Version 1.0.1 (#74)

* 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

Co-authored-by: Ilya Gruzinov <[email protected]>

Author: lpasselin

.github/workflows/ci.yml

@@ -1,5 +1,6 @@
 name: CI
 
+
 on:
   pull_request:
   push:
@@ -22,10 +23,10 @@ jobs:
     - name: Cache PyPI
       uses: actions/cache@v2
       with:
-        key: pip-cache-${{ hashFiles('requirements-dev.txt') }}
+        key: pip-cache-lint-${{ hashFiles('requirements-dev.txt') }}
         path: ~/.cache/pip
         restore-keys: |
-            pip-cache-
+            pip-cache-lint
     - name: Install dependencies
       uses: py-actions/py-dependency-install@v2
       with:
@@ -34,6 +35,10 @@ jobs:
       run: |
         make lint
   test:
+    strategy:
+      matrix:
+        python-version: ['3.6', '3.7', '3.8']
+      fail-fast: true
     name: Test
     runs-on: ubuntu-18.04
     steps:
@@ -45,17 +50,17 @@ jobs:
           env DEBIAN_FRONTEND=noninteractive ACCEPT_EULA=Y sudo -E apt install -q -y  libk4a1.4-dev
       - name: Checkout
         uses: actions/checkout@v2
-      - name: Setup Python 3.7
+      - name: Setup Python  ${{ matrix.python-version }}
         uses: actions/setup-python@v2
         with:
-          python-version: 3.7
+          python-version:  ${{ matrix.python-version }}
       - name: Cache PyPI
         uses: actions/cache@v2
         with:
-          key: pip-cache-${{ hashFiles('requirements-dev.txt') }}-${{ hashFiles('setup.py') }}
+          key: pip-cache-test-${{ matrix.python-version }}-${{ hashFiles('requirements-dev.txt') }}-${{ hashFiles('setup.py') }}
           path: ~/.cache/pip
           restore-keys: |
-              pip-cache-
+              pip-cache-test-${{ matrix.python-version }}
       - name: Install dependencies
         uses: py-actions/py-dependency-install@v2
         with:
@@ -66,3 +71,7 @@ jobs:
       - name: Run tests
         run: |
           make test-no-hardware
+      - name: Coverage
+        uses: codecov/codecov-action@v1
+        with:
+          file: ./coverage.xml # optional

Makefile

@@ -30,10 +30,10 @@ lint:
 	mypy $(SOURCES)
 
 test:
-	pytest --cov=pyk4a --verbose $(TESTS)
+	pytest $(TESTS)
 
 test-hardware:
-	pytest --cov=pyk4a  -m "device" --verbose $(TESTS)
+	pytest  -m "device" $(TESTS)
 
 test-no-hardware:
-	pytest --cov=pyk4a  -m "not device" --verbose $(TESTS)
+	pytest -m "not device" $(TESTS)

README.md

@@ -1,7 +1,10 @@
 # pyk4a
+
 ![CI](https://github.com/etiennedub/pyk4a/workflows/CI/badge.svg)
+[![codecov](https://codecov.io/gh/etiennedub/pyk4a/branch/master/graph/badge.svg)](https://codecov.io/gh/etiennedub/pyk4a)
+
+![pyk4a](https://github.com/etiennedub/pyk4a/raw/master/figs/pyk4a_logo.png) 
 
-![pyk4a](https://github.com/etiennedub/pyk4a/raw/master/figs/pyk4a_logo.png)
 
 This library is a simple and pythonic wrapper in Python 3 for the Azure-Kinect-Sensor-SDK.
 

pyk4a/capture.py

@@ -53,14 +53,16 @@ def transformed_depth(self) -> Optional[np.ndarray]:
     @property
     def depth_point_cloud(self) -> Optional[np.ndarray]:
         if self._depth_point_cloud is None and self.depth is not None:
-            self._depth_point_cloud = depth_image_to_point_cloud(self._depth, self._calibration, self.thread_safe)
+            self._depth_point_cloud = depth_image_to_point_cloud(
+                self._depth, self._calibration, self.thread_safe, calibration_type_depth=True,
+            )
         return self._depth_point_cloud
 
