def read(*parts):
    """
    Build an absolute path from *parts* and and return the contents of the
    resulting file.  Assume UTF-8 encoding.
    """
    with codecs.open(os.path.join(HERE, *parts), "rb", "utf-8") as f:
        return f.read()
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()