Version 1.2.0 (#115)

- Use clang-format as CPP code formatter/linter (#105) - Available devices count (#107) - Recording support (#106) - Capture color exposure and white balance properties (#110) - Calibration: Add functions to access intrinsics (#113) - Add 3d => 2d conversion function (#114) * Run test with different python versions (#65) * Add matrix to workflow * Change python versions list * Change python versions list * Add k4a versions to matrix * Typofix * Drop k4a from matrix * Add dataclasses requirement for python <3.7 * Fix python 3.6 test behavior * Fix python 3.6 test behavior * Restore fail-fast option * fix conversion seconds to ns * fix conversion seconds to ns * fix timestamp ns to us Co-authored-by: Louis-Philippe Asselin <[email protected]> * fix install using pip --editable --user (#67) * Codecov support (#64) * Codecov support * Add badge * Order badges * fix capture.transformed_depth_point_cloud (#73) * version 1.0.1 * Added transformed_ir with transform_depth_image_to_color_camera_custom functionality (#76) * Added transform_depth_image_to_color_camera_custom functionality * keeping things c * add interpolation option condition as a parameter * returned the depth image * unpack return value if not None so avoid error * Image timestamp support (#88) * Support for capture images timestamps * Support for capture images timestamps * Add more changes * version 1.1.0 * fix lint * readme fix wrong example version of SDK * Use clang-format as CPP code formatter/linter (#105) * Use clang-format as CPP code formatter/linter * Add missed .clang-format * Available devices count (#107) * Add ability to querying devices count and read serial numbers * Fix test * Rename installed_count => connected_device_count * Recording support (#106) * Recording support * Tests * Small refactoring * Add ability to querying devices count and read serial numbers * Fix test * Fix format * Capture color exposure and white balance properties (#110) * Add color_white_balance and exposure_usec properties to capture * Add color_white_balance and exposure_usec properties to capture Co-authored-by: Louis-Philippe Asselin <[email protected]> * Calibration: Add functions to access intrinsics (#113) Camera matrix and distortion coefficients in OpenCV-compatible format. These values are already specific to the selected camera resolution (in contrast to those accessed through calibration_raw). related to #35, #69 Co-authored-by: Johan von Forstner <[email protected]> * version 1.2.0 Co-authored-by: Ilya Gruzinov <[email protected]> Co-authored-by: Samuel Boulanger <[email protected]> Co-authored-by: Johan von Forstner <[email protected]> Co-authored-by: Johan von Forstner <[email protected]>
etiennedub · Apr 8, 2021 · e94b0fa · e94b0fa
1 parent 8186ae9
commit e94b0fa
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Showing 17 changed files with 656 additions and 19 deletions.
diff --git a/example/devices.py b/example/devices.py
@@ -0,0 +1,13 @@
+from pyk4a import PyK4A, connected_device_count
+
+
+cnt = connected_device_count()
+if not cnt:
+    print("No devices available")
+    exit()
+print(f"Available devices: {cnt}")
+for device_id in range(cnt):
+    device = PyK4A(device_id=device_id)
+    device.open()
+    print(f"{device_id}: {device.serial}")
+    device.close()
diff --git a/example/record.py b/example/record.py
@@ -0,0 +1,29 @@
+from argparse import ArgumentParser
+
+from pyk4a import Config, ImageFormat, PyK4A, PyK4ARecord
+
+
+parser = ArgumentParser(description="pyk4a recorder")
+parser.add_argument("--device", type=int, help="Device ID", default=0)
+parser.add_argument("FILE", type=str, help="Path to MKV file")
+args = parser.parse_args()
+
+print(f"Starting device #{args.device}")
+config = Config(color_format=ImageFormat.COLOR_MJPG)
+device = PyK4A(config=config, device_id=args.device)
+device.start()
+
+print(f"Open record file {args.FILE}")
+record = PyK4ARecord(device=device, config=config, path=args.FILE)
+record.create()
+try:
+    print("Recording... Press CTRL-C to stop recording.")
+    while True:
+        capture = device.get_capture()
+        record.write_capture(capture)
+except KeyboardInterrupt:
+    print("CTRL-C pressed. Exiting.")
+
+record.flush()
+record.close()
+print(f"{record.captures_count} frames written.")
diff --git a/pyk4a/__init__.py b/pyk4a/__init__.py
@@ -1,3 +1,5 @@
+import k4a_module
+
 from .calibration import Calibration, CalibrationType
 from .capture import PyK4ACapture
 from .config import (
@@ -13,6 +15,7 @@
 from .errors import K4AException, K4ATimeoutException
 from .playback import PyK4APlayback, SeekOrigin
 from .pyk4a import ColorControlCapabilities, PyK4A
+from .record import PyK4ARecord
 from .transformation import (
     color_image_to_depth_camera,
     depth_image_to_color_camera,
@@ -21,6 +24,10 @@
 )
 
