├── README
└── kinect_launcher.py


/README:
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1 | Kinect USB Rocket launcher hack thing
2 | 
3 | See it in action here:
4 | http://www.youtube.com/watch?v=Hz5OiQAmUpc
5 | 


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/kinect_launcher.py:
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  1 | #!/usr/bin/env python
  2 | from freenect import sync_get_depth as get_depth, sync_get_video as get_video
  3 | import cv
  4 | import time
  5 | import numpy as np
  6 | from numpy import array
  7 | 
  8 | import rocket_backend
  9 | from time import sleep
 10 | 
 11 | FAR = 700
 12 | from time import time
 13 | start = time()
 14 | 
 15 | class Controller(object):
 16 |     def __init__(self):
 17 |         manager = rocket_backend.RocketManager()
 18 |         manager.acquire_devices()
 19 |         self.launcher = manager.launchers[0]
 20 |         self.armed = False
 21 | 
 22 |     def fire(self):
 23 |         if self.armed:
 24 |             self.launcher.issue_command(4)
 25 |             self.armed = False
 26 | 
 27 |     def left(self):
 28 |         self.launcher.issue_command(2)
 29 | 
 30 |     def right(self):
 31 |         self.launcher.issue_command(3)
 32 | 
 33 |     def up(self):
 34 |         self.launcher.issue_command(1)
 35 | 
 36 |     def down(self):
 37 |         self.launcher.issue_command(0)
 38 | 
 39 |     def stop(self):
 40 |         self.launcher.issue_command(5)
 41 | 
 42 |     def tick(self):
 43 |         self.launcher.check_limits()
 44 | 
 45 | controller = Controller()
 46 | 
 47 | def extract_blob(depth, field, x, y):
 48 |     stack = [(x, y)]
 49 |     left = right = x
 50 |     top = bottom = y
 51 |     width = len(field[0])
 52 |     height = len(field)
 53 |     field[y][x] = 1
 54 |     while stack:
 55 |         x, y = stack.pop()
 56 |         if x < left:
 57 |             left = x
 58 |         elif x > right:
 59 |             right = x
 60 |         if y < top:
 61 |             top = y
 62 |         elif y > bottom:
 63 |             bottom = y
 64 |         for x, y in ((x-1, y), (x+1, y), (x, y-1), (x, y+1)):
 65 |             if 0 < x < width and 0 < y < height and depth[y][x] <= FAR and not field[y][x]:
 66 |                 field[y][x] = 1
 67 |                 stack.append((x, y))
 68 |     return (left, right, top, bottom)
 69 | 
 70 | def process(depth):
 71 |     height, width = depth.shape
 72 |     field = np.zeros_like(depth).tolist()
 73 |     depth = depth.tolist()
 74 |     r = np.zeros_like(depth).tolist()
 75 |     g = np.zeros_like(depth).tolist()
 76 |     b = np.zeros_like(depth).tolist()
 77 |     blobs = []
 78 |     for y in xrange(0,height):
 79 |         row = depth[y]
 80 |         for x in xrange(0, width):
 81 |             z = row[x]
 82 |             if z > FAR:
 83 |                 b[y][x] = 255
 84 |                 continue
 85 |             if field[y][x]:
 86 |                 r[y][x] = 255
 87 |                 continue
 88 |             blobs.append(extract_blob(depth, field, x, y))
 89 |             g[y][x] = 255
 90 |     DEAD = 100
 91 |     for blob in blobs:
 92 |         if time()-start < 10:
 93 |             break
 94 |         if blob[1]-blob[0] > 10 and blob[3]-blob[2] > 10:
 95 |             controller.armed = True
 96 |             print blob
 97 |             if blob[0] < DEAD:
 98 |                 controller.left()
 99 |             elif blob[1] > width-DEAD:
100 |                 controller.right()
101 |             elif blob[2] < DEAD*0.5:
102 |                 controller.up()
103 |             elif blob[3] > height-DEAD*0.5:
104 |                 controller.down()
105 |             else:
106 |                 controller.stop()
107 |             break
108 |     else:
109 |         controller.fire()
110 |     controller.tick()
111 |     return r,g,b
112 | 
113 | def doloop():
114 |     while True:
115 |         # Get a fresh frame
116 |         (depth,_), (rgb,_) = get_depth(), get_video()
117 | 
118 |         depth = depth[::2, ::2]
119 |         r,g,b = process(depth)
120 | 
121 |         # Build a two panel color image
122 |         d3 = np.dstack((r,g,depth/20)).astype(np.uint8)
123 |         da = np.hstack((d3,rgb[::2, ::2]))
124 | 
125 |         # Simple Downsample
126 |         cv.ShowImage('both',np.array(da[:,:,::-1]))
127 |         cv.WaitKey(5)
128 | 
129 | doloop()
130 | 
131 | """
132 | IPython usage:
133 |  ipython
134 |  [1]: run -i demo_freenect
135 |  #<ctrl -c>  (to interrupt the loop)
136 |  [2]: %timeit -n100 get_depth(), get_rgb() # profile the kinect capture
137 | 
138 | """
139 | 
140 | 


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