Comments (7)
I think I have to send the calibration
to color_image_to_depth_camera
? and it is a private variable of capture
I think.
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The first loop is probably to clear the first capture, which iirc is sometimes black for capture.color
If an image is badly processed by the SDK or by the C pyk4a code, it is possible capture.depth
or capture.color
will be None
it is why this line is there.
The line is not required if the device configuration is synchronized. In the script, the configuration it is shown here: https://github.com/etiennedub/pyk4a/blob/master/example/viewer_point_cloud.py#L15
You must understand synchronized images are software synchronized. If there are dropped images (depth or color), the capture is not sent when configured as synchronized. More info here:
https://microsoft.github.io/Azure-Kinect-Sensor-SDK/master/structk4a__device__configuration__t_a8208974f05d89fc1362c6a0900bdef4d.html#a8208974f05d89fc1362c6a0900bdef4d
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Ok thanks it makes more sense.
Regarding the same script I also wanted to know if there is a way of mapping 2D masks/selection (on the image pixels) into the pointcloud. (I segment the objects in 2D and want to map that to the pointcloud) is that possible ?
technically something like the capture.transformed_color
method ? or somehow making the color_image_to_depth_camera
method public ?
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I think it is already available with from pyk4a import color_image_to_depth_camera
?
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I noticed a problem with transformed_depth_point_cloud (has color camera reference).
Fixed here: #73
After this PR is merged, you will be able to modify viewer_point_cloud.py to replace capture.depth_point_cloud with capture.transformed_depth_point_cloud
and capture.transformed_color
with capture.color
. Or replace capture.color with your segmentation/mask directly!
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Ok so after the pull request I can just set my mask as capture.color
and then call capture.transformed_color
?
and estimation when the PR will get merged ?
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Related Issues (20)
- Who knows about [depth_image_to_color_camera_custom]? HOT 1
- Color camera not working with get_capture() in any configuration HOT 12
- How can I get the intrinsic parameters of depth sensor ? HOT 2
- quality of color point cloud HOT 1
- Getting depth information of RGB-Pixels HOT 1
- How do I read captures from two kinects connect to my computer with pyk4a? HOT 1
- convert_2d_to_3d produces Value Errors HOT 6
- sdist build fails with modern setuptools HOT 1
- Depth Value Discrepancies HOT 3
- Increment None object
- --external-sync flag in pyk4a HOT 2
- issues with pyk4a installation HOT 2
- Depth image counts to units conversion HOT 2
- ERROR: Could not build wheels for pyk4a, which is required to install pyproject.toml-based projects HOT 3
- Bug WFOV_UNBINNED depth configuration returns error HOT 4
- ERROR: Body tracking branch installation fails HOT 1
- Cannot import k4a_module.
- capture_set_color_image with K4A_IMAGE_FORMAT_COLOR_MJPG HOT 2
- Question about pyk4a.PyK4APlayback () HOT 2
- how can i change camera settings?
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