├── .DS_Store
├── LICENSE.txt
├── PyKinect2.pyproj
├── PyKinect2.sln
├── README.md
├── examples
    ├── PyKinectBodyGame.py
    ├── __init__.py
    ├── pointer.png
    └── right_hand_filtered.png
├── pykinect2
    ├── PyKinectRuntime.py
    ├── PyKinectV2.py
    └── __init__.py
└── setup.py


/.DS_Store:
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https://raw.githubusercontent.com/abhirajD/PyKinect/2aed4ff72111f1ec770f8488c820cf84484274f7/.DS_Store


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/LICENSE.txt:
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 1 | The MIT License (MIT)
 2 | 
 3 | Copyright (c) Microsoft
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.


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/PyKinect2.pyproj:
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 1 | <?xml version="1.0" encoding="utf-8"?>
 2 | <Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="4.0">
 3 |   <PropertyGroup>
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 5 |     <SchemaVersion>2.0</SchemaVersion>
 6 |     <ProjectGuid>862156b9-96a7-4f85-bb66-b7ec70418cf7</ProjectGuid>
 7 |     <ProjectHome>.</ProjectHome>
 8 |     <StartupFile>pykinect2/PyKinectBodyGame.py</StartupFile>
 9 |     <SearchPath>
10 |     </SearchPath>
11 |     <WorkingDirectory>.</WorkingDirectory>
12 |     <OutputPath>.</OutputPath>
13 |     <Name>PyKinect2</Name>
14 |     <RootNamespace>PyKinect2</RootNamespace>
15 |     <IsWindowsApplication>False</IsWindowsApplication>
16 |   </PropertyGroup>
17 |   <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
18 |     <DebugSymbols>true</DebugSymbols>
19 |     <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
20 |   </PropertyGroup>
21 |   <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
22 |     <DebugSymbols>true</DebugSymbols>
23 |     <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
24 |   </PropertyGroup>
25 |   <ItemGroup>
26 |     <Compile Include="pykinect2/examples/PyKinectBodyGame.py" />
27 |     <Compile Include="pykinect2/PyKinectRuntime.py" />
28 |     <Compile Include="pykinect2/PyKinectV2.py" />
29 |   </ItemGroup>
30 |   <ItemGroup>
31 |     <Content Include="README.md" />
32 |   </ItemGroup>
33 |   <PropertyGroup>
34 |     <VisualStudioVersion Condition="'$(VisualStudioVersion)' == ''">10.0</VisualStudioVersion>
35 |     <PtvsTargetsFile>$(MSBuildExtensionsPath32)\Microsoft\VisualStudio\v$(VisualStudioVersion)\Python Tools\Microsoft.PythonTools.targets</PtvsTargetsFile>
36 |   </PropertyGroup>
37 |   <Import Condition="Exists($(PtvsTargetsFile))" Project="$(PtvsTargetsFile)" />
38 |   <Import Condition="!Exists($(PtvsTargetsFile))" Project="$(MSBuildToolsPath)\Microsoft.Common.targets" />
39 |   <!-- Uncomment the CoreCompile target to enable the Build command in
40 |        Visual Studio and specify your pre- and post-build commands in
41 |        the BeforeBuild and AfterBuild targets below. -->
42 |   <!--<Target Name="CoreCompile" />-->
43 |   <Target Name="BeforeBuild">
44 |   </Target>
45 |   <Target Name="AfterBuild">
46 |   </Target>
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 1 | 
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 3 | # Visual Studio 14
 4 | VisualStudioVersion = 14.0.22609.0
 5 | MinimumVisualStudioVersion = 10.0.40219.1
 6 | Project("{888888A0-9F3D-457C-B088-3A5042F75D52}") = "PyKinect2", "PyKinect2.pyproj", "{862156B9-96A7-4F85-BB66-B7EC70418CF7}"
 7 | EndProject
 8 | Global
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10 | 		Debug|Any CPU = Debug|Any CPU
11 | 		Release|Any CPU = Release|Any CPU
12 | 	EndGlobalSection
13 | 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
14 | 		{862156B9-96A7-4F85-BB66-B7EC70418CF7}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
15 | 		{862156B9-96A7-4F85-BB66-B7EC70418CF7}.Release|Any CPU.ActiveCfg = Release|Any CPU
16 | 	EndGlobalSection
17 | 	GlobalSection(SolutionProperties) = preSolution
18 | 		HideSolutionNode = FALSE
19 | 	EndGlobalSection
20 | EndGlobal
21 | 


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/README.md:
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 1 | # PyKinect2
 2 | 
 3 | Enables writing Kinect applications, games, and experiences using Python.  Inspired by the original [PyKinect project on CodePlex](http://pytools.codeplex.com/wikipage?title=PyKinect).
 4 | 
 5 | Only color, depth, body and body index frames are supported in this version. 
 6 | PyKinectBodyGame is a sample game. It demonstrates how to use Kinect color and body frames.
 7 | 
 8 | 
 9 | ## Prerequisites
10 | 
11 | The easiest way to get most of the pre-requisites is to use Anaconda which includes NumPy.  You'll then need to pip install comtypes.  The PyKinectBodyGame sample requires PyGame which needs to be manually installed.
12 | 
13 | 1. Download [Anaconda](https://store.continuum.io/cshop/anaconda/) get the 32-bit version.  This includes NumPy.
14 | 2. pip install comtypes
15 | 3. Install the [Kinect for Windows SDK v2](http://aka.ms/k4wv2sdk)
16 | 
17 | Full List of Dependencies
18 | * [Python 2.7.x or 3.4 and higher](https://www.python.org/)  
19 | * [NumPy](http://www.numpy.org/) 
20 | * [comtypes](https://github.com/enthought/comtypes/) 
21 | * [Kinect for Windows SDK v2](http://aka.ms/k4wv2sdk)
22 | * [Kinect v2 sensor and adapter](http://aka.ms/k4wv2purchase) Note:  you can use a Kinect for Xbox One as long as you also have the Kinect Adapter for Windows
23 | * [PyGame](http://www.pygame.org) - for running PyKinectBodyGame sample 
24 | 
25 | 
26 |   ![Game](http://www.brekel.com/wp-content/uploads/2013/05/kinect2_5people.jpg)
27 | 
28 | 
29 | ## Installation
30 | 
31 | The package can be installed through pip using the usual means:
32 | ```
33 | pip install pykinect2
34 | ````
35 | If you are using a virtual environment, be sure to activate it first.
