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multi camera #62

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62 changes: 62 additions & 0 deletions examples/exampleDoubleBodyTracking.py
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import sys
import cv2

sys.path.insert(1, '../')
import pykinect_azure as pykinect

if __name__ == "__main__":

# Initialize the library, if the library is not found, add the library path as argument
pykinect.initialize_libraries(track_body=True)

# Modify camera configuration
device_config = pykinect.default_configuration
device_config.color_resolution = pykinect.K4A_COLOR_RESOLUTION_OFF
device_config.depth_mode = pykinect.K4A_DEPTH_MODE_WFOV_2X2BINNED
# print(device_config)

# Start device
device = pykinect.start_device(config=device_config, device_index=0)
device1 = pykinect.start_device(config=device_config, device_index=1)

# Start body tracker
bodyTracker = pykinect.start_body_tracker()
bodyTracker1 = pykinect.start_body_tracker()

cv2.namedWindow('Depth image with skeleton', cv2.WINDOW_NORMAL)
cv2.namedWindow('Depth image with skeleton1', cv2.WINDOW_NORMAL)
while True:

# Get capture
capture = device.update()
capture1 = device1.update()

# Get body tracker frame
body_frame = bodyTracker.update(capture)
body_frame1 = bodyTracker1.update(capture1)

# Get the color depth image from the capture
ret, depth_color_image = capture.get_colored_depth_image()
ret, depth_color_image1 = capture1.get_colored_depth_image()

# Get the colored body segmentation
ret, body_image_color = body_frame.get_segmentation_image()
ret, body_image_color1 = body_frame1.get_segmentation_image()
if not ret:
continue

# Combine both images
combined_image = cv2.addWeighted(depth_color_image, 0.6, body_image_color, 0.4, 0)
combined_image1 = cv2.addWeighted(depth_color_image1, 0.6, body_image_color1, 0.4, 0)

# Draw the skeletons
combined_image = body_frame.draw_bodies(combined_image)
combined_image1 = body_frame1.draw_bodies(combined_image1)

# Overlay body segmentation on depth image
cv2.imshow('Depth image with skeleton', combined_image)
cv2.imshow('Depth image with skeleton1', combined_image1)

# Press q key to stop
if cv2.waitKey(1) == ord('q'):
break
146 changes: 71 additions & 75 deletions pykinect_azure/k4a/capture.py
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import cv2
import cv2

from pykinect_azure.k4a import _k4a
from pykinect_azure.k4a.image import Image
from pykinect_azure.k4a.transformation import Transformation
from pykinect_azure.utils.postProcessing import smooth_depth_image

class Capture:

def __init__(self, capture_handle, calibration_handle):

self._handle = capture_handle
self.calibration_handle = calibration_handle
self.camera_transform = Transformation(calibration_handle)

def __del__(self):
self.reset()

def is_valid(self):
return self._handle

def handle(self):
return self._handle

def reset(self):
if self.is_valid():
self.release_handle()
self._handle = None
class Capture:

def release_handle(self):
if self.is_valid():
_k4a.k4a_capture_release(self._handle)
def __init__(self, capture_handle, calibration_handle):

@staticmethod
def create():
self._handle = capture_handle
self.calibration_handle = calibration_handle
self.camera_transform = Transformation(calibration_handle)

handle = _k4a.k4a_capture_t
_k4a.VERIFY(Capture._k4a.k4a_capture_create(handle),"Create capture failed!")
def __del__(self):
self.reset()

return Capture(handle)
def is_valid(self):
return self._handle

def get_color_image_object(self):

return Image(_k4a.k4a_capture_get_color_image(self._handle))
def handle(self):
return self._handle

def get_depth_image_object(self):
def reset(self):
if self.is_valid():
self.release_handle()
self._handle = None

return Image(_k4a.k4a_capture_get_depth_image(self._handle))
def release_handle(self):
if self.is_valid():
_k4a.k4a_capture_release(self._handle)

def get_ir_image_object(self):
@staticmethod
def create():

return Image(_k4a.k4a_capture_get_ir_image(self._handle))
handle = _k4a.k4a_capture_t
_k4a.VERIFY(Capture._k4a.k4a_capture_create(handle), "Create capture failed!")

