def test_seek_by_device_time(playback: PyK4APlayback):
# TODO fetch capture/data and validate time
playback.open()
playback.seek(1, origin=SeekOrigin.DEVICE_TIME
) # TODO add correct timestamp from datablock here
capture = playback.get_next_capture()
assert capture.color is not None
def test_get_next_capture(playback: PyK4APlayback):
playback.open()
capture = playback.get_next_capture()
assert capture is not None
assert capture.depth is not None
assert capture.color is not None
assert capture._calibration is not None # Issue #81
def test_get_previouse_capture(playback: PyK4APlayback):
playback.open()
playback.seek(0, origin=SeekOrigin.END)
capture = playback.get_previouse_capture()
assert capture is not None
assert capture.depth is not None
assert capture.color is not None
assert capture._calibration is not None # Issue #81
def test_get_next_capture(playback: PyK4APlayback):
playback.open()
capture = playback.get_next_capture()
assert capture is not None
assert capture.depth is not None
assert capture.color is not None
assert capture.depth_timestamp_usec == 800222
assert capture.color_timestamp_usec == 800222
assert capture.ir_timestamp_usec == 800222
assert capture._calibration is not None # Issue #81
def test_seek_from_start(playback: PyK4APlayback):
# TODO fetch capture/data and validate time
playback.open()
playback.get_next_capture()
playback.seek(playback.configuration["start_timestamp_offset_usec"], origin=SeekOrigin.BEGIN)
capture = playback.get_next_capture()
assert capture.color is not None
with pytest.raises(EOFError):
playback.get_previouse_capture()
def playback(recording_good_file: str) -> Iterator[PyK4APlayback]:
playback = PyK4APlayback(path=recording_good_file)
yield playback
# autoclose
try:
playback.close()
except K4AException:
pass
def test_seek_from_end(playback: PyK4APlayback):
# TODO fetch capture/data and validate time
playback.open()
playback.seek(0, origin=SeekOrigin.END)
capture = playback.get_previouse_capture()
assert capture.color is not None
with pytest.raises(EOFError):
playback.get_next_capture()
def play(playback: PyK4APlayback):
while True:
try:
capture = playback.get_next_capture()
if capture.color is not None:
cv2.imshow(
"Color",
convert_to_bgra_if_required(
playback.configuration["color_format"], capture.color))
if capture.depth is not None:
cv2.imshow("Depth", colorize(capture.depth, (None, 5000)))
key = cv2.waitKey(10)
if key != -1:
break
except EOFError:
break
cv2.destroyAllWindows()
def main() -> None:
parser = ArgumentParser(description="pyk4a player")
parser.add_argument("--seek",
type=float,
help="Seek file to specified offset in seconds",
default=0.0)
parser.add_argument("FILE",
type=str,
help="Path to MKV file written by k4arecorder")
args = parser.parse_args()
filename: str = args.FILE
offset: float = args.seek
playback = PyK4APlayback(filename)
playback.open()
info(playback)
if offset != 0.0:
playback.seek(int(offset * 1000000))
play(playback)
playback.close()
def test_good_file(playback: PyK4APlayback):
playback.open()
assert playback.length == 1234
def test_double_open(playback: PyK4APlayback):
playback.open()
with pytest.raises(K4AException, match=r"Playback already opened"):
playback.open()
def test_not_existing_path(recording_not_exists_file: str):
playback = PyK4APlayback(path=recording_not_exists_file)
with pytest.raises(K4AException):
playback.open()
def test_path_argument():
playback = PyK4APlayback(path=Path("some.mkv"))
assert playback.path == Path("some.mkv")
playback = PyK4APlayback(path="some.mkv")
assert playback.path == Path("some.mkv")
def test_seek_eof(playback: PyK4APlayback):
playback.open()
with pytest.raises(EOFError):
playback.seek(9999)
def test_not_existing_path():
playback = PyK4APlayback(path="/some/not-exists.file")
