def setUp(self):
        itau_data = get_itau_data_from_file()
        self.header_arquivo = itau_data['header_arquivo']
        self.seg_p = itau_data['seg_p1']
        self.seg_p_str = itau_data['seg_p1_str']
        self.seg_q = itau_data['seg_q1']
        self.seg_q_str = itau_data['seg_q1_str']
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()