Some kinect scrolling junk

kinect-scroll.py

#! /usr/bin/python

from openni import *
import kinect_motor
import uinput
import math

grabbed = False

def setup_uinput():
	events = (
		uinput.REL_WHEEL,
		uinput.REL_X,
		uinput.REL_Y,
		uinput.BTN_LEFT,
		uinput.BTN_RIGHT,
		)

	return uinput.Device(events)

def uinput_scroll(direction, amount=1):
	device.emit(uinput.REL_WHEEL, direction * amount)

# Declare the callbacks
# gesture
def gesture_detected(src, gesture, id, end_point):
	global grabbed
	if grabbed:
		return
	grabbed = True
	print "Start scrolling!"
	hands_generator.start_tracking(end_point)
	kinect_motor.set_led_color(kinect_motor.LED_GREEN)
# gesture_detected

def gesture_progress(src, gesture, point, progress): pass
# gesture_progress

points = []
X = 0
Y = 1
Z = 2

def _add_point(p):
	points.append(p)
	if len(points) > 200:
		points.pop(0)

def _map_axis(a):
	return map(lambda p: p[a], points)

def _average_axis(axis):
	a = _map_axis(axis)
	return sum(a) / len(a)

def lastpos(axis):
	return points[-2][axis]

def create(src, id, pos, time):
	print 'Starts!'
	_add_point(pos)

def dist(p1, p2):
	return math.sqrt((p1[X] - p2[X])**2 + (p1[Y] - p2[Y])**2)

def update(src, id, pos, time):
	#print 'Update', src, id, pos, time
	_add_point(pos)
	distance = dist(points[-1], points[-2])
	if distance > 10 and points[-1][X] - points[-2][X] > 20:
		if points[-1][Y] - points[-2][Y] < 10:
			print 'Down', distance
			uinput_scroll(-1, int(distance / 10))
		elif points[-1][Y] - points[-2][Y] > 10:
			print 'Up', distance
			uinput_scroll(1, int(distance / 10))

	#amount = abs((pos[Y] - lastpos(Y)) / threshold[Y])
	#uinput_scroll(-1, int(amount))

def destroy(src, id, time):
	global grabbed
	grabbed = False
	print 'Lost track of hand!', time
	kinect_motor.set_led_color(kinect_motor.LED_BLINK_YELLOW)

device = setup_uinput()

#kinect_motor.set_motor_angle(-10)
kinect_motor.set_motor_level()
kinect_motor.set_led_color(kinect_motor.LED_BLINK_RED_YELLOW)

context = Context()
context.init()

depth_generator = DepthGenerator()
depth_generator.create(context)
depth_generator.set_resolution_preset(RES_VGA)
depth_generator.fps = 30
#print depth_generator.get_tuple_depth_map()

gesture_generator = GestureGenerator()
gesture_generator.create(context)
gesture_generator.add_gesture('Click')

hands_generator = HandsGenerator()
hands_generator.create(context)

# Register the callbacks
gesture_generator.register_gesture_cb(gesture_detected, gesture_progress)
hands_generator.register_hand_cb(create, update, destroy)

# Start generating
context.start_generating_all()

#for x in depth_generator.point_map:
#	print x

print 'Click to start scrolling!'

while True:
	context.wait_any_update_all()
# while

kinect_motor.py

import usb

LED_OFF              = 0
LED_GREEN            = 1
LED_RED              = 2
LED_YELLOW           = 3
LED_BLINK_YELLOW     = 4
LED_BLINK_GREEN      = 5
LED_BLINK_RED_YELLOW = 6

_dev = usb.core.find(idVendor=0x045e, idProduct=0x02B0) #The kinect motor device

def set_led_color(color):
	_dev.ctrl_transfer(0x40, 0x06, color, 0x0, [])

def set_motor_angle(degree):
	_dev.ctrl_transfer(0x40, 0x31, degree, 0x0, [])

def set_motor_up():
	set_motor_angle(60)

def set_motor_level():
	set_motor_angle(0)

def set_motor_down():
	set_motor_angle(-60)