with pytest.raises(K4AException):
playback.open()
def test_good_file(playback: PyK4APlayback):
playback.open()
assert playback.calibration
def test_validate_if_record_opened(playback: PyK4APlayback):
with pytest.raises(K4AException, match="Playback not opened."):
playback.seek(1)
def test_readness(playback: PyK4APlayback):
playback.open()
calibration = playback.calibration
assert calibration
def test_readness(playback: PyK4APlayback):
playback.open()
assert playback.configuration == RECORD_CONFIGURATION
def test_correct_value(playback: PyK4APlayback):
playback.open()
assert playback.calibration_raw == RECORD_CALIBRATION_JSON
def test_correct_value(playback: PyK4APlayback):
playback.open()
assert playback.length == RECORD_LENGTH
def test_bad_file(playback_bad: PyK4APlayback):
playback_bad.open()
with pytest.raises(K4AException):
assert playback_bad.calibration_raw
def test_bad_file(playback_bad: PyK4APlayback):
playback_bad.open()
with pytest.raises(K4AException):
playback_bad.seek(10)
def start(useLiveCamera):
global k4a
if useLiveCamera == False:
k4a = PyK4APlayback("C:\data\outSess1.mkv")
k4a.open()
else:
k4a = PyK4A(
Config(
color_resolution=pyk4a.ColorResolution.RES_1080P,
depth_mode=pyk4a.DepthMode.NFOV_UNBINNED,
synchronized_images_only=True,
))
k4a.start()
cal = json.loads(k4a.calibration_raw)
depthCal = cal["CalibrationInformation"]["Cameras"][0]["Intrinsics"][
"ModelParameters"]
colorCal = cal["CalibrationInformation"]["Cameras"][1]["Intrinsics"][
"ModelParameters"]
# https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/61951daac782234f4f28322c0904ba1c4702d0ba/src/transformation/mode_specific_calibration.c
# from microsfots way of doing things, you have to do the maths here, rememberedding to -0.5f from cx, cy at the end
# this should be set from the depth mode type, as the offsets are different, see source code in link
#K = np.eye(4, dtype='float32')
K = glm.mat4(1.0)
K[0, 0] = depthCal[2] * cal["CalibrationInformation"]["Cameras"][0][
"SensorWidth"] # fx
K[1, 1] = depthCal[3] * cal["CalibrationInformation"]["Cameras"][0][
"SensorHeight"] # fy
K[2, 0] = (depthCal[0] *
cal["CalibrationInformation"]["Cameras"][0]["SensorWidth"]
) - 192.0 - 0.5 # cx
K[2, 1] = (depthCal[1] *
cal["CalibrationInformation"]["Cameras"][0]["SensorHeight"]
) - 180.0 - 0.5 # cy
invK = glm.inverse(K)
colK = glm.mat4(1.0)
colK[0, 0] = colorCal[2] * 1920.0 # fx
colK[1, 1] = colorCal[
3] * 1440.0 # fy # why 1440, since we are 1080p? check the link, the umbers are there, im sure they make sense ...
colK[2, 0] = (colorCal[0] * 1920.0) - 0 - 0.5 # cx
colK[2, 1] = (colorCal[1] * 1440.0) - 180.0 - 0.5 # cy
d2c = glm.mat4(
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][0],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][3],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][6], 0,
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][1],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][4],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][7], 0,
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][2],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][5],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Rotation"][8], 0,
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Translation"][0],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Translation"][1],
cal["CalibrationInformation"]["Cameras"][1]["Rt"]["Translation"][2], 1)
c2d = glm.inverse(d2c)
return d2c, c2d, K, invK, colK
def test_good_file(playback: PyK4APlayback):
playback.open()
playback.seek(10)
def playback(recording_path: Path) -> PyK4APlayback:
return PyK4APlayback(path=recording_path)
def capture(playback: PyK4APlayback) -> PyK4ACapture:
playback.open()
return playback.get_next_capture()