Version 1.5.0 (#199)

* Color image ISO speed for Capture (#176)

* Fixing the context manager for playback objects (#181)

* Fix: setuptools 67 needs python_requires instead of install_requires (#196)

* Added method for getting the extrinsic transformation parameters (#192)

* update python versions for github actions (#197)

* Update black, flake8 and mypy (#198)

---------

Co-authored-by: Johan von Forstner <[email protected]>
Co-authored-by: Louis-Philippe Asselin <[email protected]>
Co-authored-by: David Dunn <[email protected]>
Co-authored-by: David Dunn <[email protected]>
Co-authored-by: Ilya Gruzinov <[email protected]>
Co-authored-by: annStein <[email protected]>
Co-authored-by: steinimoto <[email protected]>
Co-authored-by: Justin <[email protected]>
Co-authored-by: CMU <[email protected]>
Co-authored-by: Marcel Egle <[email protected]>

Author: 10 people

.github/workflows/ci.yml

@@ -17,10 +17,10 @@ jobs:
     steps:
     - name: Checkout
       uses: actions/checkout@v2
-    - name: Setup Python 3.7
+    - name: Setup Python 3.9
       uses: actions/setup-python@v2
       with:
-        python-version: 3.7
+        python-version: 3.9
     - name: Cache PyPI
       uses: actions/cache@v2
       with:
@@ -49,8 +49,8 @@ jobs:
   test:
     strategy:
       matrix:
-        python-version: ['3.6', '3.7', '3.8']
-      fail-fast: true
+        python-version: ['3.7', '3.8', '3.9', '3.10', '3.11']
+      fail-fast: false
     name: Test
     runs-on: ubuntu-18.04
     steps:

README.md

@@ -17,13 +17,17 @@ Homepage: https://github.com/etiennedub/pyk4a/
 
 ## Prerequisites
 The [Azure-Kinect-Sensor-SDK](https://github.com/microsoft/Azure-Kinect-Sensor-SDK) is required to build this library.
-To use the SDK, refer to the installation instructions [here](https://github.com/microsoft/Azure-Kinect-Sensor-SDK).
+To use the SDK, refer to the installation instructions [here](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md).
 
