def test_2d_to_3d_without_target_camera(self, calibration: Calibration):
point = 250.0, 300.0
depth = 250.0
point3d = -154.5365753173828, -26.12171173095703, 250.0
converted = calibration.convert_2d_to_3d(point, depth,
CalibrationType.COLOR)
assert np.allclose(converted, point3d)
def test_3d_to_2d_with_target_camera(self, calibration: Calibration):
point3d = -122.29087829589844, -45.17741394042969, 243.19528198242188
point = 250.0, 300.0
converted = calibration.convert_3d_to_2d(point3d,
CalibrationType.DEPTH,
CalibrationType.COLOR)
assert np.allclose(converted, point)
def test_properties(calibration_raw):
calibration = Calibration.from_raw(
calibration_raw,
depth_mode=DepthMode.NFOV_2X2BINNED,
color_resolution=ColorResolution.RES_1536P)
assert calibration.depth_mode == DepthMode.NFOV_2X2BINNED
assert calibration.color_resolution == ColorResolution.RES_1536P
def device_get_calibration(
self, depth_mode: int,
color_resolution: int) -> Tuple[int, Optional[object]]:
assert self._opened is True
calibration = Calibration.from_raw(calibration_raw,
DepthMode.NFOV_UNBINNED,
ColorResolution.RES_720P)
return Result.Success.value, calibration._calibration_handle
def calibration(calibration_raw) -> Calibration:
return Calibration.from_raw(calibration_raw,
depth_mode=DepthMode.NFOV_UNBINNED,
color_resolution=ColorResolution.RES_720P)
def test_depth_to_color_3d(self, calibration: Calibration):
point_color = 1000.0, 1500.0, 2000.0
point_depth = 1031.4664306640625, 1325.8529052734375, 2117.6611328125
converted = calibration.depth_to_color_3d(point_depth)
assert np.allclose(converted, point_color)
def test_from_raw(calibration_raw):
calibration = Calibration.from_raw(
calibration_raw, depth_mode=DepthMode.NFOV_UNBINNED, color_resolution=ColorResolution.OFF
)
assert calibration
def test_from_raw_incorrect_data(calibration_raw):
with pytest.raises(K4AException):
Calibration.from_raw(
"none-calibration-json-string", depth_mode=DepthMode.NFOV_UNBINNED, color_resolution=ColorResolution.OFF
)