36 | 
37 | For more information, please see https://pip.pypa.io/en/latest/user_guide.html#installing-packages
38 | 
39 | 
40 | ## Installation (Manual)
41 | 
42 | To install the package manually, clone this repository to a local folder and include it in the appropriate python environment. If installing in a virtual environment, be sure to install all required dependencies (above).
43 | 
44 | For example:
45 | ```
46 | cd c:\projects\myproject\env\
47 | /Scripts/activate.bat
48 | 
49 | easy_install -a c:\projects\downloads\PyKinect2
50 | ```
51 | After installation is complete, you can launch the interactive python shell and `import pykinect2` to ensure everything has been installed properly.
52 | 
53 | Core helper classes for working with the Kinect sensor are located in PyKinectRuntime.py. For usage examples, please see /examples/PyKinectBodyGame.py.
54 | 


--------------------------------------------------------------------------------
/examples/PyKinectBodyGame.py:
--------------------------------------------------------------------------------
  1 | from pykinect2 import PyKinectV2
  2 | from pykinect2.PyKinectV2 import *
  3 | from pykinect2 import PyKinectRuntime
  4 | 
  5 | import ctypes
  6 | import _ctypes
  7 | import pygame
  8 | import sys
  9 | 
 10 | if sys.hexversion >= 0x03000000:
 11 |     import _thread as thread
 12 | else:
 13 |     import thread
 14 | 
 15 | # colors for drawing different bodies 
 16 | SKELETON_COLORS = [pygame.color.THECOLORS["red"], 
 17 |                   pygame.color.THECOLORS["blue"], 
 18 |                   pygame.color.THECOLORS["green"], 
 19 |                   pygame.color.THECOLORS["orange"], 
 20 |                   pygame.color.THECOLORS["purple"], 
 21 |                   pygame.color.THECOLORS["yellow"], 
 22 |                   pygame.color.THECOLORS["violet"]]
 23 | 
 24 | 
 25 | class BodyGameRuntime(object):
 26 |     def __init__(self):
 27 |         pygame.init()
 28 | 
 29 |         # Used to manage how fast the screen updates
 30 |         self._clock = pygame.time.Clock()
 31 | 
 32 |         # Set the width and height of the screen [width, height]
 33 |         self._infoObject = pygame.display.Info()
 34 |         self._screen = pygame.display.set_mode((self._infoObject.current_w >> 1, self._infoObject.current_h >> 1), 
 35 |                                                pygame.HWSURFACE|pygame.DOUBLEBUF|pygame.RESIZABLE, 32)
 36 | 
 37 |         pygame.display.set_caption("Kinect for Windows v2 Body Game")
 38 | 
 39 |         # Loop until the user clicks the close button.
 40 |         self._done = False
 41 | 
 42 |         # Used to manage how fast the screen updates
 43 |         self._clock = pygame.time.Clock()
 44 | 
 45 |         # Kinect runtime object, we want only color and body frames 
 46 |         self._kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Color | PyKinectV2.FrameSourceTypes_Body)
 47 | 
 48 |         # back buffer surface for getting Kinect color frames, 32bit color, width and height equal to the Kinect color frame size
 49 |         self._frame_surface = pygame.Surface((self._kinect.color_frame_desc.Width, self._kinect.color_frame_desc.Height), 0, 32)
 50 | 
 51 |         # here we will store skeleton data 
 52 |         self._bodies = None
 53 | 
 54 | 
 55 |     def draw_body_bone(self, joints, jointPoints, color, joint0, joint1):
 56 |         joint0State = joints[joint0].TrackingState;
 57 |         joint1State = joints[joint1].TrackingState;
 58 | 
 59 |         # both joints are not tracked
 60 |         if (joint0State == PyKinectV2.TrackingState_NotTracked) or (joint1State == PyKinectV2.TrackingState_NotTracked): 
 61 |             return
 62 | 
 63 |         # both joints are not *really* tracked
 64 |         if (joint0State == PyKinectV2.TrackingState_Inferred) and (joint1State == PyKinectV2.TrackingState_Inferred):
 65 |             return
 66 | 
 67 |         # ok, at least one is good 
 68 |         start = (jointPoints[joint0].x, jointPoints[joint0].y)
 69 |         end = (jointPoints[joint1].x, jointPoints[joint1].y)
 70 | 
 71 |         try:
 72 |             pygame.draw.line(self._frame_surface, color, start, end, 8)
 73 |         except: # need to catch it due to possible invalid positions (with inf)
 74 |             pass
 75 | 
 76 |     def draw_body(self, joints, jointPoints, color):
 77 |         # Torso
 78 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_Head, PyKinectV2.JointType_Neck);
 79 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_Neck, PyKinectV2.JointType_SpineShoulder);
 80 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_SpineMid);
 81 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineMid, PyKinectV2.JointType_SpineBase);
 82 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_ShoulderRight);
 83 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineShoulder, PyKinectV2.JointType_ShoulderLeft);
 84 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineBase, PyKinectV2.JointType_HipRight);
 85 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_SpineBase, PyKinectV2.JointType_HipLeft);
 86 |     
 87 |         # Right Arm    
 88 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ShoulderRight, PyKinectV2.JointType_ElbowRight);
 89 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ElbowRight, PyKinectV2.JointType_WristRight);
 90 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristRight, PyKinectV2.JointType_HandRight);
 91 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HandRight, PyKinectV2.JointType_HandTipRight);
 92 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristRight, PyKinectV2.JointType_ThumbRight);
 93 | 
 94 |         # Left Arm
 95 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ShoulderLeft, PyKinectV2.JointType_ElbowLeft);
 96 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_ElbowLeft, PyKinectV2.JointType_WristLeft);
 97 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristLeft, PyKinectV2.JointType_HandLeft);
 98 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HandLeft, PyKinectV2.JointType_HandTipLeft);
 99 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_WristLeft, PyKinectV2.JointType_ThumbLeft);
100 | 
101 |         # Right Leg
102 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HipRight, PyKinectV2.JointType_KneeRight);
103 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_KneeRight, PyKinectV2.JointType_AnkleRight);
104 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_AnkleRight, PyKinectV2.JointType_FootRight);
105 | 
106 |         # Left Leg
107 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_HipLeft, PyKinectV2.JointType_KneeLeft);
108 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_KneeLeft, PyKinectV2.JointType_AnkleLeft);
109 |         self.draw_body_bone(joints, jointPoints, color, PyKinectV2.JointType_AnkleLeft, PyKinectV2.JointType_FootLeft);
110 | 
111 | 
112 |     def draw_color_frame(self, frame, target_surface):
113 |         target_surface.lock()
114 |         address = self._kinect.surface_as_array(target_surface.get_buffer())
115 |         ctypes.memmove(address, frame.ctypes.data, frame.size)
116 |         del address
117 |         target_surface.unlock()
118 | 
119 |     def run(self):
120 |         # -------- Main Program Loop -----------
121 |         while not self._done:
122 |             # --- Main event loop
123 |             for event in pygame.event.get(): # User did something
124 |                 if event.type == pygame.QUIT: # If user clicked close
125 |                     self._done = True # Flag that we are done so we exit this loop
126 | 
127 |                 elif event.type == pygame.VIDEORESIZE: # window resized
128 |                     self._screen = pygame.display.set_mode(event.dict['size'], 
129 |                                                pygame.HWSURFACE|pygame.DOUBLEBUF|pygame.RESIZABLE, 32)
130 |                     
131 |             # --- Game logic should go here
132 | 
133 |             # --- Getting frames and drawing  
134 |             # --- Woohoo! We've got a color frame! Let's fill out back buffer surface with frame's data 
135 |             if self._kinect.has_new_color_frame():
136 |                 frame = self._kinect.get_last_color_frame()
137 |                 self.draw_color_frame(frame, self._frame_surface)
138 |                 frame = None
139 | 
140 |             # --- Cool! We have a body frame, so can get skeletons
141 |             if self._kinect.has_new_body_frame(): 
142 |                 self._bodies = self._kinect.get_last_body_frame()
143 | 
144 |             # --- draw skeletons to _frame_surface
145 |             if self._bodies is not None: 
146 |                 for i in range(0, self._kinect.max_body_count):
147 |                     body = self._bodies.bodies[i]
148 |                     if not body.is_tracked: 
149 |                         continue 
150 |                     
151 |                     joints = body.joints 
152 |                     # convert joint coordinates to color space 
153 |                     joint_points = self._kinect.body_joints_to_color_space(joints)
154 |                     self.draw_body(joints, joint_points, SKELETON_COLORS[i])
155 | 
156 |             # --- copy back buffer surface pixels to the screen, resize it if needed and keep aspect ratio
157 |             # --- (screen size may be different from Kinect's color frame size) 
158 |             h_to_w = float(self._frame_surface.get_height()) / self._frame_surface.get_width()
159 |             target_height = int(h_to_w * self._screen.get_width())
160 |             surface_to_draw = pygame.transform.scale(self._frame_surface, (self._screen.get_width(), target_height));
161 |             self._screen.blit(surface_to_draw, (0,0))
162 |             surface_to_draw = None
163 |             pygame.display.update()
164 | 
165 |             # --- Go ahead and update the screen with what we've drawn.
166 |             pygame.display.flip()
167 | 
168 |             # --- Limit to 60 frames per second
169 |             self._clock.tick(60)
170 | 
171 |         # Close our Kinect sensor, close the window and quit.
172 |         self._kinect.close()
173 |         pygame.quit()
174 | 
175 | 
176 | __main__ = "Kinect v2 Body Game"
177 | game = BodyGameRuntime();
178 | game.run();
179 | 
180 | 


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/examples/__init__.py:
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https://raw.githubusercontent.com/abhirajD/PyKinect/2aed4ff72111f1ec770f8488c820cf84484274f7/examples/__init__.py


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230 |       <summary class="HeaderNavlink name mt-1"
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239 |           Signed in as <strong class="css-truncate-target">abhirajD</strong>
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322 |                 Unwatch
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326 |             href="/abhirajD/PyKubed/watchers"
327 |             aria-label="1 user is watching this repository">
328 |             1
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335 |               <span class="select-menu-title">Notifications</span>
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385 |   </li>
386 | 
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398 |         Unstar
399 |       </button>
400 |         <a class="social-count js-social-count" href="/abhirajD/PyKubed/stargazers"
401 |            aria-label="1 user starred this repository">
402 |           1
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407 |       <button
408 |         type="submit"
409 |         class="btn btn-sm btn-with-count js-toggler-target"
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602 | 
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604 |   <div class="commit-tease">
605 |       <span class="float-right">
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607 |           3f14818
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609 |         <relative-time datetime="2016-02-19T08:37:23Z">Feb 19, 2016</relative-time>
610 |       </span>
611 |       <div>
612 |         <img alt="@abhirajD" class="avatar" height="20" src="https://avatars2.githubusercontent.com/u/1911084?s=40&amp;v=4" width="20" />
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614 |           <a href="/abhirajD/PyKubed/commit/3f148183a7bee8d0d9aa910b01d4407b671ed941" class="message" data-pjax="true" title="Reorganized stuff">Reorganized stuff</a>
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627 |       <ul class="facebox-user-list" data-facebox-id="facebox-description">
628 |           <li class="facebox-user-list-item">
629 |             <img alt="@abhirajD" height="24" src="https://avatars3.githubusercontent.com/u/1911084?s=48&amp;v=4" width="24" />
630 |             <a href="/abhirajD">abhirajD</a>
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661 |     532 Bytes
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195 |       <ul class="dropdown-menu dropdown-menu-sw">
196 |         
197 | <a class="dropdown-item" href="/new" data-ga-click="Header, create new repository">
198 |   New repository
199 | </a>
200 | 
201 |   <a class="dropdown-item" href="/new/import" data-ga-click="Header, import a repository">
202 |     Import repository
203 |   </a>
204 | 
205 | <a class="dropdown-item" href="https://gist.github.com/" data-ga-click="Header, create new gist">
