├── notebooks ├── .gitignore ├── requirements.txt └── ReadDepth.ipynb ├── README_resources └── depth.gif ├── DepthApp ├── DepthApp │ ├── Assets.xcassets │ │ ├── Contents.json │ │ └── AppIcon.appiconset │ │ │ └── Contents.json │ ├── DepthApp.xcdatamodeld │ │ ├── .xccurrentversion │ │ └── DepthApp.xcdatamodel │ │ │ └── contents │ ├── Info.plist │ ├── Base.lproj │ │ ├── LaunchScreen.storyboard │ │ └── Main.storyboard │ ├── AppDelegate.swift │ ├── ViewController.swift │ └── DepthCapture.swift ├── DepthApp.xcodeproj │ ├── project.xcworkspace │ │ ├── contents.xcworkspacedata │ │ └── xcshareddata │ │ │ └── IDEWorkspaceChecks.plist │ └── project.pbxproj └── .gitignore └── README.md /notebooks/.gitignore: -------------------------------------------------------------------------------- 1 | .ipynb_checkpoints 2 | depth_video.mp4 -------------------------------------------------------------------------------- /notebooks/requirements.txt: -------------------------------------------------------------------------------- 1 | numpy 2 | jupyter 3 | matplotlib 4 | opencv-python 5 | -------------------------------------------------------------------------------- /README_resources/depth.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/mantoone/DepthCapture/HEAD/README_resources/depth.gif -------------------------------------------------------------------------------- /DepthApp/DepthApp/Assets.xcassets/Contents.json: -------------------------------------------------------------------------------- 1 | { 2 | "info" : { 3 | "version" : 1, 4 | "author" : "xcode" 5 | } 6 | } -------------------------------------------------------------------------------- /DepthApp/DepthApp.xcodeproj/project.xcworkspace/contents.xcworkspacedata: -------------------------------------------------------------------------------- 1 | 2 | 4 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/DepthApp.xcdatamodeld/.xccurrentversion: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | _XCCurrentVersionName 6 | DepthApp.xcdatamodel 7 | 8 | 9 | -------------------------------------------------------------------------------- /DepthApp/DepthApp.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | IDEDidComputeMac32BitWarning 6 | 7 | 8 | 9 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/DepthApp.xcdatamodeld/DepthApp.xcdatamodel/contents: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # DepthCapture 2 | 3 | [![Platform](http://img.shields.io/badge/platform-ios-blue.svg?style=flat 4 | )](https://developer.apple.com/iphone/index.action) 5 | [![Language](http://img.shields.io/badge/language-swift-brightgreen.svg?style=flat 6 | )](https://developer.apple.com/swift) 7 | 8 | iOS Application for capturing depth data and RGB video to files. 9 | TrueDepth camera only (for now). 10 | 11 | ## Example 12 | ![](README_resources/depth.gif) 13 | 14 | ## Credits 15 | DepthCapture.swift written by Eyal Fink (https://stackoverflow.com/a/50265132) 16 | -------------------------------------------------------------------------------- /DepthApp/.gitignore: -------------------------------------------------------------------------------- 1 | # Xcode 2 | # 3 | # gitignore contributors: remember to update Global/Xcode.gitignore, Objective-C.gitignore & Swift.gitignore 4 | 5 | ## User settings 6 | xcuserdata/ 7 | 8 | ## compatibility with Xcode 8 and earlier (ignoring not required starting Xcode 9) 9 | *.xcscmblueprint 10 | *.xccheckout 11 | 12 | ## compatibility with Xcode 3 and earlier (ignoring not required starting Xcode 4) 13 | build/ 14 | DerivedData/ 15 | *.moved-aside 16 | *.pbxuser 17 | !default.pbxuser 18 | *.mode1v3 19 | !default.mode1v3 20 | *.mode2v3 21 | !default.mode2v3 