kinect/codes/Azure-Kinect-Samples/pipe-to-python-samples/pipeClientReadImages.py

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2024-03-06 18:05:53 +00:00
# NamedPipe
import win32file
import numpy as np
import os, os.path
# For visualization
import cv2
import matplotlib.pyplot as plt
# The image size of depth/ir
# Assuming depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED, change it otherwise
FRAME_WIDTH = 640
FRAME_HEIGHT = 576
BYTES_PER_PIXEL = 2
# For gray visulization
MAX_DEPTH_FOR_VIS = 8000.0
MAX_AB_FOR_VIS = 512.0
if __name__ == "__main__":
# Create pipe client
fileHandle = win32file.CreateFile("\\\\.\\pipe\\mynamedpipe",
win32file.GENERIC_READ | win32file.GENERIC_WRITE,
0, None,
win32file.OPEN_EXISTING,
0, None)
# For visualization
cv2.namedWindow('vis', cv2.WINDOW_NORMAL)
cv2.resizeWindow('vis', FRAME_WIDTH * 2, FRAME_HEIGHT)
while True:
# Send request to pipe server
request_msg = "Request depth image and ir image"
win32file.WriteFile(fileHandle, request_msg.encode())
# Read reply data, need to be in same order/size as how you write them in the pipe server in pipe_streaming_example/main.cpp
depth_data = win32file.ReadFile(fileHandle, FRAME_WIDTH * FRAME_HEIGHT * BYTES_PER_PIXEL)
ab_data = win32file.ReadFile(fileHandle, FRAME_WIDTH * FRAME_HEIGHT * BYTES_PER_PIXEL)
# Reshape for image visualization
depth_img_full = np.frombuffer(depth_data[1], dtype=np.uint16).reshape(FRAME_HEIGHT, FRAME_WIDTH).copy()
ab_img_full = np.frombuffer(ab_data[1], dtype=np.uint16).reshape(FRAME_HEIGHT, FRAME_WIDTH).copy()
depth_vis = (plt.get_cmap("gray")(depth_img_full / MAX_DEPTH_FOR_VIS)[..., :3]*255.0).astype(np.uint8)
ab_vis = (plt.get_cmap("gray")(ab_img_full / MAX_AB_FOR_VIS)[..., :3]*255.0).astype(np.uint8)
# Visualize the images
vis = np.hstack([depth_vis, ab_vis])
vis = cv2.cvtColor(vis, cv2.COLOR_BGR2RGB)
cv2.imshow("vis", vis)
key = cv2.waitKey(1)
if key == 27: # Esc key to stop
break
win32file.CloseHandle(fileHandle)