206 |   New gist
207 | </a>
208 | 
209 |   <a class="dropdown-item" href="/organizations/new" data-ga-click="Header, create new organization">
210 |     New organization
211 |   </a>
212 | 
213 | 
214 | 
215 |   <div class="dropdown-divider"></div>
216 |   <div class="dropdown-header">
217 |     <span title="abhirajD/PyKubed">This repository</span>
218 |   </div>
219 |     <a class="dropdown-item" href="/abhirajD/PyKubed/issues/new" data-ga-click="Header, create new issue">
220 |       New issue
221 |     </a>
222 | 
223 |       </ul>
224 |     </details>
225 |   </li>
226 | 
227 |   <li class="dropdown js-menu-container">
228 | 
229 |     <details class="dropdown-details details-reset js-dropdown-details d-flex pl-2 flex-items-center">
230 |       <summary class="HeaderNavlink name mt-1"
231 |         aria-label="View profile and more"
232 |         data-ga-click="Header, show menu, icon:avatar">
233 |         <img alt="@abhirajD" class="avatar float-left mr-1" src="https://avatars2.githubusercontent.com/u/1911084?s=40&amp;v=4" height="20" width="20">
234 |         <span class="dropdown-caret"></span>
235 |       </summary>
236 | 
237 |       <ul class="dropdown-menu dropdown-menu-sw">
238 |         <li class="dropdown-header header-nav-current-user css-truncate">
239 |           Signed in as <strong class="css-truncate-target">abhirajD</strong>
240 |         </li>
241 | 
242 |         <li class="dropdown-divider"></li>
243 | 
244 |         <li><a class="dropdown-item" href="/abhirajD" data-ga-click="Header, go to profile, text:your profile">
245 |           Your profile
246 |         </a></li>
247 |         <li><a class="dropdown-item" href="/abhirajD?tab=stars" data-ga-click="Header, go to starred repos, text:your stars">
248 |           Your stars
249 |         </a></li>
250 |           <li><a class="dropdown-item" href="https://gist.github.com/" data-ga-click="Header, your gists, text:your gists">Your gists</a></li>
251 | 
252 |         <li class="dropdown-divider"></li>
253 | 
254 |         <li><a class="dropdown-item" href="https://help.github.com" data-ga-click="Header, go to help, text:help">
255 |           Help
256 |         </a></li>
257 | 
258 |         <li><a class="dropdown-item" href="/settings/profile" data-ga-click="Header, go to settings, icon:settings">
259 |           Settings
260 |         </a></li>
261 | 
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263 |           <button type="submit" class="dropdown-item dropdown-signout" data-ga-click="Header, sign out, icon:logout">
264 |             Sign out
265 |           </button>
266 |         </form></li>
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268 |     </details>
269 |   </li>
270 | </ul>
271 | 
272 | 
273 | 
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275 |           <button type="submit" class="dropdown-item dropdown-signout" data-ga-click="Header, sign out, icon:logout">
276 |             Sign out
277 |           </button>
278 | </form>      </div>
279 |     </div>
280 |   </div>
281 | </header>
282 | 
283 |       
284 | 
285 |   </div>
286 | 
287 |   <div id="start-of-content" class="show-on-focus"></div>
288 | 
289 |     <div id="js-flash-container">
290 | </div>
291 | 
292 | 
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295 |         <div itemscope itemtype="http://schema.org/SoftwareSourceCode" class="">
296 |     <div id="js-repo-pjax-container" data-pjax-container >
297 |       
298 | 
299 | 
300 | 
301 | 
302 | 
303 | 
304 | 
305 |   <div class="pagehead repohead instapaper_ignore readability-menu experiment-repo-nav  ">
306 |     <div class="repohead-details-container clearfix container">
307 | 
308 |       <ul class="pagehead-actions">
309 |   <li>
310 |         <!-- '"` --><!-- </textarea></xmp> --></option></form><form accept-charset="UTF-8" action="/notifications/subscribe" class="js-social-container" data-autosubmit="true" data-remote="true" method="post"><div style="margin:0;padding:0;display:inline"><input name="utf8" type="hidden" value="&#x2713;" /><input name="authenticity_token" type="hidden" value="Zy01FndnE82iwSyWb0nlbDVAR4d+TBzK3BXcWcT2vK2UWVYNpJ3NBD+n2tj1K7iAUoUh9c2jGC4iey2QJJh/Rw==" /></div>      <input class="form-control" id="repository_id" name="repository_id" type="hidden" value="61204213" />
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313 |           <a href="/abhirajD/PyKubed/subscription"
314 |             class="btn btn-sm btn-with-count select-menu-button js-menu-target"
315 |             role="button"
316 |             aria-haspopup="true"
317 |             aria-expanded="false"
318 |             aria-label="Toggle repository notifications menu"
319 |             data-ga-click="Repository, click Watch settings, action:blob#show">
320 |             <span class="js-select-button">
321 |                 <svg aria-hidden="true" class="octicon octicon-eye" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M8.06 2C3 2 0 8 0 8s3 6 8.06 6C13 14 16 8 16 8s-3-6-7.94-6zM8 12c-2.2 0-4-1.78-4-4 0-2.2 1.8-4 4-4 2.22 0 4 1.8 4 4 0 2.22-1.78 4-4 4zm2-4c0 1.11-.89 2-2 2-1.11 0-2-.89-2-2 0-1.11.89-2 2-2 1.11 0 2 .89 2 2z"/></svg>
322 |                 Unwatch
323 |             </span>
324 |           </a>
325 |           <a class="social-count js-social-count"
326 |             href="/abhirajD/PyKubed/watchers"
327 |             aria-label="1 user is watching this repository">
328 |             1
329 |           </a>
330 | 
331 |         <div class="select-menu-modal-holder">
332 |           <div class="select-menu-modal subscription-menu-modal js-menu-content">
333 |             <div class="select-menu-header js-navigation-enable" tabindex="-1">
334 |               <svg aria-label="Close" class="octicon octicon-x js-menu-close" height="16" role="img" version="1.1" viewBox="0 0 12 16" width="12"><path fill-rule="evenodd" d="M7.48 8l3.75 3.75-1.48 1.48L6 9.48l-3.75 3.75-1.48-1.48L4.52 8 .77 4.25l1.48-1.48L6 6.52l3.75-3.75 1.48 1.48z"/></svg>
335 |               <span class="select-menu-title">Notifications</span>
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340 |                 <div class="select-menu-item js-navigation-item " role="menuitem" tabindex="0">
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342 |                   <div class="select-menu-item-text">
343 |                     <input id="do_included" name="do" type="radio" value="included" />
344 |                     <span class="select-menu-item-heading">Not watching</span>
345 |                     <span class="description">Be notified when participating or @mentioned.</span>
346 |                     <span class="js-select-button-text hidden-select-button-text">
