K4A

Hello.

Functions

Hello.

pykinect_recorder.main.pyk4a.k4a._k4a.VERIFY(result, error)
pykinect_recorder.main.pyk4a.k4a._k4a.k4a_calibration_2d_to_2d(calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t, source_point2d: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float2_t, source_depth_mm: ctypes.c_float, source_camera: ctypes.c_int, target_camera: ctypes.c_int, target_point2d: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float2_t, valid: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int) → ctypes.c_int

Transform a 2D pixel coordinate with an associated depth value of the source camera into a 2D pixel coordinate of the target camera.

This function maps a pixel between the coordinate systems of the depth and color cameras. It is equivalent to calling k4a_calibration_2d_to_3d() to compute the 3D point corresponding to source_point2d and then using k4a_calibration_3d_to_2d() to map the 3D point into the coordinate system of the target_camera.

If source_camera and target_camera are identical, the function immediately sets target_point2d to source_point2d and returns without computing any transformations.

If source_point2d does not map to a valid 2D coordinate in the target_camera coordinate system, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point2d if valid was set to 0.

Parameters

  • calibration (POINTER(k4a_calibration_t)) – Location to read the camera calibration obtained by k4a_device_get_calibration().

  • source_point2d (POINTER(k4a_float2_t)) – The 2D pixel in source_camera coordinates.

  • source_depth_mm (c_float) – The depth of source_point2d in millimeters. One way to derive the depth value in the color camera geometry is to use the function k4a_transformation_depth_image_to_color_camera().

  • source_camera (k4a_calibration_type_t) – The current camera.

  • target_camera (k4a_calibration_type_t) – The target camera.

  • target_point2d (POINTER(k4a_float2_t)) – The 2D pixel in target_camera coordinates.

  • valid (POINTER(c_int)) – The output parameter returns a value of 1 if the source_point2d is a valid coordinate in the target_camera coordinate system, and will return 0 if the coordinate is not valid in the calibration model.

Returns

K4A_RESULT_SUCCEEDED if target_point2d was successfully written.

K4A_RESULT_FAILED if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point2d are outside of the range of valid calibration and should be ignored.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_calibration_2d_to_3d(calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t, source_point2d: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float2_t, source_depth_mm: ctypes.c_float, source_camera: ctypes.c_int, target_camera: ctypes.c_int, target_point3d_mm: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float3_t, valid: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int) → ctypes.c_int

Transform a 2D pixel coordinate with an associated depth value of the source camera into a 3D point of the target coordinate system.

This function applies the intrinsic calibration of source_camera to compute the 3D ray from the focal point of the camera through pixel source_point2d. The 3D point on this ray is then found using source_depth_mm. If target_camera is different from source_camera, the 3D point is transformed to target_camera using k4a_calibration_3d_to_3d(). In practice, source_camera and target_camera will often be identical. In this case, no 3D to 3D transformation is applied.

If source_point2d is not considered as valid pixel coordinate according to the intrinsic camera model, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point3d_mm if valid was set to 0.

Parameters

  • calibration (POINTER(k4a_calibration_t)) – Location to read the camera calibration obtained by k4a_device_get_calibration().

  • source_point2d (POINTER(k4a_float2_t)) – The 2D pixel in source_camera coordinates.

  • source_depth_mm (c_float) – The depth of source_point2d in millimeters. One way to derive the depth value in the color camera geometry is to use the function k4a_transformation_depth_image_to_color_camera().

  • source_camera (k4a_calibration_type_t) – The current camera.

  • target_camera (k4a_calibration_type_t) – The target camera.

  • target_point3d_mm (POINTER(k4a_float3_t)) – Pointer to the output where the 3D coordinates of the input pixel in the coordinate system of target_camera is stored in millimeters.

  • valid (POINTER(c_int)) – The output parameter returns a value of 1 if the source_point2d is a valid coordinate, and will return 0 if the coordinate is not valid in the calibration model.

