Kinect class to capture depth frames. More...
Inheritance diagram for Depth:
Collaboration diagram for Depth:
Public Member Functions | |
| def | __init__ (self, str yamlInitFilePath=None) |
| constructor More... | |
| def | capture (self) |
| Alias for get_frames. More... | |
| def | display (self, np.ndarray frame, str windowName='frame') |
| displays a frame More... | |
| def | get_configs (self) |
| returns the configs of the camera More... | |
| def | get_frames (self, bool normalization=False) |
| gets the next frame More... | |
| def | getCameraIntrinsics (self) |
| Returns the intrinsic camera matrix and distortion coefficients. More... | |
| def | getDepthCameraIntrinsics (self) |
| Returns the depth camera intrinsic matrix and distortion coefficients. More... | |
| tuple | getImagePixelWidthAndHeight (self) |
| returns the width and height of the color image More... | |
| def | printConfigs (self) |
| Prints out the configurations in a more human readable way. More... | |
| def | set_configs (self, str yamlFilePath) |
| sets all of the configs of the camera More... | |
| def | start (self) |
| Start the capture stream. More... | |
| def | stop (self) |
| Stop the capture stream and release the device from use. More... | |
 Public Member Functions inherited from Base | |
| None | __init__ (self, configs, K=None) |
| Base class instantiator for camera runners. More... | |
| def | get (self, key) |
| def | get_frames (self) |
| def | readClicks (self) |
| Read the mouse clicks recorded on a window. More... | |
| def | registerMouseClicks (self, str windowName) |
| Register a window to record mouse clicks. More... | |
| def | set (self, key, value) |
| def | set_configs (self, configs) |
| def | set_intrinsic (self, K) |
Public Attributes | |
| depthScale | |
| scale factor placeholder kept for API familiarity. More... | |
| ready | |
| indicates if the camera is ready to stream images More... | |
| Public Attributes inherited from Base | |
| configs | |
| configuration dictionary for the camera More... | |
| K | |
| the camera's intrinsic matrix More... | |
| pts | |
| callback to append clicks to points list More... | |
| Public Attributes inherited from _KinectCommon | |
| cameraMatrix | |
| camera intrinsic matrix More... | |
| depthCameraMatrix | |
| depth camera intrinsic matrix More... | |
| depthDistortionCoeffs | |
| depth camera distortion coefficients More... | |
| distortionCoeffs | |
| distortion coefficients for the camera More... | |
| K | |
| camera intrinsic matrix More... | |
Detailed Description
Kinect class to capture depth frames.
Kinect class to capture depth frames. The depth images are not automatically aligned to the color camera by default class initialization.
Constructor & Destructor Documentation
◆ __init__()
| def __init__ | ( | self, | |
| str | yamlInitFilePath = None |
||
| ) |
constructor
- Parameters
-
[in] yamlInitFilePath path of yaml file to use for camera initialization
Kinect class to capture depth frames.
Args:
yamlInitFilePath (str):
path of yaml file to use for camera initialization
Reimplemented in RGBD.
Member Function Documentation
◆ capture()
| def capture | ( | self | ) |
Alias for get_frames.
Alias for get_frames.
◆ display()
| def display | ( | self, | |
| np.ndarray | frame, | ||
| str | windowName = 'frame' |
||
| ) |
displays a frame
- Parameters
-
[in] frame the frame to display [in] windowName the name of the window to display the frame on
Displays an image.
Args:
frame (ndarray):
an image frame
windowName (str):
the name of the window
◆ get_configs()
| def get_configs | ( | self | ) |
returns the configs of the camera
- Returns
- configs the config dictionary of the camera
Returns all of the configs for the camera.
Returns:
configs:
the config dictionary of the camera
Reimplemented from Base.
◆ get_frames()
| def get_frames | ( | self, | |
| bool | normalization = False |
||
| ) |
gets the next frame
- Parameters
-
[in] normalization if True, normalize depth frame [0,255]. If False, depth frame is in meters
- Returns
- frame depth frame
Gets the next frame.
Args:
normalization (bool):
- if True, depth frame is normalized to 0-255 for visualization
- if False, depth frame is returned in approximate meters
Returns:
depthFrame:
depth frame
Reimplemented in RGBD.
◆ getCameraIntrinsics()
| def getCameraIntrinsics | ( | self | ) |
Returns the intrinsic camera matrix and distortion coefficients.
- Returns
- out the camera intrinsic matrix and distortion coefficients
Returns the intrinsic camera matrix and distortion coefficients.
Returns:
cameraMatrix:
intrinsic camera matrix
distortionCoeffs:
distortion coefficients of the camera
◆ getDepthCameraIntrinsics()
| def getDepthCameraIntrinsics | ( | self | ) |
Returns the depth camera intrinsic matrix and distortion coefficients.
- Returns
- out the depth camera intrinsic matrix and depth distortion coefficients
Returns the depth camera intrinsic matrix and distortion coefficients.
Returns:
depthCameraMatrix:
depth camera intrinsic matrix
depthDistortionCoeffs:
depth distortion coefficients
◆ getImagePixelWidthAndHeight()
| tuple getImagePixelWidthAndHeight | ( | self | ) |
returns the width and height of the color image
- Returns
- out image width, image height
Returns the width and height of the color image.
Returns:
(imageWidth, imageHeight) (int, int)
◆ printConfigs()
| def printConfigs | ( | self | ) |
Prints out the configurations in a more human readable way.
Prints out the configurations in a more human readable way.
◆ set_configs()
| def set_configs | ( | self, | |
| str | yamlFilePath | ||
| ) |
sets all of the configs of the camera
- Parameters
-
[in] yamlFilePath path of yaml configuration file
Re-sets all of the configs for the camera.
Args:
yamlFilePath (str):
path of yaml configuration file
◆ start()
| def start | ( | self | ) |
Start the capture stream.
This must be called before get_frames() or capture()
Start the capture stream. This must be called before get_frames() or capture()
Reimplemented from Base.
◆ stop()
| def stop | ( | self | ) |
Stop the capture stream and release the device from use.
Stop the capture stream and release the device from use.
Reimplemented from Base.
Member Data Documentation
◆ depthScale
| depthScale |
scale factor placeholder kept for API familiarity.
Kinect raw depth uses a conversion formula instead of a RealSense-style hardware depth scale.
◆ ready
| ready |
indicates if the camera is ready to stream images
The documentation for this class was generated from the following file:
- /home/mary/python/camera/camera/kinect.py