347 |                       <svg aria-hidden="true" class="octicon octicon-eye" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M8.06 2C3 2 0 8 0 8s3 6 8.06 6C13 14 16 8 16 8s-3-6-7.94-6zM8 12c-2.2 0-4-1.78-4-4 0-2.2 1.8-4 4-4 2.22 0 4 1.8 4 4 0 2.22-1.78 4-4 4zm2-4c0 1.11-.89 2-2 2-1.11 0-2-.89-2-2 0-1.11.89-2 2-2 1.11 0 2 .89 2 2z"/></svg>
348 |                       Watch
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350 |                   </div>
351 |                 </div>
352 | 
353 |                 <div class="select-menu-item js-navigation-item selected" role="menuitem" tabindex="0">
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356 |                     <input checked="checked" id="do_subscribed" name="do" type="radio" value="subscribed" />
357 |                     <span class="select-menu-item-heading">Watching</span>
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359 |                     <span class="js-select-button-text hidden-select-button-text">
360 |                       <svg aria-hidden="true" class="octicon octicon-eye" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M8.06 2C3 2 0 8 0 8s3 6 8.06 6C13 14 16 8 16 8s-3-6-7.94-6zM8 12c-2.2 0-4-1.78-4-4 0-2.2 1.8-4 4-4 2.22 0 4 1.8 4 4 0 2.22-1.78 4-4 4zm2-4c0 1.11-.89 2-2 2-1.11 0-2-.89-2-2 0-1.11.89-2 2-2 1.11 0 2 .89 2 2z"/></svg>
361 |                         Unwatch
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369 |                     <input id="do_ignore" name="do" type="radio" value="ignore" />
370 |                     <span class="select-menu-item-heading">Ignoring</span>
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372 |                     <span class="js-select-button-text hidden-select-button-text">
373 |                       <svg aria-hidden="true" class="octicon octicon-mute" height="16" version="1.1" viewBox="0 0 16 16" width="16"><path fill-rule="evenodd" d="M8 2.81v10.38c0 .67-.81 1-1.28.53L3 10H1c-.55 0-1-.45-1-1V7c0-.55.45-1 1-1h2l3.72-3.72C7.19 1.81 8 2.14 8 2.81zm7.53 3.22l-1.06-1.06-1.97 1.97-1.97-1.97-1.06 1.06L11.44 8 9.47 9.97l1.06 1.06 1.97-1.97 1.97 1.97 1.06-1.06L13.56 8l1.97-1.97z"/></svg>
374 |                         Stop ignoring
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378 | 
379 |               </div>
380 | 
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383 |         </div>
384 | </form>
385 |   </li>
386 | 
387 |   <li>
388 |     
389 |   <div class="js-toggler-container js-social-container starring-container ">
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395 |         aria-label="Unstar this repository" title="Unstar abhirajD/PyKubed"
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398 |         Unstar
399 |       </button>
400 |         <a class="social-count js-social-count" href="/abhirajD/PyKubed/stargazers"
401 |            aria-label="1 user starred this repository">
402 |           1
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413 |         Star
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415 |         <a class="social-count js-social-count" href="/abhirajD/PyKubed/stargazers"
416 |            aria-label="1 user starred this repository">
417 |           1
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421 |   </li>
422 | 
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435 |     <a href="/abhirajD/PyKubed/network" class="social-count"
436 |        aria-label="1 user forked this repository">
437 |       1
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441 | 
442 |       <h1 class="public ">
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446 | --><strong itemprop="name"><a href="/abhirajD/PyKubed" data-pjax="#js-repo-pjax-container">PyKubed</a></strong>
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476 |       <span itemprop="name">Pull requests</span>
477 |       <span class="Counter">0</span>
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480 | 
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/pykinect2/PyKinectRuntime.py:
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  1 | from pykinect2 import PyKinectV2
  2 | from pykinect2.PyKinectV2 import *
  3 | 
  4 | import ctypes
  5 | import _ctypes 
  6 | from _ctypes import COMError
  7 | import comtypes
  8 | import sys
  9 | import numpy
 10 | import time
 11 | 
 12 | import importlib 
 13 | 
 14 | if sys.hexversion >= 0x03000000: 
 15 |     import _thread as thread
 16 | else:
 17 |     import thread 
 18 | 
 19 | KINECT_MAX_BODY_COUNT = 6
 20 | 
 21 | class PyKinectRuntime(object):
 22 |     """manages Kinect objects and simplifying access to them"""
 23 |     def __init__(self, frame_source_types):
 24 |         # recipe to get address of surface: http://archives.seul.org/pygame/users/Apr-2008/msg00218.html
 25 |         is_64bits = sys.maxsize > 2**32
 26 |         if not is_64bits:
 27 |            self.Py_ssize_t = ctypes.c_int
 28 |         else:
 29 |            self.Py_ssize_t = ctypes.c_int64
 30 | 
 31 |         self._PyObject_AsWriteBuffer = ctypes.pythonapi.PyObject_AsWriteBuffer
 32 |         self._PyObject_AsWriteBuffer.restype = ctypes.c_int
 33 |         self._PyObject_AsWriteBuffer.argtypes = [ctypes.py_object,
 34 |                                           ctypes.POINTER(ctypes.c_void_p),
 35 |                                           ctypes.POINTER(self.Py_ssize_t)]
 36 |         
 37 |         #self._color_frame_ready = PyKinectV2._event()
 38 |         #self._depth_frame_ready = PyKinectV2._event()
 39 |         #self._body_frame_ready = PyKinectV2._event()
 40 |         #self._body_index_frame_ready = PyKinectV2._event()
 41 |         #self._infrared_frame_ready = PyKinectV2._event()
 42 |         #self._long_exposure_infrared_frame_ready = PyKinectV2._event()
 43 |         #self._audio_frame_ready = PyKinectV2._event()
 44 | 
 45 |         self._close_event = ctypes.windll.kernel32.CreateEventW(None, False, False, None)
 46 | 
 47 |         self._color_frame_arrived_event = 0
 48 |         self._depth_frame_arrived_event = 0
 49 |         self._body_frame_arrived_event = 0
 50 |         self._body_index_frame_arrived_event = 0
 51 |         self._infrared_frame_arrived_event = 0  
 52 |         self._long_exposure_infrared_frame_arrived_event = 0
 53 |         self._audio_frame_arrived_event = 0
 54 | 
 55 |         self._color_frame_lock = thread.allocate()
 56 |         self._depth_frame_lock = thread.allocate()
 57 |         self._body_frame_lock = thread.allocate()
 58 |         self._body_index_frame_lock = thread.allocate()
 59 |         self._infrared_frame_lock = thread.allocate()
 60 |         self._long_exposure_infrared_frame_lock = thread.allocate()
 61 |         self._audio_frame_lock = thread.allocate()
 62 | 
 63 |         #initialize sensor
 64 |         self._sensor = ctypes.POINTER(PyKinectV2.IKinectSensor)()