     @property
     def transformed_depth_point_cloud(self) -> Optional[np.ndarray]:
         if self._transformed_depth_point_cloud is None and self.transformed_depth is not None:
-            self._depth_point_cloud = depth_image_to_point_cloud(
-                self.transformed_depth, self._calibration, self.thread_safe
+            self._transformed_depth_point_cloud = depth_image_to_point_cloud(
+                self.transformed_depth, self._calibration, self.thread_safe, calibration_type_depth=False,
             )
         return self._transformed_depth_point_cloud
 

pyk4a/transformation.py

@@ -17,13 +17,15 @@ def depth_image_to_color_camera(depth: np.ndarray, calibration: Calibration, thr
     )
 
 
-def depth_image_to_point_cloud(depth: np.ndarray, calibration: Calibration, thread_safe: bool) -> Optional[np.ndarray]:
+def depth_image_to_point_cloud(
+    depth: np.ndarray, calibration: Calibration, thread_safe: bool, calibration_type_depth=True
+) -> Optional[np.ndarray]:
     """
     Transform depth color_image to point cloud
     Return empty result if transformation failed
     """
     return k4a_module.transformation_depth_image_to_point_cloud(
-        calibration.transformation_handle, thread_safe, depth, True
+        calibration.transformation_handle, thread_safe, depth, calibration_type_depth,
     )
 
 

pyproject.toml

@@ -7,4 +7,5 @@ line-length = 120
 [tool.pytest.ini_options]
 markers = [
         "device: Tests require connected real device"
-]
+]
+addopts = "--cov=pyk4a --cov-report=xml --verbose"

requirements-dev.txt

@@ -5,4 +5,5 @@ flake8-isort==4.0.0
 mypy==0.782
 mypy-extensions==0.4.3
 pytest==6.0.1
-pytest-cov==2.10.1
+pytest-cov==2.10.1
+dataclasses==0.6; python_version<"3.7"

setup.py

@@ -4,6 +4,11 @@
 if sys.version_info[0] == 2:
     sys.exit("Python 2 is not supported.")
 
+# Enables --editable install with --user
+# https://github.com/pypa/pip/issues/7953
+import site
+site.ENABLE_USER_SITE = "--user" in sys.argv[1:]
+
 # Bypass import numpy before running install_requires
 # https://stackoverflow.com/questions/54117786/add-numpy-get-include-argument-to-setuptools-without-preinstalled-numpy
 class get_numpy_include:
@@ -18,15 +23,15 @@ def __str__(self):
                    libraries=['k4a', 'k4arecord'])
 
 setup(name='pyk4a',
-      version='1.0',
+      version='1.0.1',
       description='Python wrapper over Azure Kinect SDK',
       license='GPL-3.0',
       author='Etienne Dubeau',
       install_requires=['numpy'],
       python_requires='>=3.4',
       author_email='[email protected]',
       url='https://github.com/etiennedub/pyk4a/',
-      download_url='https://github.com/etiennedub/pyk4a/archive/0.2.tar.gz',
+      download_url='https://github.com/etiennedub/pyk4a/archive/1.0.1.tar.gz',
       packages=['pyk4a'],
       package_data={'pyk4a': ["py.typed"]},
       ext_modules=[module],

tests/plugins/device.py

@@ -232,7 +232,10 @@ def device_get_imu_sample(
             assert self._opened is True
             if not self._cameras_started:
                 return Result.Failed.value, None
-            return Result.Success.value, (36.6, (0.1, 9.8, 0.005), time.time_ns(), (0.1, 0.2, 0.3), time.time_ns())
+            return (
+                Result.Success.value,
+                (36.6, (0.1, 9.8, 0.005), int(time.time() * 1e6), (0.1, 0.2, 0.3), int(time.time() * 1e6)),
+            )
 
         def device_get_calibration(self, depth_mode: int, color_resolution: int) -> Tuple[int, Optional[object]]:
             assert self._opened is True