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depth_stream.py
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from playsound import playsound
from multiprocessing import Process
import pyrealsense2 as rs
import numpy as np
import time
import math
import cv2
import os
import pygame
pygame.init()
# Create a pipeline
pipeline = rs.pipeline()
#Create a config and configure the pipeline to stream
# different resolutions of color and depth streams
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 360, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
# Start streaming
profile = pipeline.start(config)
# Getting the depth sensor's depth scale (see rs-align example for explanation)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
print("Depth Scale is: " , depth_scale)
# We will be removing the background of objects more than
# clipping_distance_in_meters meters away
clipping_distance_in_meters = 2 #1 meter
clipping_distance = clipping_distance_in_meters / depth_scale
# Create an align object
# rs.align allows us to perform alignment of depth frames to others frames
# The "align_to" is the stream type to which we plan to align depth frames.
align_to = rs.stream.color
align = rs.align(align_to)
kernel = np.ones((5,5),np.uint8)
key = 1
cx = cy = 0
lock1 = lock2 = 0
value1 = value2 = 1
def checkinRect(cx, cy, x, y):
return (x < cx+20 and x > cx-20 and y > cy-20 and y < cy+20)
time.sleep(2)
# pygame.mixer.music.load("MACHAYENGE.mp3")
# pygame.mixer.music.play()
# Streaming loop
try:
while True:
# Get frameset of color and depth
frames = pipeline.wait_for_frames()
# frames.get_depth_frame() is a 640x360 depth image
# Align the depth frame to color frame
aligned_frames = align.process(frames)
# Get aligned frames
aligned_depth_frame = aligned_frames.get_depth_frame() # aligned_depth_frame is a 640x480 depth image
color_frame = aligned_frames.get_color_frame()
# Validate that both frames are valid
if not aligned_depth_frame or not color_frame:
continue
depth_image = np.asanyarray(aligned_depth_frame.get_data())
color_image = np.asanyarray(color_frame.get_data())
# Remove background - Set pixels further than clipping_distance to grey
grey_color = 0
depth_image_3d = np.dstack((depth_image,depth_image,depth_image)) #depth image is 1 channel, color is 3 channels
bg_removed = np.where((depth_image_3d > clipping_distance) | (depth_image_3d <= 0), grey_color, color_image)
gray = cv2.cvtColor(bg_removed, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(gray, 1, 255, 0)
thresh = cv2.blur(thresh, (5,5))
# thresh = cv2.dilate(thresh,kernel,iterations=1)
thresh = cv2.morphologyEx(thresh, cv2.MORPH_OPEN, kernel)
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
colored_mask = np.zeros(color_image.shape, np.uint8)
colored_mask[:] = (0,255,0)
try:
areas = [cv2.contourArea(c) for c in contours]
max_index = np.argmax(areas)
cnt = contours[max_index]
M = cv2.moments(cnt)
if(key==1):
cx = 320; cy = 240; dist = 220
x1 = int(cx - dist * 0.500) - 50; y1 = int(cy + dist * 0.866)
x2 = int(cx - dist * 0.939) - 50; y2 = int(cy + dist * 0.342);
x3 = int(cx - dist * 0.939) - 50; y3 = int(cy - dist * 0.342);
x4 = int(cx - dist * 0.500) - 50; y4 = int(cy - dist * 0.866);
x5 = int(cx + dist * 0.500) + 50; y5 = int(cy + dist * 0.866)
x6 = int(cx + dist * 0.939) + 50; y6 = int(cy + dist * 0.342);
x7 = int(cx + dist * 0.939) + 50; y7 = int(cy - dist * 0.342);
x8 = int(cx + dist * 0.500) + 50; y8 = int(cy - dist * 0.866);
key = 0
extLeft = tuple(cnt[cnt[:, :, 0].argmin()][0])
extRight = tuple(cnt[cnt[:, :, 0].argmax()][0])
hull = []
hull.append(cv2.convexHull(cnt, False))
color_image = cv2.bitwise_and(colored_mask, colored_mask, mask=thresh)
cv2.rectangle(color_image,(extLeft[0]-20,extLeft[1]-20),(extLeft[0]+20,extLeft[1]+20),(0,0,255),2)
cv2.rectangle(color_image,(extRight[0]-20,extRight[1]-20),(extRight[0]+20,extRight[1]+20),(0,0,255),2)
cv2.circle(color_image,(x1,y1), 20, (0,0,255), 2)
cv2.circle(color_image,(x2,y2), 20, (0,0,255), 2)
cv2.circle(color_image,(x3,y3), 20, (0,0,255), 2)
cv2.circle(color_image,(x4,y4), 20, (0,0,255), 2)
cv2.circle(color_image,(x5,y5), 20, (0,0,255), 2)
cv2.circle(color_image,(x6,y6), 20, (0,0,255), 2)
cv2.circle(color_image,(x7,y7), 20, (0,0,255), 2)
cv2.circle(color_image,(x8,y8), 20, (0,0,255), 2)
cv2.drawContours(color_image, hull, -1, (255,255,255), 3)
cv2.imshow('Align Example', color_image)
if(checkinRect(x3,y3,extLeft[0],extLeft[1])):
lock1 = 1 ; lock2 = 0 ; value2 = 1
print "Lock3 acquired"
if(checkinRect(x2,y2,extLeft[0],extLeft[1])):
lock1 = 0 ; lock2 = 1 ; value1 = 1
print "Lock2 acquired"
if(lock1 == 1 and value1 == 1):
value1 = 0
pygame.mixer.music.load("2.mp3")
pygame.mixer.music.play()
if(lock2 == 1 and value2 == 1):
value2 = 0
pygame.mixer.music.load("2.mp3")
pygame.mixer.music.play()
except:
cv2.namedWindow('Align Example', cv2.WINDOW_AUTOSIZE)
key = cv2.waitKey(1)
# Press esc or 'q' to close the image window
if key & 0xFF == ord('q') or key == 27:
cv2.destroyAllWindows()
break
finally:
pipeline.stop()