 65 |         hres = ctypes.windll.kinect20.GetDefaultKinectSensor(ctypes.byref(self._sensor)) 
 66 |         hres = self._sensor.Open() 
 67 | 
 68 |         self._mapper = self._sensor.CoordinateMapper
 69 | 
 70 |         self.frame_source_types = frame_source_types
 71 |         self.max_body_count = KINECT_MAX_BODY_COUNT
 72 | 
 73 |         self._handles = (ctypes.c_voidp * 8)()
 74 |         self._handles[0] = self._close_event
 75 |         self._handles[1] = self._close_event
 76 |         self._handles[2] = self._close_event
 77 |         self._handles[3] = self._close_event
 78 |         self._handles[4] = self._close_event
 79 |         self._handles[5] = self._close_event
 80 |         self._handles[6] = self._close_event
 81 |         self._handles[7] = self._close_event
 82 | 
 83 |         self._waitHandleCount = 1
 84 | 
 85 |         self._color_source = self._sensor.ColorFrameSource 
 86 |         self.color_frame_desc = self._color_source.FrameDescription
 87 |         self._depth_source = self._sensor.DepthFrameSource 
 88 |         self.depth_frame_desc = self._depth_source.FrameDescription 
 89 |         self._body_index_source = self._sensor.BodyIndexFrameSource 
 90 |         self.body_index_frame_desc = self._body_index_source.FrameDescription 
 91 |         self._body_source = self._sensor.BodyFrameSource 
 92 |         self._body_frame_data = ctypes.POINTER(ctypes.POINTER(IBody))
 93 |         self.max_body_count = self._body_source.BodyCount
 94 | 
 95 |         self._color_frame_data = None 
 96 |         self._depth_frame_data = None 
 97 |         self._body_frame_data = None
 98 |         self._body_index_frame_data = None
 99 |         self._infrared_frame_data = None
100 |         self._long_exposure_infrared_frame_data = None
101 |         self._audio_frame_data = None
102 | 
103 |         if(self.frame_source_types & FrameSourceTypes_Color):
104 |             self._color_frame_data = ctypes.POINTER(ctypes.c_ubyte) 
105 |             self._color_frame_data_capacity = ctypes.c_uint(self.color_frame_desc.Width * self.color_frame_desc.Height * 4)
106 |             self._color_frame_data_type = ctypes.c_ubyte * self._color_frame_data_capacity.value
107 |             self._color_frame_data = ctypes.cast(self._color_frame_data_type(), ctypes.POINTER(ctypes.c_ubyte))
108 |             self._color_frame_reader = self._color_source.OpenReader()
109 |             self._color_frame_arrived_event = self._color_frame_reader.SubscribeFrameArrived()
110 |             self._handles[self._waitHandleCount] = self._color_frame_arrived_event
111 |             self._waitHandleCount += 1
112 | 
113 |         if(self.frame_source_types & FrameSourceTypes_Depth):
114 |             self._depth_frame_data = ctypes.POINTER(ctypes.c_ushort) 
115 |             self._depth_frame_data_capacity = ctypes.c_uint(self.depth_frame_desc.Width * self.depth_frame_desc.Height)
116 |             self._depth_frame_data_type = ctypes.c_ushort * self._depth_frame_data_capacity.value
117 |             self._depth_frame_data = ctypes.cast(self._depth_frame_data_type(), ctypes.POINTER(ctypes.c_ushort))
118 |             self._depth_frame_reader = self._depth_source.OpenReader()
119 |             self._depth_frame_arrived_event = self._depth_frame_reader.SubscribeFrameArrived()
120 |             self._handles[self._waitHandleCount] = self._depth_frame_arrived_event
121 |             self._waitHandleCount += 1
122 | 
123 |         if(self.frame_source_types & FrameSourceTypes_BodyIndex):
124 |             self._body_index_frame_data = ctypes.POINTER(ctypes.c_ubyte) 
125 |             self._body_index_frame_data_capacity = ctypes.c_uint(self.body_index_frame_desc.Width * self.body_index_frame_desc.Height)
126 |             self._body_index_frame_data_type = ctypes.c_ubyte * self._body_index_frame_data_capacity.value
127 |             self._body_index_frame_data = ctypes.cast(self._body_index_frame_data_type(), ctypes.POINTER(ctypes.c_ubyte))
128 |             self._body_index_frame_reader = self._body_index_source.OpenReader()
129 |             self._body_index_frame_arrived_event = self._body_index_frame_reader.SubscribeFrameArrived()
130 |             self._handles[self._waitHandleCount] = self._body_index_frame_arrived_event
131 |             self._waitHandleCount += 1
132 | 
133 |         self._body_frame_data = None 
134 |         if(self.frame_source_types & FrameSourceTypes_Body):
135 |             self._body_frame_data_capacity = ctypes.c_uint(self.max_body_count)
136 |             self._body_frame_data_type = ctypes.POINTER(IBody) * self._body_frame_data_capacity.value
137 |             self._body_frame_data = ctypes.cast(self._body_frame_data_type(), ctypes.POINTER(ctypes.POINTER(IBody)))
138 |             self._body_frame_reader = self._body_source.OpenReader()
139 |             self._body_frame_arrived_event = self._body_frame_reader.SubscribeFrameArrived()
140 |             self._body_frame_bodies = None
141 |             self._handles[self._waitHandleCount] = self._body_frame_arrived_event
142 |             self._waitHandleCount += 1
143 | 
144 |         thread.start_new_thread(self.kinect_frame_thread, ())
145 | 
146 |         self._last_color_frame = None
147 |         self._last_depth_frame = None
148 |         self._last_body_frame = None
149 |         self._last_body_index_frame = None
150 |         self._last_infrared_frame = None
151 |         self._last_long_exposure_infrared_frame = None
152 |         self._last_audio_frame = None
153 | 
154 |         start_clock = time.clock()
155 |         self._last_color_frame_access = self._last_color_frame_time = start_clock
156 |         self._last_body_frame_access = self._last_body_frame_time = start_clock
157 |         self._last_body_index_frame_access = self._last_body_index_frame_time = start_clock
158 |         self._last_depth_frame_access = self._last_depth_frame_time = start_clock
159 |         self._last_infrared_frame_access = self._last_infrared_frame_time = start_clock
160 |         self._last_long_exposure_infrared_frame_access = self._last_long_exposure_infrared_frame_time = start_clock
161 |         self._last_audio_frame_access = self._last_audio_frame_time = start_clock
162 | 
163 |     def close(self):
164 |         if self._sensor is not None:
165 |             ctypes.windll.kernel32.SetEvent(self._close_event)
166 |             ctypes.windll.kernel32.CloseHandle(self._close_event)
167 | 
168 |             self._color_frame_reader = None
169 |             self._depth_frame_reader = None
170 |             self._body_index_frame_reader = None
171 |             self._body_frame_reader = None
172 | 
173 |             self._color_source = None