def get_transformed_depth_object(self):
return self.camera_transform.depth_image_to_color_camera(self.get_depth_image_object())
return Capture(handle)

def get_transformed_color_object(self):
return self.camera_transform.color_image_to_depth_camera(self.get_depth_image_object(),self.get_color_image_object())
def get_color_image_object(self):

def get_pointcloud_object(self, calibration_type = _k4a.K4A_CALIBRATION_TYPE_DEPTH):
return self.camera_transform.depth_image_to_point_cloud(self.get_depth_image_object(), calibration_type)
return Image(_k4a.k4a_capture_get_color_image(self._handle))

def get_color_image(self):
return self.get_color_image_object().to_numpy()
def get_depth_image_object(self):

def get_depth_image(self):
return Image(_k4a.k4a_capture_get_depth_image(self._handle))

return self.get_depth_image_object().to_numpy()
def get_ir_image_object(self):

def get_colored_depth_image(self):
ret, depth_image = self.get_depth_image()
if not ret:
return ret, None
return Image(_k4a.k4a_capture_get_ir_image(self._handle))

return ret, self.color_depth_image(depth_image)
def get_transformed_depth_object(self):
return self.camera_transform.depth_image_to_color_camera(self.get_depth_image_object())

def get_ir_image(self):
return self.get_ir_image_object().to_numpy()
def get_transformed_color_object(self):
return self.camera_transform.color_image_to_depth_camera(self.get_depth_image_object(),
self.get_color_image_object())

def get_transformed_depth_image(self):
return self.get_transformed_depth_object().to_numpy()
def get_pointcloud_object(self, calibration_type=_k4a.K4A_CALIBRATION_TYPE_DEPTH):
return self.camera_transform.depth_image_to_point_cloud(self.get_depth_image_object(), calibration_type)

def get_transformed_colored_depth_image(self):
ret, transformed_depth_image = self.get_transformed_depth_image()
def get_color_image(self):
return self.get_color_image_object().to_numpy()

return ret, self.color_depth_image(transformed_depth_image)
def get_depth_image(self):

def get_transformed_color_image(self):
return self.get_transformed_color_object().to_numpy()
return self.get_depth_image_object().to_numpy()

def get_smooth_depth_image(self, maximum_hole_size=10):
ret, depth_image = self.get_depth_image()
return ret, smooth_depth_image(depth_image,maximum_hole_size)
def get_colored_depth_image(self):
ret, depth_image = self.get_depth_image()
if not ret:
return ret, None

def get_smooth_colored_depth_image(self, maximum_hole_size=10):
ret, smooth_depth_image = self.get_smooth_depth_image(maximum_hole_size)
return ret, self.color_depth_image(smooth_depth_image)
return ret, self.color_depth_image(depth_image)

def get_pointcloud(self, calibration_type = _k4a.K4A_CALIBRATION_TYPE_DEPTH):
ret, points = self.get_pointcloud_object(calibration_type).to_numpy()
points = points.reshape((-1, 3))
return ret, points
def get_ir_image(self):
return self.get_ir_image_object().to_numpy()

@staticmethod
def color_depth_image(depth_image):
depth_color_image = cv2.convertScaleAbs (depth_image, alpha=0.05) #alpha is fitted by visual comparison with Azure k4aviewer results
depth_color_image = cv2.applyColorMap(depth_color_image, cv2.COLORMAP_JET)
def get_transformed_depth_image(self):
return self.get_transformed_depth_object().to_numpy()

return depth_color_image
def get_transformed_colored_depth_image(self):
ret, transformed_depth_image = self.get_transformed_depth_image()

return ret, self.color_depth_image(transformed_depth_image)

def get_transformed_color_image(self):
return self.get_transformed_color_object().to_numpy()

def get_smooth_depth_image(self, maximum_hole_size=10):
ret, depth_image = self.get_depth_image()
return ret, smooth_depth_image(depth_image, maximum_hole_size)

def get_smooth_colored_depth_image(self, maximum_hole_size=10):
ret, smooth_depth_image = self.get_smooth_depth_image(maximum_hole_size)
return ret, self.color_depth_image(smooth_depth_image)

def get_pointcloud(self, calibration_type=_k4a.K4A_CALIBRATION_TYPE_DEPTH):
ret, points = self.get_pointcloud_object(calibration_type).to_numpy()
points = points.reshape((-1, 3))
return ret, points

@staticmethod
def color_depth_image(depth_image):
depth_color_image = cv2.convertScaleAbs(depth_image,
alpha=0.05) # alpha is fitted by visual comparison with Azure k4aviewer results
depth_color_image = cv2.applyColorMap(depth_color_image, cv2.COLORMAP_JET)

return depth_color_image
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