def initialize_sensor(self, device_index=0):
# Open Device
self._device = k4a.Device.open(device_index)
# Start Cameras
device_config = k4a.DeviceConfiguration(
color_format=k4a.EImageFormat.COLOR_BGRA32,
color_resolution=k4a.EColorResolution.RES_720P,
depth_mode=k4a.EDepthMode.NFOV_UNBINNED,
camera_fps=k4a.EFramesPerSecond.FPS_30,
synchronized_images_only=True
)
status = self._device.start_cameras(device_config)
if status != k4a.EStatus.SUCCEEDED:
raise IOError("failed start cameras!")
def main():
dev = k4a.Device()
if k4a.device_open(0, dev):
# color control settings
color_control = ColorControl(dev)
params = dict()
params['exposure_time_absolute'] = 100000
params['brightness'] = 100
color_control.apply_settings(params)
color_control.show_settings()
serial = k4a.device_get_serialnum(dev)
version = k4a.device_get_version(dev)
print("Opened device {} {}\n".format(serial, version))
config = k4a.DeviceConfiguration()
config.color_format = k4a.K4A_IMAGE_FORMAT_COLOR_MJPG
config.color_resolution = k4a.K4A_COLOR_RESOLUTION_2160P
config.depth_mode = k4a.K4A_DEPTH_MODE_NFOV_UNBINNED
config.camera_fps = k4a.K4A_FRAMES_PER_SECOND_30
config.synchronized_images_only = True
if k4a.device_start_cameras(dev, config):
capture(dev, f"exposure.jpg")
else:
print("Failed to start cameras!")
k4a.device_stop_cameras(dev)
k4a.device_close(dev)
print("Closed")
else:
print("Failed to open device")
import k4a
import faulthandler
import sys
faulthandler.enable()
dev = k4a.Device()
if k4a.device_open(0, dev):
serial = k4a.device_get_serialnum(dev)
version = k4a.device_get_version(dev)
print("Opened device {} {}\n".format(serial, version))
config = k4a.DeviceConfiguration()
config.color_format = k4a.K4A_IMAGE_FORMAT_COLOR_MJPG
config.color_resolution = k4a.K4A_COLOR_RESOLUTION_1536P
config.depth_mode = k4a.K4A_DEPTH_MODE_WFOV_UNBINNED
config.camera_fps = k4a.K4A_FRAMES_PER_SECOND_15
config.synchronized_images_only = True
if k4a.device_start_cameras(dev, config):
count = 0
while True:
count += 1
capture = k4a.Capture()
res = k4a.device_get_capture(dev, capture, 1000)
if res == k4a.K4A_WAIT_RESULT_SUCCEEDED:
img = k4a.capture_get_color_image(capture)
if img:
w = k4a.image_get_width_pixels(img)
h = k4a.image_get_height_pixels(img)
if __name__ == '__main__':
count = detect_device()
if count:
device = k4a.Device.open(0)
print(device.serial_number)
print(device.hardware_version)
print(device.color_ctrl_cap)
# camera configuration
device_config = k4a.DeviceConfiguration(
color_format=k4a.EImageFormat.COLOR_BGRA32,
color_resolution=k4a.EColorResolution.RES_1080P,
depth_mode=k4a.EDepthMode.WFOV_2X2BINNED,
camera_fps=k4a.EFramesPerSecond.FPS_15,
synchronized_images_only=True,
depth_delay_off_color_usec=0,
wired_sync_mode=k4a.EWiredSyncMode.STANDALONE,
subordinate_delay_off_master_usec=0,
disable_streaming_indicator=False)
status = device.start_cameras(device_config)
if status != k4a.EStatus.SUCCEEDED:
exit(-1)
cv.namedWindow("Color Image")
cv.resizeWindow("Color Image", 640, 360)
cv.namedWindow("Depth Image")
while True:
capture = device.get_capture(-1)