174 |             self._depth_source = None
175 |             self._body_index_source = None
176 |             self._body_source = None
177 | 
178 |             self._body_frame_data = None
179 | 
180 |             self._sensor.Close()
181 |             self._sensor = None
182 | 
183 |     def __del__(self):
184 |         self.close()
185 | 
186 |     def __enter__(self):
187 |         return self
188 | 
189 |     def __exit__(self, *args):
190 |         self.close()
191 | 
192 |     def surface_as_array(self, surface_buffer_interface):
193 |        address = ctypes.c_void_p()
194 |        size = self.Py_ssize_t()
195 |        self._PyObject_AsWriteBuffer(surface_buffer_interface,
196 |                               ctypes.byref(address), ctypes.byref(size))
197 |        bytes = (ctypes.c_byte * size.value).from_address(address.value)
198 |        bytes.object = surface_buffer_interface
199 |        return bytes
200 | 
201 |     def has_new_color_frame(self):
202 |         has = (self._last_color_frame_time > self._last_color_frame_access)
203 |         return has
204 | 
205 |     def has_new_depth_frame(self):
206 |         has = (self._last_depth_frame_time > self._last_depth_frame_access)
207 |         return has
208 | 
209 |     def has_new_body_frame(self):
210 |         has = (self._last_body_frame_time > self._last_body_frame_access)
211 |         return has
212 | 
213 |     def has_new_body_index_frame(self):
214 |         has = (self._last_body_index_frame_time > self._last_body_index_frame_access)
215 |         return has
216 | 
217 |     def has_new_infrared_frame(self):
218 |         has = (self._last_infrared_frame_time > self._last_infrared_frame_access)
219 |         return has
220 | 
221 |     def has_new_long_exposure_infrared_frame(self):
222 |         has = (self._last_long_exposure_infrared_frame_time > self._last_long_exposure_infrared_frame_access)
223 |         return has
224 | 
225 |     def has_new_audio_frame(self):
226 |         has = (self._last_audio_frame_time > self._last_audio_frame_access)
227 |         return has
228 | 
229 | 
230 |     def get_last_color_frame(self):
231 |         with self._color_frame_lock:
232 |             if self._color_frame_data is not None:
233 |                 data = numpy.copy(numpy.ctypeslib.as_array(self._color_frame_data, shape=(self._color_frame_data_capacity.value,)))
234 |                 _last_color_frame_access = time.clock()
235 |                 return data
236 |             else:
237 |                 return None
238 | 
239 |     def get_last_depth_frame(self):
240 |         with self._depth_frame_lock:
241 |             if self._depth_frame_data is not None:
242 |                 data = numpy.copy(numpy.ctypeslib.as_array(self._depth_frame_data, shape=(self._depth_frame_data_capacity.value,)))
243 |                 _last_color_frame_access = time.clock()
244 |                 return data
245 |             else:
246 |                 return None
247 | 
248 |     def get_last_body_index_frame(self):
249 |         with self._body_index_frame_lock:
250 |             if self._body_index_frame_data is not None:
251 |                 data = numpy.copy(numpy.ctypeslib.as_array(self._body_index_frame_data, shape=(self._body_index_frame_data_capacity.value,)))
252 |                 _last_color_frame_access = time.clock()
253 |                 return data
254 |             else:
255 |                 return None
256 | 
257 |     def get_last_body_frame(self):
258 |         with self._body_frame_lock:
259 |             if self._body_frame_bodies is not None:
260 |                 _last_body_frame_access = time.clock()
261 |                 return self._body_frame_bodies.copy()
262 |             else:
263 |                 return None
264 | 
265 | 
266 |     def body_joint_to_color_space(self, joint): 
267 |         return self._mapper.MapCameraPointToColorSpace(joint.Position) 
268 | 
269 | 
270 |     def body_joints_to_color_space(self, joints):
271 |         joint_points = numpy.ndarray((PyKinectV2.JointType_Count), dtype=numpy.object)
272 | 
273 |         for j in range(0, PyKinectV2.JointType_Count):
274 |             joint_points[j] = self.body_joint_to_color_space(joints[j])
275 | 
276 |         return joint_points
277 | 
278 | 
279 |     def kinect_frame_thread(self):
280 |         while 1:    
281 |                 wait = ctypes.windll.kernel32.WaitForMultipleObjects(self._waitHandleCount, self._handles, False, PyKinectV2._INFINITE)
282 |                
283 |                 if wait == 0: 
284 |                     break
285 |                 
286 |                 if self._handles[wait] == self._color_frame_arrived_event: 
287 |                     self.handle_color_arrived(wait)
288 |                 elif self._handles[wait] == self._depth_frame_arrived_event: 
289 |                     self.handle_depth_arrived(wait)
290 |                 elif self._handles[wait] == self._body_frame_arrived_event: 
291 |                     self.handle_body_arrived(wait)
292 |                 elif self._handles[wait] == self._body_index_frame_arrived_event: 
293 |                     self.handle_body_index_arrived(wait)
294 |                 elif self._handles[wait] == self._infrared_frame_arrived_event: 
295 |                     self.handle_infrared_arrived(wait)
296 |                 elif self._handles[wait] == self._long_exposure_infrared_frame_arrived_event: 
297 |                     self.handle_long_exposure_infrared_arrived(wait)
298 |                 elif self._handles[wait] == self._audio_frame_arrived_event: 
299 |                     self.handle_audio_arrived(wait)
300 |                 else:
301 |                     break
302 | 
303 |     
304 |     def handle_color_arrived(self, handle_index):
305 |         colorFrameEventData = self._color_frame_reader.GetFrameArrivedEventData(self._handles[handle_index])
306 |         colorFrameRef = colorFrameEventData.FrameReference
307 |         try:
308 |             colorFrame = colorFrameRef.AcquireFrame()
309 |             try:
310 |                 with self._color_frame_lock:
311 |                     colorFrame.CopyConvertedFrameDataToArray(self._color_frame_data_capacity, self._color_frame_data, PyKinectV2.ColorImageFormat_Bgra)
312 |                     self._last_color_frame_time = time.clock()
313 |             except: 
314 |                 pass
315 |             colorFrame = None
316 |         except:
317 |             pass
318 |         colorFrameRef = None
319 |         colorFrameEventData = None
320 | 
321 | 
322 |     def handle_depth_arrived(self, handle_index):
323 |         depthFrameEventData = self._depth_frame_reader.GetFrameArrivedEventData(self._handles[handle_index])
324 |         depthFrameRef = depthFrameEventData.FrameReference
