#!/bin/python
from freenect import sync_get_depth as gdepth
import cv2
import numpy as np

def loopa():
	global depth
	while True:
		(depth,_) = gdepth()
		npd=np.array(depth)
		mn=npd.min()
		npd[npd>1000]=1000 # Eliminate kinect artefacts, constant to be fitted manually
		#print(npd.max())
		npd-=mn
		mx=npd.max()

		npd2=npd*(255/mx)
		npd=np.floor(npd2).astype(np.uint8)

# Debugging histrogram START
#		himg=np.zeros((300,256,1))
#		hst=cv2.calcHist([npd],[0],None,[256],[0,2048])
#		cv2.normalize(hst,hst,0,255,cv2.NORM_MINMAX)
#		hst2=np.int32(np.around(hst))
#		pts=np.column_stack((np.arange(256).reshape(256,1),hst2))
#		cv2.polylines(himg,[pts],False,(255,0,0))
# Debugging histogram END

		fdepth=cv2.applyColorMap(npd,cv2.COLORMAP_JET)

		cv2.imshow('dpth',fdepth)
		#cv2.imshow('hst',himg) # Debugging histogram
		if cv2.waitKey(1) & 0xFF == ord('q'):
			break

cv2.namedWindow("dpth", cv2.WND_PROP_FULLSCREEN)
cv2.setWindowProperty("dpth",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
loopa()

cv2.destroyAllWindows()