orbbec_opencv_v4.py

import cv2
import numpy as np
import time
import argparse
from openni import openni2
from openni import _openni2 as c_api
# python 2

# Create the parser
parser = argparse.ArgumentParser()

# Add an argument
parser.add_argument('--filename', type=str, required=True)
parser.add_argument('--duration', type=int, required=True)

# Parse the argument
args = parser.parse_args()


def main():
    fps = 30
    width = 640
    height = 480
    mirroring = True
    compression = False
    # duration = 3  # in sec
    # fname = 'orbbec'

    # Initialize the depth device
    openni2.initialize()
    dev = openni2.Device.open_any()
    if dev.has_sensor(openni2.SENSOR_COLOR):
        print("Color Stream found")
    else:
        print("No Color Stream found")

    # Start the depth stream
    depth_stream = dev.create_depth_stream()
    depth_stream.set_mirroring_enabled(mirroring)

    dev.set_image_registration_mode(True)
    dev.set_depth_color_sync_enabled(True)
    depth_stream.set_video_mode(c_api.OniVideoMode(pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_100_UM,
                                                   resolutionX=width, resolutionY=height, fps=fps))
    depth_stream.start()

    # Start the color stream
    color_stream = dev.create_color_stream()
    color_stream.set_mirroring_enabled(mirroring)
    color_stream.set_video_mode(c_api.OniVideoMode(pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_RGB888,
                                                   resolutionX=width, resolutionY=height, fps=fps))
    color_stream.start()

    # Function to return some pixel information when the OpenCV window is clicked
    # refPt = []
    # selecting = False

    # Initial OpenCV Window Functions
    # cv2.namedWindow("Depth Image")
    # cv2.setMouseCallback("Depth Image", point_and_shoot)

    rec = openni2.Recorder((args.filename + ".oni").encode('utf-8'))
    rec.attach(depth_stream, compression)
    rec.attach(color_stream, compression)
    rec.start()

    prev_time = 0
    start = time.time()
    print('Orbbec time: ' + str(prev_time))

    while time.time() - start < args.duration:
        if round(time.time() - start, 1) % 0.5 == 0 and round(time.time() - start, 1) != prev_time:
            prev_time = round(time.time() - start, 1)
            print('Orbbec time: ' + str(prev_time))

    # while True:
    #     if time.time() - start >= args.duration:
    #         break

        # Grab a new depth frame
        # frame = depth_stream.read_frame()
        # frame_data = frame.get_buffer_as_uint16()
        # # Put the depth frame into a numpy array and reshape it
        # img = np.frombuffer(frame_data, dtype=np.uint16)
        # img.shape = (1, 480, 640)
        # img = np.concatenate((img, img, img), axis=0)
        # img = np.swapaxes(img, 0, 2)
        # img = np.swapaxes(img, 0, 1)

        # if len(refPt) > 1:
        #     img = img.copy()
        #     cv2.rectangle(img, refPt[0], refPt[1], (0, 255, 0), 2)

        # Display the reshaped depth frame using OpenCV
        # cv2.imshow("Depth Image", img)
        # key = cv2.waitKey(1) & 0xFF

        # If the 'c' key is pressed, break the while loop
        # if key == ord("c"):
        #     break

    # Close all windows and unload the depth device
    openni2.unload()
    # time.sleep(1)
    # rec.stop()
    # depth_stream.stop()
    # color_stream.stop()
    # cv2.destroyAllWindows()


if __name__ == '__main__':
    main()