orbbec_opencv.py

import cv2
import numpy as np
from openni import openni2
from openni import _openni2 as c_api
# python 2

# Initialize the depth device
openni2.initialize()
dev = openni2.Device.open_any()

# Start the depth stream
depth_stream = dev.create_depth_stream()
depth_stream.start()
depth_stream.set_video_mode(c_api.OniVideoMode(pixelFormat=c_api.OniPixelFormat.ONI_PIXEL_FORMAT_DEPTH_100_UM,
                                               resolutionX=640, resolutionY=480, fps=30))

# Function to return some pixel information when the OpenCV window is clicked
refPt = []
selecting = False


def point_and_shoot(event, x, y, flags, param):
    global refPt, selecting
    if event == cv2.EVENT_LBUTTONDOWN:
        print("Mouse Down")
        refPt = [(x,y)]
        selecting = True
        print(refPt)
    elif event == cv2.EVENT_LBUTTONUP:
        print("Mouse Up")
        refPt.append((x, y))
        selecting = False
        print(refPt)


# Initial OpenCV Window Functions
cv2.namedWindow("Depth Image")
cv2.setMouseCallback("Depth Image", point_and_shoot)

# Loop
while True:
    # Grab a new depth frame
    frame = depth_stream.read_frame()
    frame_data = frame.get_buffer_as_uint16()
    # Put the depth frame into a numpy array and reshape it
    img = np.frombuffer(frame_data, dtype=np.uint16)
    img.shape = (1, 480, 640)
    img = np.concatenate((img, img, img), axis=0)
    img = np.swapaxes(img, 0, 2)
    img = np.swapaxes(img, 0, 1)

    if len(refPt) > 1:
        img = img.copy()
        cv2.rectangle(img, refPt[0], refPt[1], (0, 255, 0), 2)
        # Display the reshaped depth frame using OpenCV
        cv2.imshow("Depth Image", img)
        key = cv2.waitKey(1) & 0xFF
        # If the 'c' key is pressed, break the while loop
        if key == ord("c"):
            break

# Close all windows and unload the depth device
openni2.unload()
depth_stream.stop()
cv2.destroyAllWindows()