 
 ## Install
 
 ### Linux
 
+Linux specific installation instructions [here](https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download#linux-installation-instructions)
+
+Install both packages `libk4a<major>.<minor>` and `libk4a<major>.<minor>-dev`. The latter contains the headers and CMake files to build pyk4a.
+
 Make sure your `LD_LIBRARY_PATH` contains the directory of k4a.lib
 
 ```shell

example/benchmark.py

@@ -68,27 +68,31 @@ def parse_args() -> Namespace:
     parser.add_argument("--device-id", type=int, default=0, help="Device ID, from zero. Default: 0")
     parser.add_argument(
         "--color-resolution",
-        type=ColorResolution,
+        type=lambda i: ColorResolution(int(i)),
         action=EnumActionTuned,
         default=ColorResolution.RES_720P,
         help="Color sensor resoultion. Default: 720P",
     )
     parser.add_argument(
         "--color-format",
-        type=ImageFormat,
+        type=lambda i: ImageFormat(int(i)),
         action=EnumActionTuned,
         default=ImageFormat.COLOR_BGRA32,
         help="Color color_image color_format. Default: BGRA32",
     )
     parser.add_argument(
         "--depth-mode",
-        type=DepthMode,
+        type=lambda i: DepthMode(int(i)),
         action=EnumAction,
         default=DepthMode.NFOV_UNBINNED,
         help="Depth sensor mode. Default: NFOV_UNBINNED",
     )
     parser.add_argument(
-        "--camera-fps", type=FPS, action=EnumActionTuned, default=FPS.FPS_30, help="Camera FPS. Default: 30"
+        "--camera-fps",
+        type=lambda i: FPS(int(i)),
+        action=EnumActionTuned,
+        default=FPS.FPS_30,
+        help="Camera FPS. Default: 30",
     )
     parser.add_argument(
         "--synchronized-images-only",
@@ -105,7 +109,7 @@ def parse_args() -> Namespace:
     parser.set_defaults(synchronized_images_only=True)
     parser.add_argument(
         "--wired-sync-mode",
-        type=WiredSyncMode,
+        type=lambda i: WiredSyncMode(int(i)),
         action=EnumActionTuned,
         default=WiredSyncMode.STANDALONE,
         help="Wired sync mode. Default: STANDALONE",

example/helpers.py

@@ -29,7 +29,7 @@ def colorize(
     colormap: int = cv2.COLORMAP_HSV,
 ) -> np.ndarray:
     if clipping_range[0] or clipping_range[1]:
-        img = image.clip(clipping_range[0], clipping_range[1])
+        img = image.clip(clipping_range[0], clipping_range[1])  # type: ignore
     else:
         img = image.copy()
     img = cv2.normalize(img, None, 0, 255, cv2.NORM_MINMAX, dtype=cv2.CV_8U)

example/imu.py

@@ -1,5 +1,5 @@
-import matplotlib.pyplot as plt
 import numpy as np
+from matplotlib import pyplot as plt
 
 import pyk4a
 from pyk4a import Config, PyK4A

example/threads.py

@@ -84,7 +84,7 @@ def bench(camera_workers: List[CameraWorker], cpu_workers: List[CpuWorker], dura
 
 def draw(results: Dict[int, Dict[bool, int]]):
     try:
-        import matplotlib.pyplot as plt
+        from matplotlib import pyplot as plt
     except ImportError:
         return
     plt.figure()

pyk4a/calibration.py

@@ -196,3 +196,18 @@ def get_distortion_coefficients(self, camera: CalibrationType) -> np.ndarray:
             raise ValueError("Unknown camera calibration type")
 
         return np.array([params[4], params[5], params[13], params[12], *params[6:10]])
+
+    def get_extrinsic_parameters(
+        self, source_camera: CalibrationType, target_camera: CalibrationType
+    ) -> Tuple[np.ndarray, np.ndarray]:
+        """
+        The extrinsic parameters allow 3D coordinate conversions between depth camera, color camera, the IMU's gyroscope and accelerometer.
+        """
+        params = k4a_module.calibration_get_extrinsics(
+            self._calibration_handle, self.thread_safe, source_camera, target_camera
+        )
+
+        rotation = np.reshape(np.array(params[0]), [3, 3])
+        translation = np.reshape(np.array(params[1]), [1, 3]) / 1000  # Millimeter to meter conversion
+
+        return rotation, translation

pyk4a/capture.py

@@ -27,6 +27,7 @@ def __init__(
         self._color_timestamp_usec: int = 0
         self._color_system_timestamp_nsec: int = 0
         self._color_exposure_usec: Optional[int] = None
+        self._color_iso_speed: Optional[int] = None
         self._color_white_balance: Optional[int] = None