Returns

K4A_RESULT_SUCCEEDED if target_point3d_mm was successfully written. K4A_RESULT_FAILED

if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point3d_mm are outside of the range of valid calibration and should be ignored.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_calibration_3d_to_2d(calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t, source_point3d_mm: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float3_t, source_camera: ctypes.c_int, target_camera: ctypes.c_int, target_point2d: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float2_t, valid: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int) → ctypes.c_int

Transform a 3D point of a source coordinate system into a 2D pixel coordinate of the target camera.

If target_camera is different from source_camera, source_point3d_mm is transformed to target_camera using k4a_calibration_3d_to_3d(). In practice, source_camera and target_camera will often be identical. In this case, no 3D to 3D transformation is applied. The 3D point in the coordinate system of target_camera is then projected onto the image plane using the intrinsic calibration of target_camera.

If source_point3d_mm does not map to a valid 2D coordinate in the target_camera coordinate system, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point2d if valid was set to 0.

Parameters

  • calibration (POINTER(k4a_calibration_t)) – Location to read the camera calibration obtained by k4a_device_get_calibration().

  • source_point3d_mm (POINTER(k4a_float3_t)) – The 3D coordinates in millimeters representing a point in source_camera

  • source_camera (k4a_calibration_type_t) – The current camera.

  • target_camera (k4a_calibration_type_t) – The target camera.

  • target_point2d (POINTER(k4a_float2_t)) – Pointer to the output where the 2D pixel in target_camera coordinates is stored.

  • valid (POINTER(c_int)) – The output parameter returns a value of 1 if the source_point3d_mm is a valid coordinate in the target_camera coordinate system, and will return 0 if the coordinate is not valid in the calibration model.

Returns

K4A_RESULT_SUCCEEDED if target_point2d was successfully written. K4A_RESULT_FAILED

if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point2d are outside of the range of valid calibration and should be ignored.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_calibration_3d_to_3d(calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t, source_point3d_mm: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float3_t, source_camera: ctypes.c_int, target_camera: ctypes.c_int, target_point3d_mm: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float3_t) → ctypes.c_int

Transform a 3D point of a source coordinate system into a 3D point of the target coordinate system.

This function is used to transform 3D points between depth and color camera coordinate systems. The function uses the extrinsic camera calibration. It computes the output via multiplication with a precomputed matrix encoding a 3D rotation and a 3D translation. If source_camera and target_camera are the same, then target_point3d_mm will be identical to source_point3d_mm.

Parameters

  • calibration (POINTER(k4a_calibration_t)) – Location to read the camera calibration data.

  • source_point3d_mm (POINTER(k4a_float3_t)) – The 3D coordinates in millimeters representing a point in source_camera.

  • source_camera (k4a_calibration_type_t) – The current camera.

  • target_camera (k4a_calibration_type_t) – The target camera.

  • target_point3d_mm (POINTER(k4a_float3_t)) – Pointer to the output where the new 3D coordinates of the input point in the coordinate space of target_camera is stored in millimeters.

Returns

K4A_RESULT_SUCCEEDED if target_point3d_mm was successfully written.

K4A_RESULT_FAILED if calibration contained invalid transformation parameters.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_calibration_color_2d_to_depth_2d(calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t, source_point2d: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float2_t, depth_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, target_point2d: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_float2_t, valid: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int) → ctypes.c_int

Transform a 2D pixel coordinate from color camera into a 2D pixel coordinate of the depth camera.

This function represents an alternative to k4a_calibration_2d_to_2d() if the number of pixels that need to be transformed is small. This function searches along an epipolar line in the depth image to find the corresponding depth pixel. If a larger number of pixels need to be transformed, it might be computationally cheaper to call k4a_transformation_depth_image_to_color_camera() to get correspondence depth values for these color pixels, then call the function k4a_calibration_2d_to_2d().

