Ejemplo n.º 1
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 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
Ejemplo n.º 2
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def depth_image_to_color_camera(depth: np.ndarray, calibration: Calibration,
                                thread_safe: bool) -> Optional[np.ndarray]:
    """
    Transform depth color_image to color color_image space
    Return empty result if transformation failed
    """
    return k4a_module.transformation_depth_image_to_color_camera(
        calibration.transformation_handle,
        thread_safe,
        depth,
        calibration.color_resolution,
    )
Ejemplo n.º 3
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 def _get_capture_ir(self, transform_to_color: bool) -> Optional[np.ndarray]:
     ir = k4a_module.device_get_ir_image()
     if ir is not None and transform_to_color:
         ir = k4a_module.transformation_depth_image_to_color_camera(ir, self._config.color_resolution)
     return ir