         self._depth: Optional[np.ndarray] = None
         self._depth_timestamp_usec: int = 0
@@ -73,6 +74,15 @@ def color_exposure_usec(self) -> int:
             self._color_exposure_usec = value
         return self._color_exposure_usec
 
+    @property
+    def color_iso_speed(self) -> int:
+        if self._color_iso_speed is None:
+            value = k4a_module.color_image_get_iso_speed(self._capture_handle)
+            if value == 0:
+                raise K4AException("Cannot read iso from color_image")
+            self._color_iso_speed = value
+        return self._color_iso_speed
+
     @property
     def color_white_balance(self) -> int:
         if self._color_white_balance is None:
@@ -131,14 +141,18 @@ def ir_system_timestamp_nsec(self) -> int:
     @property
     def transformed_depth(self) -> Optional[np.ndarray]:
         if self._transformed_depth is None and self.depth is not None:
-            self._transformed_depth = depth_image_to_color_camera(self._depth, self._calibration, self.thread_safe)
+            self._transformed_depth = depth_image_to_color_camera(
+                self._depth,  # type: ignore
+                self._calibration,
+                self.thread_safe,
+            )
         return self._transformed_depth
 
     @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._depth,  # type: ignore
                 self._calibration,
                 self.thread_safe,
                 calibration_type_depth=True,

pyk4a/module.py

@@ -2,14 +2,14 @@
 
 
 try:
-    import k4a_module  # noqa: F401
+    import k4a_module  # type: ignore  # noqa: F401
 except BaseException as e:
     if sys.platform == "win32":
         from .win32_utils import prepare_import_k4a_module
 
         added_dll_dir = prepare_import_k4a_module()
         try:
-            import k4a_module  # noqa: F401
+            import k4a_module  # type: ignore  # noqa: F401
         except BaseException:
             raise ImportError(
                 (

pyk4a/playback.py

@@ -1,4 +1,5 @@
 import sys
+import warnings
 from enum import IntEnum
 from pathlib import Path
 from typing import Any, Optional, Tuple, Union
@@ -57,7 +58,7 @@ def __enter__(self):
         self.open()
         return self
 
-    def __exit__(self):
+    def __exit__(self, exc_type, exc_value, traceback):
         self.close()
 
     @property
@@ -71,9 +72,9 @@ def path(self) -> Path:
     def configuration(self) -> Configuration:
         self._validate_is_open()
         if self._configuration is None:
-            res, conf = k4a_module.playback_get_record_configuration(
-                self._handle, self.thread_safe
-            )  # type: int, Tuple[Any,...]
+            res: int
+            conf: Tuple[Any, ...]
+            res, conf = k4a_module.playback_get_record_configuration(self._handle, self.thread_safe)
             _verify_error(res)
             self._configuration = Configuration(
                 color_format=ImageFormat(conf[0]),
@@ -169,6 +170,12 @@ def get_next_capture(self):
         )
 
     def get_previouse_capture(self):
+        warnings.warn(
+            "get_previouse_capture() deprecated, please use get_previous_capture() instead", DeprecationWarning
+        )
+        return self.get_previous_capture()
+
+    def get_previous_capture(self):
         self._validate_is_open()
         result, capture_handle = k4a_module.playback_get_previous_capture(self._handle, self.thread_safe)
         self._verify_stream_error(result)

pyk4a/pyk4a.cpp

@@ -587,6 +587,23 @@ static PyObject *color_image_get_exposure_usec(PyObject *self, PyObject *args) {
   return Py_BuildValue("K", exposure_usec);
 }
 
+static PyObject *color_image_get_iso_speed(PyObject *self, PyObject *args) {
+  k4a_capture_t *capture_handle;
+  PyObject *capsule;
+  uint32_t iso_speed = 0;
+  PyArg_ParseTuple(args, "O", &capsule);
+  capture_handle = (k4a_capture_t *)PyCapsule_GetPointer(capsule, CAPSULE_CAPTURE_NAME);
+
+  k4a_image_t image = k4a_capture_get_color_image(*capture_handle);
+  if (image == NULL) {
+    fprintf(stderr, "Color image missed");
+    return Py_BuildValue("I", iso_speed);
+  }
+  iso_speed = k4a_image_get_iso_speed(image);
+  k4a_image_release(image);
+  return Py_BuildValue("I", iso_speed);
+}
+
 static PyObject *color_image_get_white_balance(PyObject *self, PyObject *args) {