If source_point2d does not map to a valid 2D coordinate in the target_camera coordinate system, valid is set to 0. If it is valid, valid will be set to 1. The user should not use the value of target_point2d if valid was set to 0.

Parameters

  • calibration (POINTER(k4a_calibration_t)) – Location to read the camera calibration obtained by k4a_device_get_calibration().

  • source_point2d (POINTER(k4a_float2_t)) – The 2D pixel in color camera coordinates.

  • depth_image (k4a_image_t) – Handle to input depth image.

  • target_point2d (POINTER(k4a_float2_t)) – The 2D pixel in depth camera coordinates.

  • valid (POINTER(c_int)) – The output parameter returns a value of 1 if the source_point2d is a valid coordinate in the target_camera coordinate system, and will return 0 if the coordinate is not valid in the calibration model.

Returns

K4A_RESULT_SUCCEEDED if target_point2d was successfully written.

K4A_RESULT_FAILED if calibration contained invalid transformation parameters. If the function returns K4A_RESULT_SUCCEEDED, but valid is 0, the transformation was computed, but the results in target_point2d are outside of the range of valid calibration and should be ignored.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_calibration_get_from_raw(raw_calibration: ctypes.LP_c_char, raw_calibration_size: ctypes.c_ulong, depth_mode: ctypes.c_int, color_resolution: ctypes.c_int, calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t) → ctypes.c_int

Get the camera calibration for a device from a raw calibration blob.

The calibration represents the data needed to transform between the camera views and is different for each operating depth_mode and color_resolution the device is configured to operate in.

The calibration output is used as input to all transformation functions.

Parameters

  • raw_calibration (POINTER(c_char)) – Raw calibration blob obtained from a device or recording. The raw calibration must be NULL terminated.

  • raw_calibration_size (c_size_t) – The size, in bytes, of raw_calibration including the NULL termination.

  • depth_mode (k4a_depth_mode_t) – Mode in which depth camera is operated.

  • color_resolution (k4a_color_resolution_t) – Resolution in which color camera is operated.

  • calibration (POINTER(k4a_calibration_t)) – Location to write the calibration.

Returns

K4A_RESULT_SUCCEEDED if calibration was successfully written.

K4A_RESULT_FAILED otherwise.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_create(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4a.LP_LP__handle_k4a_capture_t) → ctypes.c_int

Create an empty capture object.

Call this function to create a k4a_capture_t handle for a new capture. Release it with k4a_capture_release().

The new capture is created with a reference count of 1.

Parameters

capture_handle (POINTER(k4a_capture_t)) – Pointer to a location to store the handle.

Returns

Returns K4A_RESULT_SUCCEEDED on success. Errors are indicated with

K4A_RESULT_FAILED and error specific data can be found in the log.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_get_color_image(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t) → pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t

Get the color image associated with the given capture.

Call this function to access the color image part of this capture. Release the k4a_image_t with k4a_image_release().

Parameters

capture_handle (k4a_capture_t) – Capture handle containing the image.

Returns

k4a_image_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_get_depth_image(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t) → pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t

Get the depth image associated with the given capture.

Call this function to access the depth image part of this capture. Release the k4a_image_t with k4a_image_release().

Parameters

capture_handle (k4a_capture_t) – Capture handle containing the image.

Returns

k4a_image_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_get_ir_image(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t) → pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t

Get the IR image associated with the given capture.

Call this function to access the IR image part of this capture. Release the k4a_image_t with k4a_image_release().

Parameters

capture_handle (k4a_capture_t) – Capture handle containing the image.

Returns

k4a_image_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_get_temperature_c(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t) → ctypes.c_float

Get the temperature associated with the capture.

Parameters

capture_handle (k4a_capture_t) – Capture handle to retrieve the temperature from.

Returns

This function returns the temperature of the device at the time of the capture in

Celsius. If the temperature is unavailable, the function will return NAN.

Return type

c_float

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_reference(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t) → None

Add a reference to a capture.

