Using the provided example the following function seams not to work properly: img=

depth_image_to_color_camera not working about k4a-python HOT 1 OPEN

ykoneee commented on July 19, 2024

depth_image_to_color_camera not working

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Comments (1)

iscsrl commented on July 19, 2024

I ended up uderstanding how to fix it.
First there is a litle bug in the depth.numpy function. The correct one is:

case k4a_image_format_t::K4A_IMAGE_FORMAT_DEPTH16:
case k4a_image_format_t::K4A_IMAGE_FORMAT_IR16:
   return py::array(
       py::buffer_info(
           _image.get_buffer(),
           sizeof(unsigned short int),
           py::format_descriptor<unsigned short int>::format(),
           2,
           {_image.get_height_pixels(), _image.get_width_pixels()},
           {
               sizeof(unsigned short int) * _image.get_width_pixels(),
               sizeof(unsigned short int)
           }
       )
   );

You should change the following line:
sizeof(unsigned short int) * _image.get_height_pixels(),
to:
sizeof(unsigned short int) * _image.get_width_pixels(),

And you should add to your example following:

depth = transformation.depth_image_to_color_camera(depth)
depth_color = transformation.depth_image_colorize_numpy(depth, config.depth_mode)

depth = depth.numpy()

Could you please provide the fixes and publish again the lib on PyPi?

Thank you in advance.

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