22 | *.perspectivev3 23 | !default.perspectivev3 24 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/Info.plist: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | CFBundleDevelopmentRegion 6 | $(DEVELOPMENT_LANGUAGE) 7 | CFBundleExecutable 8 | $(EXECUTABLE_NAME) 9 | CFBundleIdentifier 10 | $(PRODUCT_BUNDLE_IDENTIFIER) 11 | CFBundleInfoDictionaryVersion 12 | 6.0 13 | CFBundleName 14 | $(PRODUCT_NAME) 15 | CFBundlePackageType 16 | APPL 17 | CFBundleShortVersionString 18 | 1.0 19 | CFBundleVersion 20 | 1 21 | LSRequiresIPhoneOS 22 | 23 | NSCameraUsageDescription 24 | To Capture Video Dawg 25 | UILaunchStoryboardName 26 | LaunchScreen 27 | UIMainStoryboardFile 28 | Main 29 | UIRequiredDeviceCapabilities 30 | 31 | armv7 32 | 33 | UISupportedInterfaceOrientations 34 | 35 | UIInterfaceOrientationPortrait 36 | UIInterfaceOrientationLandscapeLeft 37 | UIInterfaceOrientationLandscapeRight 38 | 39 | UISupportedInterfaceOrientations~ipad 40 | 41 | UIInterfaceOrientationPortrait 42 | UIInterfaceOrientationPortraitUpsideDown 43 | UIInterfaceOrientationLandscapeLeft 44 | UIInterfaceOrientationLandscapeRight 45 | 46 | 47 | 48 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/Base.lproj/LaunchScreen.storyboard: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/Assets.xcassets/AppIcon.appiconset/Contents.json: -------------------------------------------------------------------------------- 1 | { 2 | "images" : [ 3 | { 4 | "idiom" : "iphone", 5 | "size" : "20x20", 6 | "scale" : "2x" 7 | }, 8 | { 9 | "idiom" : "iphone", 10 | "size" : "20x20", 11 | "scale" : "3x" 12 | }, 13 | { 14 | "idiom" : "iphone", 15 | "size" : "29x29", 16 | "scale" : "2x" 17 | }, 18 | { 19 | "idiom" : "iphone", 20 | "size" : "29x29", 21 | "scale" : "3x" 22 | }, 23 | { 24 | "idiom" : "iphone", 25 | "size" : "40x40", 26 | "scale" : "2x" 27 | }, 28 | { 29 | "idiom" : "iphone", 30 | "size" : "40x40", 31 | "scale" : "3x" 32 | }, 33 | { 34 | "idiom" : "iphone", 35 | "size" : "60x60", 36 | "scale" : "2x" 37 | }, 38 | { 39 | "idiom" : "iphone", 40 | "size" : "60x60", 41 | "scale" : "3x" 42 | }, 43 | { 44 | "idiom" : "ipad", 45 | "size" : "20x20", 46 | "scale" : "1x" 47 | }, 48 | { 49 | "idiom" : "ipad", 50 | "size" : "20x20", 51 | "scale" : "2x" 52 | }, 53 | { 54 | "idiom" : "ipad", 55 | "size" : "29x29", 56 | "scale" : "1x" 57 | }, 58 | { 59 | "idiom" : "ipad", 60 | "size" : "29x29", 61 | "scale" : "2x" 62 | }, 63 | { 64 | "idiom" : "ipad", 65 | "size" : "40x40", 66 | "scale" : "1x" 67 | }, 68 | { 69 | "idiom" : "ipad", 70 | "size" : "40x40", 71 | "scale" : "2x" 72 | }, 73 | { 74 | "idiom" : "ipad", 75 | "size" : "76x76", 76 | "scale" : "1x" 77 | }, 78 | { 79 | "idiom" : "ipad", 80 | "size" : "76x76", 81 | "scale" : "2x" 82 | }, 83 | { 84 | "idiom" : "ipad", 85 | "size" : "83.5x83.5", 86 | "scale" : "2x" 87 | }, 88 | { 89 | "idiom" : "ios-marketing", 90 | "size" : "1024x1024", 91 | "scale" : "1x" 92 | } 93 | ], 94 | "info" : { 95 | "version" : 1, 96 | "author" : "xcode" 97 | } 98 | } -------------------------------------------------------------------------------- /DepthApp/DepthApp/Base.lproj/Main.storyboard: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 34 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/AppDelegate.swift: -------------------------------------------------------------------------------- 1 | // 2 | // AppDelegate.swift 3 | // DepthApp 4 | // 5 | // Created by Juha Eskonen on 13/03/2019. 6 | // Copyright © 2019 Juha Eskonen. All rights reserved. 7 | // 8 | 9 | import UIKit 10 | import CoreData 11 | 12 | @UIApplicationMain 13 | class AppDelegate: UIResponder, UIApplicationDelegate { 14 | 15 | var window: UIWindow? 16 | 17 | 18 | func application(_ application: UIApplication, didFinishLaunchingWithOptions launchOptions: [UIApplication.LaunchOptionsKey: Any]?) -> Bool { 19 | // Override point for customization after application launch. 20 | return true 21 | } 22 | 23 | func applicationWillResignActive(_ application: UIApplication) { 24 | // Sent when the application is about to move from active to inactive state. This can occur for certain types of temporary interruptions (such as an incoming phone call or SMS message) or when the user quits the application and it begins the transition to the background state. 25 | // Use this method to pause ongoing tasks, disable timers, and invalidate graphics rendering callbacks. Games should use this method to pause the game. 26 | } 27 | 28 | func applicationDidEnterBackground(_ application: UIApplication) { 29 | // Use this method to release shared resources, save user data, invalidate timers, and store enough application state information to restore your application to its current state in case it is terminated later. 30 | // If your application supports background execution, this method is called instead of applicationWillTerminate: when the user quits. 31 | } 32 | 33 | func applicationWillEnterForeground(_ application: UIApplication) { 34 | // Called as part of the transition from the background to the active state; here you can undo many of the changes made on entering the background. 35 | } 36 | 37 | func applicationDidBecomeActive(_ application: UIApplication) { 38 | // Restart any tasks that were paused (or not yet started) while the application was inactive. If the application was previously in the background, optionally refresh the user interface. 39 | } 40 | 41 | func applicationWillTerminate(_ application: UIApplication) { 42 | // Called when the application is about to terminate. Save data if appropriate. See also applicationDidEnterBackground:. 43 | // Saves changes in the application's managed object context before the application terminates. 44 | self.saveContext() 45 | } 46 | 47 | // MARK: - Core Data stack 48 | 49 | lazy var persistentContainer: NSPersistentContainer = { 50 | /* 51 | The persistent container for the application. This implementation 52 | creates and returns a container, having loaded the store for the 53 | application to it. This property is optional since there are legitimate 54 | error conditions that could cause the creation of the store to fail. 55 | */ 56 | let container = NSPersistentContainer(name: "DepthApp") 57 | container.loadPersistentStores(completionHandler: { (storeDescription, error) in 58 | if let error = error as NSError? { 59 | // Replace this implementation with code to handle the error appropriately. 60 | // fatalError() causes the application to generate a crash log and terminate. You should not use this function in a shipping application, although it may be useful during development. 61 | 62 | /* 63 | Typical reasons for an error here include: 64 | * The parent directory does not exist, cannot be created, or disallows writing. 65 | * The persistent store is not accessible, due to permissions or data protection when the device is locked. 66 | * The device is out of space. 67 | * The store could not be migrated to the current model version. 68 | Check the error message to determine what the actual problem was. 69 | */ 70 | fatalError("Unresolved error \(error), \(error.userInfo)") 71 | } 72 | }) 73 | return container 74 | }() 75 | 76 | // MARK: - Core Data Saving support 77 | 78 | func saveContext () { 79 | let context = persistentContainer.viewContext 80 | if context.hasChanges { 81 | do { 82 | try context.save() 83 | } catch { 84 | // Replace this implementation with code to handle the error appropriately. 85 | // fatalError() causes the application to generate a crash log and terminate. You should not use this function in a shipping application, although it may be useful during development. 86 | let nserror = error as NSError 87 | fatalError("Unresolved error \(nserror), \(nserror.userInfo)") 88 | } 89 | } 90 | } 91 | 92 | } 93 | 94 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/ViewController.swift: -------------------------------------------------------------------------------- 1 | // 2 | // ViewController.swift 3 | // DepthApp 4 | // 5 | // Created by Juha Eskonen on 13/03/2019. 6 | // Copyright © 2019 Juha Eskonen. All rights reserved. 7 | // 8 | 9 | import UIKit 10 | import AVFoundation 11 | 12 | class ViewController: UIViewController, AVCaptureFileOutputRecordingDelegate, AVCaptureDepthDataOutputDelegate { 13 | func fileOutput(_ output: AVCaptureFileOutput, didFinishRecordingTo outputFileURL: URL, from connections: [AVCaptureConnection], error: Error?) { 14 | } 15 | 16 | let captureSession = AVCaptureSession() 17 | let sessionOutput = AVCapturePhotoOutput() 18 | let movieOutput = AVCaptureMovieFileOutput() 19 | var previewLayer = AVCaptureVideoPreviewLayer() 20 | 21 | var isRecording = false 22 | 23 | private let depthDataOutput = AVCaptureDepthDataOutput() 24 | private let dataOutputQueue = DispatchQueue(label: "dataOutputQueue") 25 | private let depthCapture = DepthCapture() 26 | 27 | private var outputSynchronizer: AVCaptureDataOutputSynchronizer? 28 | 29 | @IBOutlet var cameraView: UIView! 30 | 31 | override func viewWillAppear(_ animated: Bool) { 32 | if let device = AVCaptureDevice.default(.builtInTrueDepthCamera, 33 | for: .video, position: .front) { 34 | 35 | do { 36 | 37 | let input = try AVCaptureDeviceInput(device: device ) 38 | 39 | if captureSession.canAddInput(input){ 40 | captureSession.sessionPreset = AVCaptureSession.Preset.photo 41 | captureSession.addInput(input) 42 | 43 | if captureSession.canAddOutput(sessionOutput){ 44 | 45 | captureSession.addOutput(sessionOutput) 46 | 47 | previewLayer = AVCaptureVideoPreviewLayer(session: captureSession) 48 | previewLayer.videoGravity = AVLayerVideoGravity.resizeAspectFill 49 | previewLayer.connection?.videoOrientation = AVCaptureVideoOrientation.portrait 50 | cameraView.layer.addSublayer(previewLayer) 51 | 52 | previewLayer.position = CGPoint(x: self.cameraView.frame.width / 2, y: self.cameraView.frame.height / 2) 53 | previewLayer.bounds = cameraView.frame 54 | } 55 | 56 | // Add depth output 57 | guard captureSession.canAddOutput(depthDataOutput) else { fatalError() } 58 | captureSession.addOutput(depthDataOutput) 59 | 60 | if let connection = depthDataOutput.connection(with: .depthData) { 61 | connection.isEnabled = true 62 | depthDataOutput.isFilteringEnabled = false 63 | depthDataOutput.setDelegate(self, callbackQueue: dataOutputQueue) 64 | } else { 65 | print("No AVCaptureConnection") 66 | } 67 | 68 | depthCapture.prepareForRecording() 69 | 70 | // TODO: Do we need to synchronize the video and depth outputs? 71 | //outputSynchronizer = AVCaptureDataOutputSynchronizer(dataOutputs: [sessionOutput, depthDataOutput]) 72 | 73 | captureSession.addOutput(movieOutput) 74 | 75 | captureSession.startRunning() 76 | } 77 | 78 | } catch { 79 | print("Error") 80 | } 81 | } 82 | } 83 | 84 | func startRecording(){ 85 | let paths = FileManager.default.urls(for: .documentDirectory, in: .userDomainMask) 86 | let fileUrl = paths[0].appendingPathComponent("output.mov") 87 | movieOutput.startRecording(to: fileUrl, recordingDelegate: self) 88 | print(fileUrl.absoluteString) 89 | print("Recording started") 90 | self.isRecording = true 91 | 92 | } 93 | 94 | func stopRecording(){ 95 | movieOutput.stopRecording() 96 | print("Stopped recording!") 