   k4a_capture_t *capture_handle;
   PyObject *capsule;
@@ -1090,6 +1107,29 @@ static PyObject *calibration_get_intrinsics(PyObject *self, PyObject *args) {
   return Py_BuildValue("N", intrinsics);
 }
 
+static PyObject *calibration_get_extrinsics(PyObject *self, PyObject *args) {
+  k4a_calibration_t *calibration_handle;
+  PyObject *capsule;
+  int thread_safe;
+  k4a_calibration_type_t source_camera;
+  k4a_calibration_type_t target_camera;
+  PyThreadState *thread_state;
+
+  PyArg_ParseTuple(args, "OpII", &capsule, &thread_safe, &source_camera, &target_camera);
+  calibration_handle = (k4a_calibration_t *)PyCapsule_GetPointer(capsule, CAPSULE_CALIBRATION_NAME);
+
+  thread_state = _gil_release(thread_safe);
+
+  k4a_calibration_extrinsics_t calib = calibration_handle->extrinsics[source_camera][target_camera];
+
+  _gil_restore(thread_state);
+
+  PyObject *rotation = _array_to_list(calib.rotation, 9);
+  PyObject *translation = _array_to_list(calib.translation, 3);
+
+  return Py_BuildValue("NN", rotation, translation);
+}
+
 static PyObject *playback_open(PyObject *self, PyObject *args) {
   int thread_safe;
   PyThreadState *thread_state;
@@ -1483,6 +1523,8 @@ static PyMethodDef Pyk4aMethods[] = {
      "Transform a 3D point of a source coordinate system into a 2D pixel coordinate of the target camera"},
     {"calibration_get_intrinsics", calibration_get_intrinsics, METH_VARARGS,
      "Gets intrinsic parameters from calibration"},
+    {"calibration_get_extrinsics", calibration_get_extrinsics, METH_VARARGS,
+     "Gets extrinsic parameters from calibration"},
     {"playback_open", playback_open, METH_VARARGS, "Open file for playback"},
     {"playback_close", playback_close, METH_VARARGS, "Close opened playback"},
     {"playback_get_recording_length_usec", playback_get_recording_length_usec, METH_VARARGS, "Return recording length"},
@@ -1499,6 +1541,7 @@ static PyMethodDef Pyk4aMethods[] = {
     {"playback_get_next_imu_sample", playback_get_next_imu_sample, METH_VARARGS, "Get next imu sample from playback"},
     {"color_image_get_exposure_usec", color_image_get_exposure_usec, METH_VARARGS,
      "Get color image exposure in microseconds"},
+    {"color_image_get_iso_speed", color_image_get_iso_speed, METH_VARARGS, "Get color image ISO speed"},
     {"color_image_get_white_balance", color_image_get_white_balance, METH_VARARGS, "Get color image white balance"},
     {"record_create", record_create, METH_VARARGS, "Opens a new recording file for writing"},
     {"record_close", record_close, METH_VARARGS, "Opens a new recording file for writing"},

pyproject.toml

@@ -10,3 +10,12 @@ markers = [
         "opengl: Tests require opengl for GPU accelerated depth engine software"
 ]
 addopts = "--cov=pyk4a --cov-report=xml --verbose"
+
+[[tool.mypy.overrides]]
+module = [
+    "cv2",
+    "matplotlib",
+    "mpl_toolkits",
+    "k4a_module"
+]
+ignore_missing_imports = true

requirements-dev.txt

@@ -1,9 +1,10 @@
-black==22.3.0
-flake8==3.8.3
-isort==5.4.2
-flake8-isort==4.0.0
-mypy==0.782
-mypy-extensions==0.4.3
-pytest==6.0.1
-pytest-cov==2.10.1
+black~=23.1.0
+flake8~=5.0.4
+isort~=5.11.5
+flake8-isort~=6.0.0
+mypy==0.991
+mypy-extensions~=0.4.3
+pytest~=7.2.1
+pytest-cov~=4.0.0
 dataclasses==0.6; python_version<"3.7"
+opencv-python-headless~=4.7.0.68

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = pyk4a
-version = 1.4.0
+version = 1.5.0
 description-file = README.md
 description = Python wrapper over Azure Kinect SDK
 long_description = file: README.md
@@ -16,9 +16,9 @@ classifiers =
 
 [options]
 packages = pyk4a
+python_requires = >= 3.4
 install_requires =
     numpy
-    python_version >= "3.4"
 
 [options.package_data]
 pyk4a = py.typed
@@ -29,6 +29,7 @@ max-line-length = 120
 extend-ignore =
     # See https://github.com/PyCQA/pycodestyle/issues/373
     E203,
+    E501,
 
 [isort]
 line_length=120

setup.py

@@ -15,6 +15,7 @@
 
 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:

tests/functional/test_capture.py

@@ -23,3 +23,4 @@ def test_device_capture_images(device: PyK4A):
         assert np.array_equal(ir, color) is False
         assert capture.color_white_balance is not None
         assert capture.color_exposure_usec is not None
+        assert capture.color_iso_speed is not None