325 |         try:
326 |             depthFrame = depthFrameRef.AcquireFrame()
327 |             try:
328 |                 with self._depth_frame_lock:
329 |                     depthFrame.CopyFrameDataToArray(self._depth_frame_data_capacity, self._depth_frame_data)
330 |                     self._last_depth_frame_time = time.clock()
331 |             except:
332 |                 pass
333 |             depthFrame = None
334 |         except:
335 |             pass
336 |         depthFrameRef = None
337 |         depthFrameEventData = None
338 | 
339 |   
340 |     def handle_body_arrived(self, handle_index):
341 |         bodyFrameEventData = self._body_frame_reader.GetFrameArrivedEventData(self._handles[handle_index])
342 |         bofyFrameRef = bodyFrameEventData.FrameReference
343 |         try:
344 |             bodyFrame = bofyFrameRef.AcquireFrame()
345 | 
346 |             try: 
347 |                 with self._body_frame_lock:
348 |                     bodyFrame.GetAndRefreshBodyData(self._body_frame_data_capacity, self._body_frame_data)
349 |                     self._body_frame_bodies = KinectBodyFrameData(bodyFrame, self._body_frame_data, self.max_body_count)
350 |                     self._last_body_frame_time = time.clock()
351 | 
352 |                 # need these 2 lines as a workaround for handling IBody referencing exception 
353 |                 self._body_frame_data = None
354 |                 self._body_frame_data = ctypes.cast(self._body_frame_data_type(), ctypes.POINTER(ctypes.POINTER(IBody)))
355 | 
356 |             except:
357 |                 pass
358 |                             
359 |             bodyFrame = None
360 |         except:
361 |             pass
362 |         bofyFrameRef = None
363 |         bodyFrameEventData = None
364 | 
365 | 
366 |     def handle_body_index_arrived(self, handle_index):
367 |         bodyIndexFrameEventData = self._body_index_frame_reader.GetFrameArrivedEventData(self._handles[handle_index])
368 |         bodyIndexFrameRef = bodyIndexFrameEventData.FrameReference
369 |         try:
370 |             bodyIndexFrame = bodyIndexFrameRef.AcquireFrame()
371 |             try:
372 |                 with self._body_index_frame_lock:
373 |                     bodyIndexFrame.CopyFrameDataToArray(self._body_index_frame_data_capacity, self._body_index_frame_data)
374 |                     self._last_body_index_frame_time = time.clock()
375 |             except: 
376 |                 pass
377 |             bodyIndexFrame = None
378 |         except:
379 |             pass
380 |         bodyIndexFrame = None
381 |         bodyIndexFrameEventData = None
382 | 
383 |     def handle_infrared_arrived(self, handle_index):
384 |         pass 
385 | 
386 |     def handle_long_exposure_infrared_arrived(self, handle_index):
387 |         pass 
388 | 
389 |     def handle_audio_arrived(self, handle_index):
390 |         pass 
391 | 
392 | 
393 | 
394 | class KinectBody(object): 
395 |     def __init__(self, body = None):
396 |         self.is_restricted = False
397 |         self.tracking_id = -1
398 | 
399 |         self.is_tracked = False 
400 |         
401 |         if body is not None: 
402 |             self.is_tracked = body.IsTracked
403 | 
404 |         if self.is_tracked:
405 |             self.is_restricted = body.IsRestricted
406 |             self.tracking_id = body.TrackingId
407 |             self.engaged = body.Engaged
408 |             self.lean = body.Lean
409 |             self.lean_tracking_state = body.LeanTrackingState
410 |             self.hand_left_state = body.HandLeftState
411 |             self.hand_left_confidence = body.HandLeftConfidence
412 |             self.hand_right_state = body.HandRightState
413 |             self.hand_right_confidence = body.HandRightConfidence
414 |             self.clipped_edges = body.ClippedEdges
415 | 
416 |             joints = ctypes.POINTER(PyKinectV2._Joint)
417 |             joints_capacity = ctypes.c_uint(PyKinectV2.JointType_Count)
418 |             joints_data_type = PyKinectV2._Joint * joints_capacity.value
419 |             joints = ctypes.cast(joints_data_type(), ctypes.POINTER(PyKinectV2._Joint))
420 |             body.GetJoints(PyKinectV2.JointType_Count, joints)
421 |             self.joints = joints
422 | 
423 |             joint_orientations = ctypes.POINTER(PyKinectV2._JointOrientation)
424 |             joint_orientations_data_type = PyKinectV2._JointOrientation * joints_capacity.value
425 |             joint_orientations = ctypes.cast(joint_orientations_data_type(), ctypes.POINTER(PyKinectV2._JointOrientation))
426 |             body.GetJointOrientations(PyKinectV2.JointType_Count, joint_orientations)
427 |             self.joint_orientations = joint_orientations 
428 | 
429 | 
430 | class KinectBodyFrameData(object): 
431 |     def __init__(self, bodyFrame, body_frame_data, max_body_count):
432 |         self.bodies = None
433 |         self.floor_clip_plane = None
434 |         if bodyFrame is not None:
435 |             self.floor_clip_plane = bodyFrame.FloorClipPlane
436 | 
437 |             self.bodies = numpy.ndarray((max_body_count), dtype=numpy.object)
438 |             for i in range(0, max_body_count):
439 |                self.bodies[i] = KinectBody(body_frame_data[i])
440 | 
441 |     def copy(self):
442 |         res = KinectBodyFrameData(None, None, 0)
443 |         res.floor_clip_plane = self.floor_clip_plane
444 |         res.bodies = numpy.copy(self.bodies)
445 |         return res 
446 |        
447 |       
448 | 


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/pykinect2/__init__.py:
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https://raw.githubusercontent.com/abhirajD/PyKinect/2aed4ff72111f1ec770f8488c820cf84484274f7/pykinect2/__init__.py


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/setup.py:
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 1 | from setuptools import setup, find_packages
 2 | 
 3 | setup(name='pykinect2',
 4 |       version='0.1.0',
 5 |       description='Wrapper to expose Kinect for Windows v2 API in Python',
 6 |       license='MIT',
 7 |       author='Microsoft Corporation',
 8 |       author_email='k4w@microsoft.com',
 9 |       url='https://github.com/Kinect/PyKinect2/',
10 |       classifiers=[
11 |         'Development Status :: 4 - Beta',
12 |         'Programming Language :: Python',
13 |         'Programming Language :: Python :: 2.7',
14 |         'Programming Language :: Python :: 3.4',
15 |         'License :: OSI Approved :: MIT License'],
16 |       packages=find_packages(),
17 |       install_requires=['numpy>=1.9.2',
18 |                         'comtypes>=1.1.1']
19 |      )
20 | 


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