Simply get rgb and depth image stream with pykinect and python3 - python-3.x

Question

I want to get the depth and rgb video stream from a kinect (version 1).
I'm using the Python 3 version of pykinect, not CPython.
I have found some examples but Pykinect documentation is nearly inexistant and I don't want to use pygame.
On linux with freenect I did:
rgb_stream = freenect.sync_get_video()[0]
rgb_stream = rgb_stream[:, :, ::-1]
rgb_image = cv.cvtColor(rgb_stream, cv.COLOR_BGR2RGB)
depth_stream = freenect.sync_get_depth()[0]
depth_stream = np.uint8(depth_stream)
depth_image = cv.cvtColor(depth_stream, cv.COLOR_GRAY2RGB)
However I'm using pykinect on Windows and I want to get depth and rgb stream in a similar fashion, and then process it with OpenCV and display it with Qt.
Here is an example code I found:
from pykinect import nui
import numpy
import cv2
def video_handler_function(frame):
video = numpy.empty((480,640,4),numpy.uint8)
frame.image.copy_bits(video.ctypes.data)
cv2.imshow('KINECT Video Stream', video)
kinect = nui.Runtime()
kinect.video_frame_ready += video_handler_function
kinect.video_stream.open(nui.ImageStreamType.Video, 2,nui.ImageResolution.Resolution640x480,nui.ImageType.Color)
cv2.namedWindow('KINECT Video Stream', cv2.WINDOW_AUTOSIZE)
while True:
key = cv2.waitKey(1)
if key == 27: break
kinect.close()
cv2.destroyAllWindows()
What is video_handler_function ? What is the purpose of kinect.video_frame_ready += video_handler_function ?
I tried kinect.depth_stream.open(nui.ImageStreamType.Depth, 2, nui.ImageResolution.Resolution320x240, nui.ImageType.Depth) to get the depth image with some modifications to the handler function but couldn't make it work.

Answer 1

from pykinect import nui
import numpy
import cv2
kinect = nui.Runtime()
kinect.skeleton_engine.enabled = True
def getColorImage(frame):
height, width = frame.image.height, frame.image.width #get width and height of the images
rgb = numpy.empty((height, width, 4), numpy.uint8)
frame.image.copy_bits(rgb.ctypes.data) #copy the bit of the image to the array
cv2.imshow('KINECT Video Stream', rgb) # display the image
def getDepthImage(frame):
height, width = frame.image.height, frame.image.width #get frame height and width
depth = numpy.empty((height, width, 1), numpy.uint8)
arr2d = (depth >> 3) & 4095
arr2d >>= 4
frame.image.copy_bits(arr2d.ctypes.data)
cv2.imshow('KINECT depth Stream', arr2d)
def frame_ready(frame):
for skeleton in frame.SkeletonData:
if skeleton.eTrackingState == nui.SkeletonTrackingState.TRACKED:
print(skeleton.Position.x, skeleton.Position.y, skeleton.Position.z, skeleton.Position.w)
def main():
while True:
kinect.video_frame_ready += getColorImage
kinect.video_stream.open(nui.ImageStreamType.Video, 2, nui.ImageResolution.Resolution640x480, nui.ImageType.Color)
cv2.namedWindow('KINECT Video Stream', cv2.WINDOW_AUTOSIZE)
kinect.depth_frame_ready += getDepthImage
kinect.depth_stream.open(nui.ImageStreamType.Depth, 2, nui.ImageResolution.Resolution320x240, nui.ImageType.Depth)
cv2.namedWindow('KINECT depth Stream', cv2.WINDOW_AUTOSIZE)
kinect.skeleton_frame_ready += frame_ready
if cv2.waitKey(0) == 27:
cv2.destroyAllWindows()
kinect.close()
break
if __name__ == '__main__':
main()
~~~~~