Kinect class to capture color images and depth. More...

Inheritance diagram for RGBD:

[legend]

Collaboration diagram for RGBD:

[legend]

Public Member Functions
def	__init__ (self, str yamlInitFilePath=None)
	constructor More...

def	capture (self, bool normalization=True)
	Gets RGBD frames in ImageRGBD() class format. More...

def	get_frames (self, bool normalization=False)
	Gets the next frames. More...

def	process_frame (self, theProcessor, figOut=False)
	process a single frame More...

def	process_frames_selected (self, theProcessor, bool figOut=True)
	Process selected live frames. More...

def	process_loop (self, theProcessor, bool figOut=False)
	Will loop through indefinitely and send the obtained data to the passed function. More...

Public Member Functions inherited from Depth
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	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)

Additional Inherited Members
Public Attributes inherited from Depth
	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 color images and depth.

Kinect class to capture color images and depth.

The output format is preserved from the RealSense wrapper:
    get_frames() -> colorFrame, depthFrame
    capture() -> base.ImageRGBD with .color and .depth

Unlike the RealSense wrapper, the depth images are not automatically aligned
to the color camera.

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 color images and depth.

Args:
    yamlInitFilePath (str):
        path of yaml file to use for camera initialization

Reimplemented from Depth.

Member Function Documentation

◆ capture()

def capture	(		self,
		bool	normalization = `True`
	)

Gets RGBD frames in ImageRGBD() class format.

Parameters

[in] normalization if True, normalize depth frame [0,255]. If False, depth frame is in meters

Returns: images ImageRGBD object with .color and .depth images populated

Gets RGBD frames in ImageRGBD() class format.

Args:
    normalization (bool):
        - if True, the depth frame will be normalized to 0-255 for visualization
        - if False, the depth frame will be returned in approximate meters

Returns:
    images:
        ImageRGBD object with .color and .depth images populated

◆ get_frames()

def get_frames	(		self,
		bool	normalization = `False`
	)

Gets the next frames.

Parameters

[in] normalization if True, normalize depth frame [0,255]. If False, depth frame is in meters

Returns: out colorFrame, depthFrame

Gets the next frame.

Args:
    normalization (bool):
        - if True, the depth frame will be normalized to 0-255 for visualization
        - if False, the depth frame will be returned in approximate meters

Returns:
    (colorFrame, depthFrame):
        - colorFrame = color frame of camera
        - depthFrame = depth frame of camera

Reimplemented from Depth.

◆ process_frame()

def process_frame	(	self,
		theProcessor,
		figOut = `False`
	)

process a single frame

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Processes a single frame.

Args:
    theProcessor:
        RGBD stream data processor. Should handle input.
    figOut (bool):
        true -> automatically show raw data
        false -> do NOT automatically show raw data

◆ process_frames_selected()

def process_frames_selected	(		self,
			theProcessor,
		bool	figOut = `True`
	)

Process selected live frames.

Will loop through the live Kinect stream and send selected frames to the passed function. The raw data can be visualized if set, otherwise the processing function is responsible for handling output of raw, intermediate, or final data.

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input.
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Process selected live frames.

Will loop through the live Kinect stream and send selected frames to the
passed function. Press 's' to run theProcessor(images), and 'q' to quit.

Args:
    theProcessor:
        RGBD stream data processor. Should handle input.
    figOut (bool):
        true -> automatically show raw data
        false -> do NOT automatically show raw data

◆ process_loop()

def process_loop	(		self,
			theProcessor,
		bool	figOut = `False`
	)

Will loop through indefinitely and send the obtained data to the passed function.

The raw data can be visualized if set, otherwise the processing function is responsible for handling output of raw, intermediate, or final data.

Parameters

[in]	theProcessor	RGBD stream data processor. Should handle input
[in]	figOut	if True, show raw data. if False, do NOT show raw data

Will loop through indefinitely and send the obtained data to the passed function.

The raw data can be visualized if set, otherwise the processing function
is responsible for handling output of raw, intermediate, or final data.

Args:
    theProcessor:
        RGBD stream data processor. Should handle input
    figOut (bool):
        true -> automatically show raw data
        false -> do NOT automatically show raw data

The documentation for this class was generated from the following file:

/home/mary/python/camera/camera/kinect.py

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ capture()

◆ get_frames()

◆ process_frame()

◆ process_frames_selected()

◆ process_loop()

◆ init()