def __create_action(self, main_root):
		action_dir = os.path.join(main_root, 'action')
		safe_mkdir(action_dir)

		actions = set()
		for unit, param in self.__task.data['workflow'].items():
			actions.add(param['type'])
		self.__action_mgr.create_actions(actions, action_dir)
def update(dt=0):
  global projpts, rgb, depth
  depth,_ = freenect.sync_get_depth()
  rgb,_ = freenect.sync_get_video()
  q = depth
  X,Y = np.meshgrid(range(640),range(480))
  # YOU CAN CHANGE THIS AND RERUN THE PROGRAM!
  # Point cloud downsampling
  d = 4
  projpts = calibkinect.depth2xyzuv(q[::d,::d],X[::d,::d],Y[::d,::d])
  refresh()