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 bodyTracker_start(self, bodyTrackerModulePath, modelType = _k4abt.K4ABT_DEFAULT_MODEL): # Get depth sensor calibration depthSensorCalibration = _k4a.k4a_calibration_t() self.getDepthSensorCalibration(depthSensorCalibration) # Initialize the body tracker self.body_tracker = kinectBodyTracker(bodyTrackerModulePath, depthSensorCalibration, modelType)
def transform_depth_image_to_point_cloud(self, depth_image_handle: _k4a.k4a_image_t): """Transforms the depth map to point clouds Parameters: depth_image_handle (k4a_image_t): Handle to the Image Returns: point_cloud (k4a_image_t): Handle to point cloud """ calibration = _k4a.k4a_calibration_t() self.getDepthSensorCalibration(calibration) transformation_handle = self.transformation_create(calibration) point_cloud = _k4atypes.k4a_image_t() self.image_create( _k4atypes.K4A_IMAGE_FORMAT_CUSTOM, self.image_get_width_pixels(depth_image_handle), self.image_get_height_pixels(depth_image_handle), self.image_get_width_pixels(depth_image_handle) * 6, point_cloud ) _k4a.VERIFY(self.k4a.k4a_transformation_depth_image_to_point_cloud( transformation_handle, depth_image_handle, _k4atypes.K4A_CALIBRATION_TYPE_DEPTH, point_cloud ), "Error Occur When Make Point Cloud") return point_cloud
def bodyTracker_start(self, bodyTrackerModulePath): # Get depth sensor calibration depthSensorCalibration = _k4a.k4a_calibration_t() self.getDepthSensorCalibration(depthSensorCalibration) # Initialize the body tracker self.body_tracker = kinectBodyTracker(bodyTrackerModulePath, depthSensorCalibration)
def get_readable_calibration(self, depth_mode, color_resolution):
"""Return a readable_calibration contains intrinsics matrix
Args:
depth_mode(k4a_depth_mode_t): Mode in which depth camera is operated.
color_resolution(k4a_color_resolution_t): Resolution in which color camera is operated.
Returns:
readable_calibration:
.depth_camera_calibration:
.cx
.cy
.fx
.fy
.color_camera_calibration:
.cx
.cy
.fx
.fy
.extrinsics:
.depth_camera_calibration_matrix: 3x3 numpy array
.color_camera_calibration_matrix: 3x3 numpy array
"""
cal = _k4a.k4a_calibration_t()
self.device_get_calibration(depth_mode, color_resolution, cal)
return self.readable_calibration(cal)