97 | self.isRecording = false 98 | do { 99 | try depthCapture.finishRecording(success: { (url: URL) -> Void in 100 | print(url.absoluteString) 101 | }) 102 | } catch { 103 | print("Error while finishing depth capture.") 104 | } 105 | 106 | } 107 | 108 | @IBAction func startPressed(_ sender: Any) { 109 | startRecording() 110 | } 111 | 112 | @IBAction func stopPressed(_ sender: Any) { 113 | stopRecording() 114 | } 115 | 116 | func depthDataOutput(_ output: AVCaptureDepthDataOutput, didOutput depthData: AVDepthData, timestamp: CMTime, connection: AVCaptureConnection) { 117 | // Write depth data to a file 118 | if(self.isRecording) { 119 | let ddm = depthData.depthDataMap 120 | depthCapture.addPixelBuffers(pixelBuffer: ddm) 121 | } 122 | } 123 | } 124 | -------------------------------------------------------------------------------- /DepthApp/DepthApp/DepthCapture.swift: -------------------------------------------------------------------------------- 1 | // DepthCapture.swift 2 | // AVCamPhotoFilter 3 | // 4 | // Created by Eyal Fink on 07/04/2018. 5 | // Copyright © 2018 Resonai. All rights reserved. 6 | // 7 | // Capture the depth pixelBuffer into a compress file. 8 | // This is very hacky and there are lots of TODOs but instead we need to replace 9 | // it with a much better compression (video compression).... 10 | 11 | import AVFoundation 12 | import Foundation 13 | import Compression 14 | 15 | 16 | class DepthCapture { 17 | let kErrorDomain = "DepthCapture" 18 | let maxNumberOfFrame = 250 19 | lazy var bufferSize = 640 * 480 * 2 * maxNumberOfFrame // maxNumberOfFrame frames 20 | var dstBuffer: UnsafeMutablePointer? 21 | var frameCount: Int64 = 0 22 | var outputURL: URL? 23 | var compresserPtr: UnsafeMutablePointer? 24 | var file: FileHandle? 25 | 26 | // All operations handling the compresser oobjects are done on the 27 | // porcessingQ so they will happen sequentially 28 | var processingQ = DispatchQueue(label: "compression", 29 | qos: .userInteractive) 30 | 31 | 32 | func reset() { 33 | frameCount = 0 34 | outputURL = nil 35 | 36 | if self.dstBuffer != nil { 37 | self.dstBuffer!.deallocate() 38 | self.dstBuffer = nil 39 | } 40 | 41 | if self.compresserPtr != nil { 42 | //free(compresserPtr!.pointee.dst_ptr) 43 | compression_stream_destroy(self.compresserPtr!) 44 | self.compresserPtr = nil 45 | } 46 | if self.file != nil { 47 | self.file!.closeFile() 48 | self.file = nil 49 | } 50 | } 51 | func prepareForRecording() { 52 | reset() 53 | // Create the output zip file, remove old one if exists 54 | let documentsPath = NSSearchPathForDirectoriesInDomains(.documentDirectory, .userDomainMask, true)[0] as NSString 55 | self.outputURL = URL(fileURLWithPath: documentsPath.appendingPathComponent("Depth")) 56 | FileManager.default.createFile(atPath: self.outputURL!.path, contents: nil, attributes: nil) 57 | self.file = FileHandle(forUpdatingAtPath: self.outputURL!.path) 58 | if self.file == nil { 59 | NSLog("Cannot create file at: \(self.outputURL!.path)") 60 | return 61 | } 62 | 63 | // Init the compression object 64 | compresserPtr = UnsafeMutablePointer.allocate(capacity: 1) 65 | compression_stream_init(compresserPtr!, COMPRESSION_STREAM_ENCODE, COMPRESSION_ZLIB) 66 | dstBuffer = UnsafeMutablePointer.allocate(capacity: bufferSize) 67 | compresserPtr!.pointee.dst_ptr = dstBuffer! 