1. Changed from exposing strings to just using numpy as practically t…

…he strings are useless in python and they make it messier to use numpy.

2. Added a 'body' function pointer to the runloop that is called between event checks
3. Added a 'Kill' exception that can be used to disable the runloop from inside the body
4. Updated all demos
Signed-off-by: Brandyn A. White <[email protected]>

wrappers/python/demo_cv_async.py

@@ -28,5 +28,5 @@ def display_rgb(dev, data, timestamp):
     cv.ShowImage('RGB', image)
     cv.WaitKey(5)
 
-freenect.runloop(depth=lambda *x: display_depth(*freenect.depth_cb_np(*x)),
-                 rgb=lambda *x: display_rgb(*freenect.rgb_cb_np(*x)))
+freenect.runloop(depth=display_depth,
+                 rgb=display_rgb)

wrappers/python/demo_cv_sync.py

@@ -7,8 +7,8 @@
 cv.NamedWindow('RGB')
 
 while 1:
-    depth, timestamp = freenect.sync_get_depth_np()
-    rgb, timestamp = freenect.sync_get_rgb_np()
+    depth, timestamp = freenect.sync_get_depth()
+    rgb, timestamp = freenect.sync_get_rgb()
     cv.ShowImage('Depth', depth.astype(np.uint8))
     cv.ShowImage('RGB', rgb.astype(np.uint8))
     cv.WaitKey(10)

wrappers/python/demo_kill_async.py

@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+import freenect
+import time
+
+
+def body(dev, ctx):
+    if time.time() - start_time > 1.:
+        print('1 sec passed, killing')
+        raise freenect.Kill
+
+start_time = time.time()
+freenect.runloop(body=body)
+start_time = time.time()
+freenect.runloop(body=body)

wrappers/python/demo_mp_async.py

@@ -26,5 +26,5 @@ def display_rgb(dev, data, timestamp):
         image_rgb = mp.imshow(data, interpolation='nearest', animated=True)
     mp.draw()
 
-freenect.runloop(depth=lambda *x: display_depth(*freenect.depth_cb_np(*x)),
-                 rgb=lambda *x: display_rgb(*freenect.rgb_cb_np(*x)))
+freenect.runloop(depth=display_depth),
+                 rgb=display_rgb)

wrappers/python/demo_mp_sync.py

@@ -4,13 +4,13 @@
 
 mp.ion()
 mp.figure(1)
-image_depth = mp.imshow(freenect.sync_get_depth_np()[0], interpolation='nearest', animated=True)
+image_depth = mp.imshow(freenect.sync_get_depth()[0], interpolation='nearest', animated=True)
 mp.figure(2)
-image_rgb = mp.imshow(freenect.sync_get_rgb_np()[0], interpolation='nearest', animated=True)
+image_rgb = mp.imshow(freenect.sync_get_rgb()[0], interpolation='nearest', animated=True)
 
 while 1:
     mp.figure(1)
-    image_depth.set_data(freenect.sync_get_depth_np()[0])
+    image_depth.set_data(freenect.sync_get_depth()[0])
     mp.figure(2)
-    image_rgb.set_data(freenect.sync_get_rgb_np()[0])
+    image_rgb.set_data(freenect.sync_get_rgb()[0])
     mp.draw()

wrappers/python/freenect.pyx

@@ -184,7 +184,7 @@ cdef void depth_cb(void *dev, char *data, int timestamp):
     dev_out = DevPtr()
     dev_out._ptr = dev
     if _depth_cb:
-       _depth_cb(dev_out, PyString_FromStringAndSize(data, nbytes), timestamp)
+       _depth_cb(*_depth_cb_np(dev_out, PyString_FromStringAndSize(data, nbytes), timestamp))
 
 
 cdef void rgb_cb(void *dev, char *data, int timestamp):
@@ -193,7 +193,11 @@ cdef void rgb_cb(void *dev, char *data, int timestamp):
     dev_out = DevPtr()
     dev_out._ptr = dev
     if _rgb_cb:
-       _rgb_cb(dev_out, PyString_FromStringAndSize(data, nbytes), timestamp)
+       _rgb_cb(*_rgb_cb_np(dev_out, PyString_FromStringAndSize(data, nbytes), timestamp))
+
+
+class Kill(Exception):
+   """This kills the runloop, raise from the body only"""
 
 
 def runloop(depth=None, rgb=None, body=None):
@@ -229,9 +233,16 @@ def runloop(depth=None, rgb=None, body=None):
     freenect_start_rgb(devp)
     freenect_set_depth_callback(devp, depth_cb)
     freenect_set_rgb_callback(devp, rgb_cb)
-    while freenect_process_events(ctxp) >= 0:
-       if body:
-          body(dev, ctx)
+    try:
+       while freenect_process_events(ctxp) >= 0:
+          if body:
+             body(dev, ctx)
+    except Kill:
+       pass
+    freenect_stop_depth(devp)
+    freenect_stop_rgb(devp)
+    freenect_close_device(devp)
+    freenect_shutdown(ctxp)
 
 
 def _load_numpy():
@@ -243,7 +254,7 @@ def _load_numpy():
         raise e
 
 
-def depth_cb_np(dev, string, timestamp):
+def _depth_cb_np(dev, string, timestamp):
    """Converts the raw depth data into a numpy array for your function
 
     Args:
@@ -260,7 +271,7 @@ def depth_cb_np(dev, string, timestamp):
    return dev, data, timestamp
 
 
-def rgb_cb_np(dev, string, timestamp):
+def _rgb_cb_np(dev, string, timestamp):
    """Converts the raw depth data into a numpy array for your function
 
     Args:
@@ -277,7 +288,7 @@ def rgb_cb_np(dev, string, timestamp):
    return dev, data, timestamp
 
 
-def sync_get_depth():
+def _sync_get_depth_str():
     """Get the next available depth frame from the kinect.
 
     Returns:
@@ -295,7 +306,7 @@ def sync_get_depth():
     return depth_str, timestamp
 
 
-def sync_get_rgb():
+def _sync_get_rgb_str():
     """Get the next available rgb frame from the kinect.
 
     Returns:
@@ -319,7 +330,7 @@ def sync_stop():
     freenect_sync_stop()
 
 
-def sync_get_rgb_np():
+def sync_get_rgb():
     """Get the next available RGB frame from the kinect, as a numpy array.
 
     Returns:
@@ -329,15 +340,15 @@ def sync_get_rgb_np():
     """
     np = _load_numpy()
     try:
-        string, timestamp = sync_get_rgb()
+        string, timestamp = _sync_get_rgb_str()
     except TypeError:
         return
     data = np.fromstring(string, dtype=np.uint8)
     data.resize((480, 640, 3))
     return data, timestamp
 
 
-def sync_get_depth_np():
+def sync_get_depth():
     """Get the next available depth frame from the kinect, as a numpy array.
 
     Returns:
@@ -347,9 +358,10 @@ def sync_get_depth_np():
     """
     np = _load_numpy()
     try:
-        string, timestamp = sync_get_depth()
+        string, timestamp = _sync_get_depth_str()
     except TypeError:
         return
     data = np.fromstring(string, dtype=np.uint16)
     data.resize((480, 640))
     return data, timestamp
+