.points = o3d.utility.Vector3dVector(np.random.rand(2, 3))
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# vis.add_geometry(reconstruction)
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running = True
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def run_loop():
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k = ktb.Kinect()
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import socket
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clientsocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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clientsocket.connect(('localhost', 65000))
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print("Connected!")
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while running:
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points, colors = k.get_ptcld(colorized=True, scale=10)
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mask = skeleton.calc_mask(k.get_frame(ktb.DEPTH), cv2.cvtColor(k.get_frame(ktb.COLOR), cv2.COLOR_BGR2RGB))
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cv2.imshow('Person Mask', mask * 255)
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cv2.waitKey(1)
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# mask = mask.flatten().reshape((-1, 1))
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mask = mask.flatten().astype(bool)
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points = points.reshape((-1, 3))
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points = points[mask]
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if points.shape[0] == 0:
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continue
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skip_count = math.ceil(points.shape[0]/2000)
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points = points[0::skip_count]
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points = np.trunc(points).astype(int)
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colors = colors.reshape((-1, 3))
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colors = colors[mask]
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colors = colors[0::skip_count]
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colors *= 256
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colors = np.trunc(colors).astype(int)
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# reconstruction.points = o3d.utility.Vector3dVector(points)
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# reconstruction.colors = o3d.utility.Vector3dVector(colors)
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# vis.update_geometry(reconstruction)
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for i in range(len(points)):
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point = points[i]
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color = colors[i]
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clientsocket.send(f'{i},{point[0]},{point[1]},{point[2]},{color[0]},{color[1]},{color[2]}\n'.encode())
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# print(f'{i},{(point[0])},{(point[1])},{(point[2])},{color[0]},{color[1]},{color[2]}')
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print("Update!")
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t = Thread(target=run_loop)
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t.start()
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# while running:
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# running = vis.poll_events()
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# vis.update_renderer()
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t.join()
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skeleton.pose.close() |