68 | //defer { free(bufferPtr) } 69 | compresserPtr!.pointee.dst_size = bufferSize 70 | 71 | 72 | } 73 | func flush() { 74 | //let data = Data(bytesNoCopy: compresserPtr!.pointee.dst_ptr, count: bufferSize, deallocator: .none) 75 | let nBytes = bufferSize - compresserPtr!.pointee.dst_size 76 | print("Writing \(nBytes)") 77 | let data = Data(bytesNoCopy: dstBuffer!, count: nBytes, deallocator: .none) 78 | self.file?.write(data) 79 | } 80 | 81 | func startRecording() throws { 82 | processingQ.async { 83 | self.prepareForRecording() 84 | } 85 | } 86 | func addPixelBuffers(pixelBuffer: CVPixelBuffer) { 87 | processingQ.async { 88 | if self.frameCount >= self.maxNumberOfFrame { 89 | // TODO now!! flush when needed!!! 90 | print("MAXED OUT") 91 | return 92 | } 93 | 94 | CVPixelBufferLockBaseAddress(pixelBuffer, .readOnly) 95 | let add : UnsafeMutableRawPointer = CVPixelBufferGetBaseAddress(pixelBuffer)! 96 | self.compresserPtr!.pointee.src_ptr = UnsafePointer(add.assumingMemoryBound(to: UInt8.self)) 97 | let height = CVPixelBufferGetHeight(pixelBuffer) 98 | self.compresserPtr!.pointee.src_size = CVPixelBufferGetBytesPerRow(pixelBuffer) * height 99 | let flags = Int32(0) 100 | let compression_status = compression_stream_process(self.compresserPtr!, flags) 101 | if compression_status != COMPRESSION_STATUS_OK { 102 | NSLog("Buffer compression retured: \(compression_status)") 103 | return 104 | } 105 | if self.compresserPtr!.pointee.src_size != 0 { 106 | NSLog("Compression lib didn't eat all data: \(compression_status)") 107 | return 108 | } 109 | CVPixelBufferUnlockBaseAddress(pixelBuffer, .readOnly) 110 | // TODO(eyal): flush when needed!!! 111 | self.frameCount += 1 112 | print("handled \(self.frameCount) buffers") 113 | } 114 | } 115 | func finishRecording(success: @escaping ((URL) -> Void)) throws { 116 | processingQ.async { 117 | let flags = Int32(COMPRESSION_STREAM_FINALIZE.rawValue) 118 | self.compresserPtr!.pointee.src_size = 0 119 | //compresserPtr!.pointee.src_ptr = UnsafePointer(0) 120 | let compression_status = compression_stream_process(self.compresserPtr!, flags) 121 | if compression_status != COMPRESSION_STATUS_END { 122 | NSLog("ERROR: Finish failed. compression retured: \(compression_status)") 123 | return 124 | } 125 | self.flush() 126 | DispatchQueue.main.sync { 127 | success(self.outputURL!) 128 | } 129 | self.reset() 130 | } 131 | } 132 | } 133 | -------------------------------------------------------------------------------- /DepthApp/DepthApp.xcodeproj/project.pbxproj: -------------------------------------------------------------------------------- 1 | // !$*UTF8*$! 2 | { 3 | archiveVersion = 1; 4 | classes = { 5 | }; 6 | objectVersion = 50; 7 | objects = { 8 | 9 | /* Begin PBXBuildFile 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/* End XCConfigurationList section */ 347 | 348 | /* Begin XCVersionGroup section */ 349 | F019924722395746003F6D32 /* DepthApp.xcdatamodeld */ = { 350 | isa = XCVersionGroup; 351 | children = ( 352 | F019924822395746003F6D32 /* DepthApp.xcdatamodel */, 353 | ); 354 | currentVersion = F019924822395746003F6D32 /* DepthApp.xcdatamodel */; 355 | path = DepthApp.xcdatamodeld; 356 | sourceTree = ""; 357 | versionGroupType = wrapper.xcdatamodel; 358 | }; 359 | /* End XCVersionGroup section */ 360 | }; 361 | rootObject = F019923522395746003F6D32 /* Project object */; 362 | } 363 | -------------------------------------------------------------------------------- /notebooks/ReadDepth.ipynb: -------------------------------------------------------------------------------- 1 | { 2 | "cells": [ 3 | { 4 | "cell_type": "markdown", 5 | "metadata": {}, 6 | "source": [ 7 | "# Example for reading depth data file" 8 | ] 9 | }, 10 | { 11 | "cell_type": "code", 12 | "execution_count": 24, 13 | "metadata": {}, 14 | "outputs": [], 15 | "source": [ 16 | "import zlib\n", 17 | "import numpy as np\n", 18 | "import matplotlib.pyplot as plt\n", 19 | "import cv2" 20 | ] 21 | }, 22 | { 23 | "cell_type": "code", 24 | "execution_count": 25, 25 | "metadata": {}, 26 | "outputs": [], 27 | "source": [ 28 | "depth_path = '/tmp/Depth'\n", 29 | "\n", 30 | "# Depth data parameters\n", 31 | "w = 640\n", 32 | "h = 480" 33 | ] 34 | }, 35 | { 36 | "cell_type": "markdown", 37 | "metadata": {}, 38 | "source": [ 39 | "### Read and decompress the depth data" 40 | ] 41 | }, 42 | { 43 | "cell_type": "code", 44 | "execution_count": 26, 45 | "metadata": {}, 46 | "outputs": [], 47 | "source": [ 48 | "with open(depth_path, 'rb') as f:\n", 49 | " data = zlib.decompress(f.read(), -15)" 50 | ] 51 | }, 52 | { 53 | "cell_type": "code", 54 | "execution_count": 27, 55 | "metadata": {}, 56 | "outputs": [], 57 | "source": [ 58 | "FRAME_COUNT = int(len(data) / w / h / 2)" 59 | ] 60 | }, 61 | { 62 | "cell_type": "markdown", 63 | "metadata": {}, 64 | "source": [ 65 | "### Convert bytes to numpy array and set NaNs to zero" 66 | ] 67 | }, 68 | { 69 | "cell_type": "code", 70 | "execution_count": 28, 71 | "metadata": {}, 72 | "outputs": [], 73 | "source": [ 74 | "frames = np.frombuffer(data, np.float16).reshape(FRAME_COUNT,h,w).copy()\n", 75 | "frames = np.nan_to_num(frames, 0)" 76 | ] 77 | }, 78 | { 79 | "cell_type": "markdown", 80 | "metadata": {}, 81 | "source": [ 82 | "### Preprocess data for visualization" 83 | ] 84 | }, 85 | { 86 | "cell_type": "code", 87 | "execution_count": 29, 88 | "metadata": {}, 89 | "outputs": [], 90 | "source": [ 91 | "maxim = frames.max()\n", 92 | "imgs = (frames / maxim * 255.0).astype('uint8')" 93 | ] 94 | }, 95 | { 96 | "cell_type": "markdown", 97 | "metadata": {}, 98 | "source": [ 99 | "### Show one frame" 100 | ] 101 | }, 102 | { 103 | "cell_type": "code", 104 | "execution_count": 30, 105 | "metadata": {}, 106 | "outputs": [ 107 | { 108 | "data": { 109 | "text/plain": [ 110 | "" 111 | ] 112 | }, 113 | "execution_count": 30, 114 | "metadata": {}, 115 | "output_type": "execute_result" 116 | }, 117 | { 118 | "data": { 119 | "image/png": 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\n", 120 | "text/plain": [ 121 | "
" 122 | ] 123 | }, 124 | "metadata": { 125 | "needs_background": "light" 126 | }, 127 | "output_type": "display_data" 128 | } 129 | ], 130 | "source": [ 131 | "plt.imshow(np.flip(imgs[0,:,:].T, axis=1))" 132 | ] 133 | }, 134 | { 135 | "cell_type": "markdown", 136 | "metadata": {}, 137 | "source": [ 138 | "### Write depth video to a file" 139 | ] 140 | }, 141 | { 142 | "cell_type": "code", 143 | "execution_count": 31, 144 | "metadata": {}, 145 | "outputs": [], 146 | "source": [ 147 | "FPS = 25 # TODO: figure out the correct fps\n", 148 | "fourcc = cv2.VideoWriter_fourcc(*'mpv4')\n", 149 | "out = cv2.VideoWriter('depth_video.mp4',fourcc, FPS, (h,w))\n", 150 | "\n", 151 | "for i in range(FRAME_COUNT):\n", 152 | " out.write(cv2.cvtColor(np.flip(imgs[i,:,:].T, axis=1), cv2.COLOR_GRAY2BGR))\n", 153 | "\n", 154 | "out.release()" 155 | ] 156 | }, 157 | { 158 | "cell_type": "code", 159 | "execution_count": null, 160 | "metadata": {}, 161 | "outputs": [], 162 | "source": [] 163 | } 164 | ], 165 | "metadata": { 166 | "kernelspec": { 167 | "display_name": "Python 3", 168 | "language": "python", 169 | "name": "python3" 170 | }, 171 | "language_info": { 172 | "codemirror_mode": { 173 | "name": "ipython", 174 | "version": 3 175 | }, 176 | "file_extension": ".py", 177 | "mimetype": "text/x-python", 178 | "name": "python", 179 | "nbconvert_exporter": "python", 180 | "pygments_lexer": "ipython3", 181 | "version": "3.6.5" 182 | } 183 | }, 184 | "nbformat": 4, 185 | "nbformat_minor": 2 186 | } 187 | --------------------------------------------------------------------------------