def transform_depth_to_color(self, input_depth_image_handle,
color_image_handle):
calibration = _k4a.k4a_calibration_t()
# Get desired image format
image_format = self.image_get_format(input_depth_image_handle)
image_width = self.image_get_width_pixels(color_image_handle)
image_height = self.image_get_height_pixels(color_image_handle)
image_stride = 0
# Get the camera calibration
self.device_get_calibration(self.config.depth_mode,
self.config.color_resolution, calibration)
# Create transformation
transformation_handle = self.transformation_create(calibration)
# Create the image handle
transformed_depth_image_handle = _k4a.k4a_image_t()
self.image_create(image_format, image_width, image_height,
image_stride, transformed_depth_image_handle)
# Transform the depth image to the color image format
self.transformation_depth_image_to_color_camera(
transformation_handle, input_depth_image_handle,
transformed_depth_image_handle)
# Get transformed image data
transformed_image = self.image_convert_to_numpy(
transformed_depth_image_handle)
# Close transformation
self.transformation_destroy(transformation_handle)
return transformed_image
def __init__(self, modulePath, sensor_calibration, modelType):
_k4abt.k4abt.setup_library(modulePath)
self.k4abt = _k4abt.k4abt()
try:
cdll.LoadLibrary(
"C:/Program Files/Azure Kinect Body Tracking SDK/tools/directml.dll"
)
except Exception as e:
_k4abt.K4ABT_TRACKER_CONFIG_DEFAULT.processing_mode = _k4abt.K4ABT_TRACKER_PROCESSING_MODE_GPU_CUDA
self.tracker_handle = _k4abt.k4abt_tracker_t()
if modelType == 1:
try:
_k4abt.K4ABT_TRACKER_CONFIG_DEFAULT.model_path = "C:/Program Files/Azure Kinect Body Tracking SDK/sdk/windows-desktop/amd64/release/bin/dnn_model_2_0_lite_op11.onnx".encode(
'utf-8')
except Exception as e:
print(
"Failed to find lite model. Check that you are using Body Tracker version 1.1.0\n"
)
print("Switching to the original body tracking model\n\n\n")
self.tracker_config = _k4abt.K4ABT_TRACKER_CONFIG_DEFAULT
self.body_frame_handle = _k4abt.k4abt_frame_t()
self.segmented_body_img = _k4a.k4a_image_t()
self.capture_handle = _k4a.k4a_capture_t()
self.sensor_calibration = sensor_calibration
self.tracker_running = False
self.bodiesNow = []
self.initializeTracker()
def __init__(self, modulePath, sensor_calibration):
self.k4abt = _k4abt.k4abt(modulePath)
self.tracker_handle = _k4abt.k4abt_tracker_t()
self.tracker_config = _k4abt.K4ABT_TRACKER_CONFIG_DEFAULT
self.body_frame_handle = _k4abt.k4abt_frame_t()
self.segmented_body_img = _k4a.k4a_image_t()
self.capture_handle = _k4a.k4a_capture_t()
self.sensor_calibration = sensor_calibration
self.tracker_running = False
self.bodiesNow = []
self.initializeTracker()