 
+def connected_device_count() -> int:
+    return k4a_module.device_get_installed_count()
+
+
 __all__ = (
     "Calibration",
     "CalibrationType",
@@ -43,4 +50,6 @@
     "depth_image_to_point_cloud",
     "depth_image_to_color_camera",
     "depth_image_to_color_camera_custom",
+    "PyK4ARecord",
+    "connected_device_count",
 )
diff --git a/pyk4a/calibration.py b/pyk4a/calibration.py
@@ -1,6 +1,8 @@
 from enum import IntEnum
 from typing import Optional, Tuple
 
+import numpy as np
+
 import k4a_module
 
 from .config import ColorResolution, DepthMode
@@ -157,3 +159,28 @@ def transformation_handle(self) -> object:
                 raise K4AException("Cannot create transformation handle")
             self._transformation_handle = handle
         return self._transformation_handle
+
+    def get_camera_matrix(self, camera: CalibrationType) -> np.ndarray:
+        """
+        Get the camera matrix (in OpenCV compatible format) for the color or depth camera
+        """
+        if camera not in [CalibrationType.COLOR, CalibrationType.DEPTH]:
+            raise ValueError("Camera matrix only available for color and depth cameras.")
+        params = k4a_module.calibration_get_intrinsics(self._calibration_handle, self.thread_safe, camera)
+        if len(params) != 14:
+            raise ValueError("Unknown camera calibration type")
+
+        cx, cy, fx, fy = params[:4]
+        return np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1]])
+
+    def get_distortion_coefficients(self, camera: CalibrationType) -> np.ndarray:
+        """
+        Get the distortion coefficients (in OpenCV compatible format) for the color or depth camera
+        """
+        if camera not in [CalibrationType.COLOR, CalibrationType.DEPTH]:
+            raise ValueError("Distortion coefficients only available for color and depth cameras.")
+        params = k4a_module.calibration_get_intrinsics(self._calibration_handle, self.thread_safe, camera)
+        if len(params) != 14:
+            raise ValueError("Unknown camera calibration type")
+
+        return np.array([params[4], params[5], params[13], params[12], *params[6:10]])
diff --git a/pyk4a/capture.py b/pyk4a/capture.py
@@ -6,6 +6,7 @@
 
 from .calibration import Calibration
 from .config import ImageFormat
+from .errors import K4AException
 from .transformation import (
     color_image_to_depth_camera,
     depth_image_to_color_camera,
@@ -25,6 +26,8 @@ def __init__(
 
         self._color: Optional[np.ndarray] = None
         self._color_timestamp_usec: int = 0
+        self._color_exposure_usec: Optional[int] = None
+        self._color_white_balance: Optional[int] = None
         self._depth: Optional[np.ndarray] = None
         self._depth_timestamp_usec: int = 0
         self._ir: Optional[np.ndarray] = None
@@ -50,6 +53,24 @@ def color_timestamp_usec(self) -> int:
             self.color
         return self._color_timestamp_usec
 
+    @property
+    def color_exposure_usec(self) -> int:
+        if self._color_exposure_usec is None:
+            value = k4a_module.color_image_get_exposure_usec(self._capture_handle)
+            if value == 0:
+                raise K4AException("Cannot read exposure from color image")
+            self._color_exposure_usec = value
+        return self._color_exposure_usec
+
+    @property
+    def color_white_balance(self) -> int:
+        if self._color_white_balance is None:
+            value = k4a_module.color_image_get_white_balance(self._capture_handle)
+            if value == 0:
+                raise K4AException("Cannot read white balance from color image")
+            self._color_white_balance = value
+        return self._color_white_balance
+
     @property
     def depth(self) -> Optional[np.ndarray]:
         if self._depth is None: