gistfile1.py

import sys
sys.path += ['..']
import cv
import numpy as np
from visuals.pykinectwindow import Window
from OpenGL.GL import *

from OpenGL.GL.ARB.vertex_buffer_object import *
import calibkinect

# I probably need more help with these! Which graphics cards 
# support OpenGL2.0 textures and which support the earlier ARB rect?
try: 
  TEXTURE_TARGET = GL_TEXTURE_RECTANGLE
except:
  TEXTURE_TARGET = GL_TEXTURE_RECTANGLE_ARB

if not 'window' in globals():
  window = Window()
  
# Always create fresh textures when we run the script
def create_textures():
  global textures
  if 'textures' in globals(): glDeleteTextures(textures)
  textures = glGenTextures(3)

  # Read in the mask image, separate into channels
  png = np.asarray(cv.LoadImageM('mask.png'))
  h,w = png.shape[:2]
  global R,G,B
  R,G,B = np.rollaxis(png,2)>120
  
  from scipy.ndimage import uniform_filter
  m1 = np.dstack(4*[~R|~B]).astype('f') # Start with back layer
  m1 = uniform_filter(m1, 45)           # Blur it to get halo effect
  m1 *= [0.6,0.6,1.2,5.0]               # Set the base color
  m1 = m1.clip(0,1)                     # Constrain
  
  # Add in the solid button backgrounds
  m1[~G,:] = [0.1,0.1,0.5,1.0]
  m1[R&~G,:] = [0.5,0.5,0.8,1.0]
  
  # Make the mask for the cursor strip
  m2 = np.dstack(4*[B&~R]).astype('f') 
  
  # Make the mask for the button icons
  m3 = np.dstack(4*[R&~G]).astype('f') 
  
  glBindTexture(TEXTURE_TARGET, textures[0])
  glTexImage2D(TEXTURE_TARGET,0,GL_RGBA,w,h,0,GL_RGBA,GL_FLOAT,m1)
  glBindTexture(TEXTURE_TARGET, textures[1])
  glTexImage2D(TEXTURE_TARGET,0,GL_RGBA,w,h,0,GL_RGBA,GL_FLOAT,m2)
  glBindTexture(TEXTURE_TARGET, textures[2])
  glTexImage2D(TEXTURE_TARGET,0,GL_RGBA,w,h,0,GL_RGBA,GL_FLOAT,m3)

create_textures()

cursorpos = 320
cursorpick = None

def init():
  pass
init()

@window.event
def on_draw():
  glClearColor(0,0,0,0)
  glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
  
  
  glMatrixMode(GL_PROJECTION)
  glLoadIdentity()
  glOrtho(0,640,0,480,-1,1)
  
  glMatrixMode(GL_MODELVIEW)
  glLoadIdentity()
  
  # Draw the glowy background and buttons
  glEnable (GL_BLEND);
  glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
  glEnable(TEXTURE_TARGET)
  glBindTexture(TEXTURE_TARGET, textures[0])
  glColor(1,1,1)
  glBegin(GL_QUADS)
  glTexCoord(0,240); glVertex(0,0); 
  glTexCoord(0,0); glVertex(0,240); 
  glTexCoord(640,0); glVertex(640,240); 
  glTexCoord(640,240); glVertex(640,0)
  glEnd()

  # Draw the cursor only where the texture is
  x = cursorpos
  glBindTexture(TEXTURE_TARGET, textures[1])
  glBegin(GL_QUAD_STRIP)
  glColor(0,0,0.6); 
  glTexCoord(x-50,240); glVertex(x-50,0); glTexCoord(x-50,0); glVertex(x-50,240)
  glColor(1,1,1);   
  glTexCoord(x   ,240); glVertex(x   ,0); glTexCoord(x   ,0); glVertex(x   ,240)
  glColor(0,0,0.6); 
  glTexCoord(x+50,240); glVertex(x+50,0); glTexCoord(x+50,0); glVertex(x+50,240)
  glEnd()
  
  glDisable(GL_STENCIL_TEST)
    
  if not cursorpick is None:
    glEnable(TEXTURE_TARGET)
    glBindTexture(TEXTURE_TARGET, textures[2])
    glColor(1,1,1)
    x = 100*(1+cursorpick)
    glBegin(GL_QUADS)
    glTexCoord(x-50,240); glVertex(x-50,0); 
    glTexCoord(x-50,0); glVertex(x-50,240); 
    glTexCoord(x+50,0); glVertex(x+50,240); 
    glTexCoord(x+50,240); glVertex(x+50,0)
    glEnd()
  
@window.eventx
def EVT_MOTION(event):
  # Control the sliding cursor using the mouse X coordinate
  x,_ = event.Position
  global cursorpos, cursorpick
  cursorpos = x
  pick = np.round(float(x)/100)
  dist = np.abs(x-pick*100)
  cursorpick = pick-1 if dist<30 else None
  window.Refresh()    

import freenect
import scipy.ndimage as nd
@window.eventx
def EVT_IDLE(event):
  global depth, cursorpos, cursorpick
  depth,_ = freenect.sync_get_depth()
  thresh = depth[::2,::2] < 600
  if thresh.sum() > 30:
    v,u = np.mgrid[:480/2,:640/2]
    x = cursorpos = cursorpos*0.8 + (640 - u[thresh].mean()*2)*0.2
    pick = np.round(float(x)/100)
    dist = np.abs(x-pick*100)
    cursorpick = pick-1 if dist<30 else None
  else:
    cursorpos = 0
    cursorpick = None
  event.RequestMore()
  window.Refresh()

window.Refresh()