frontend/kinect.py: script for live capture and triggering inference

frontend/kinect.py

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+import subprocess
+
+import freenect
+import numpy as np
+from cv2 import cv2
+from time import sleep
+
+
+# init kinect
+mdev = freenect.open_device(freenect.init(), 0)
+freenect.set_depth_mode(mdev, freenect.RESOLUTION_MEDIUM, freenect.DEPTH_11BIT)
+# freenect.set_video_mode(mdev, freenect.RESOLUTION_MEDIUM, freenect.VIDEO_IR_8BIT)
+freenect.set_video_mode(mdev, freenect.RESOLUTION_HIGH, freenect.VIDEO_IR_8BIT)
+
+keep_running = True
+
+
+def save_ir(dev, data, timestamp):
+    data = np.dstack((data, data, data)).astype(np.uint8)
+    diff = (512 - 480) // 2
+    downsampled = cv2.pyrDown(data)
+    data = downsampled[diff:downsampled.shape[0] - diff, 0:downsampled.shape[1]]
+
+    cv2.imwrite('kinect_ir.png', data)
+
+    print('reading pid')
+    with open('frontend.pid', 'r') as f:
+        subprocess.run(['kill', '-USR1', f.read()])
+        print('sending signal')
+    sleep(1)
+
+
+def body(*args):
+    if not keep_running:
+        raise freenect.Kill
+
+
+freenect.runloop(
+    # depth=display_depth,
+    depth=None,
+    video=save_ir,
+    body=body,
+    dev=mdev,
+)