def get_capture(self,
timeout=TIMEOUT_WAIT_INFINITE,
color_only=False,
transform_depth_to_color=True):
"""Get next capture
Parameters:
timeout: Timeout of capture
color_only: If True, only color image will be returned
transform_depth_to_color: If True, depth image will be transformed to the color image space
Returns:
color: Color image
deoth: Depth image
pose: Pose data of shape (num_bodies, num_joints, 10). Last dimension means:
0:2 - 2d keypoints projected to color image
2:5 - 3d keypoints in world depth image coordinates
5:9 - orientation
9 - confidence
body_index_map: Body Index map is the body instance segmentation map. Each pixel maps to the corresponding pixel in the depth image or the ir image.
The value for each pixel represents which body the pixel belongs to. It can be either background (value 255)
or the index of a detected k4abt_body_t.
"""
res = k4a_module.device_get_capture(timeout)
self._verify_error(res)
color = k4a_module.device_get_color_image()
if color_only:
return color
# depth = k4a_module.device_get_depth_image(transform_depth_to_color)
# pose, body_index_map = k4a_module.device_get_pose_data()
return color, depth, pose, body_index_map
def get_capture(self,
timeout=TIMEOUT_WAIT_INFINITE,
color_only=False,
transform_depth_to_color=True):
res = k4a_module.device_get_capture(timeout)
self._verify_error(res)
color = k4a_module.device_get_color_image()
if color_only:
return color
depth = k4a_module.device_get_depth_image(transform_depth_to_color)
return color, depth
def _get_capture_color(self) -> Optional[np.ndarray]:
return k4a_module.device_get_color_image()