def _get_capture_depth(
self, transform_depth_to_color: bool) -> Optional[np.ndarray]:
depth = k4a_module.device_get_depth_image(self._device_id)
if transform_depth_to_color:
depth = k4a_module.transformation_depth_image_to_color_camera(
self._device_id, depth, self._config.color_resolution)
return depth
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_depth(
self, transform_depth_to_color: bool) -> Optional[np.ndarray]:
return k4a_module.device_get_depth_image(transform_depth_to_color)