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