Call this function to add an additional reference to a capture. This reference must be removed with k4a_capture_release().

Parameters

capture_handle (k4a_capture_t) – Capture to add a reference to.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_release(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t) → None

Release a capture.

Call this function when finished using the capture.

Parameters

capture_handle (k4a_capture_t) – Capture to release.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_set_color_image(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t, image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → None

Set or add a color image to the associated capture.

When a k4a_image_t is added to a k4a_capture_t, the k4a_capture_t will automatically add a reference to the k4a_image_t.

If there is already a color image contained in the capture, the existing image will be dereferenced and replaced with the new image.

To remove a color image to the capture without adding a new image, this function can be called with a NULL image_handle.

Any k4a_image_t contained in this k4a_capture_t will automatically be dereferenced when all references to the k4a_capture_t are released with k4a_capture_release().

Parameters

  • capture_handle (k4a_capture_t) – Capture handle to hold the image.

  • image_handle (k4a_image_t) – Image handle containing the image.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_set_depth_image(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t, image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → None

Set or add a depth image to the associated capture.

When a k4a_image_t is added to a k4a_capture_t, the k4a_capture_t will automatically add a reference to the k4a_image_t.

If there is already an image depth image contained in the capture, the existing image will be dereferenced and replaced with the new image.

To remove a depth image to the capture without adding a new image, this function can be called with a NULL image_handle.

Any k4a_image_t contained in this k4a_capture_t will automatically be dereferenced when all references to the k4a_capture_t are released with k4a_capture_release().

Parameters

  • capture_handle (k4a_capture_t) – Capture handle to hold the image.

  • image_handle (k4a_image_t) – Image handle containing the image.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_set_ir_image(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t, image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → None

Set or add an IR image to the associated capture.

When a k4a_image_t is added to a k4a_capture_t, the k4a_capture_t will automatically add a reference to the k4a_image_t.

If there is already an IR image contained in the capture, the existing image will be dereferenced and replaced with the new image.

To remove a IR image to the capture without adding a new image, this function can be called with a NULL image_handle.

Any k4a_image_t contained in this k4a_capture_t will automatically be dereferenced when all references to the k4a_capture_t are released with k4a_capture_release().

Parameters

  • capture_handle (k4a_capture_t) – Capture handle to hold the image.

  • image_handle (k4a_image_t) – Image handle containing the image.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_capture_set_temperature_c(capture_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t, temperature: ctypes.c_float) → None

Set the temperature associated with the capture.

Parameters

  • capture_handle (k4a_capture_t) – Capture handle to set the temperature on.

  • temperature (c_float) – Temperature in Celsius to store.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_close(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t) → None

Closes an Azure Kinect device.

Once closed, the handle is no longer valid.

Before closing the handle to the device, ensure that all k4a_capture_t captures have been released with k4a_capture_release().

Parameters

device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_calibration(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, depth_mode: ctypes.c_int, color_resolution: ctypes.c_int, calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t) → ctypes.c_int

Get the camera calibration for the entire Azure Kinect device.

The calibration represents the data needed to transform between the camera views and may be different for each operating depth_mode and color_resolution the device is configured to operate in.

The calibration output is used as input to all calibration and transformation functions.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • depth_mode (k4a_depth_mode_t) – Mode in which depth camera is operated.

  • color_resolution (k4a_color_resolution_t) – Resolution in which color camera is operated.

  • calibration (POINTER(k4a_calibration_t)) – Location to write the calibration.

Returns

K4A_RESULT_SUCCEEDED if calibration was successfully written.

K4A_RESULT_FAILED otherwise.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_capture(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, capture_handle: pykinect_recorder.main.pyk4a.k4a._k4a.LP_LP__handle_k4a_capture_t, timeout: ctypes.c_int) → ctypes.c_int

Reads a sensor capture.

Gets the next capture in the streamed sequence of captures from the camera. If a new capture is not currently available, this function will block until the timeout is reached. The SDK will buffer at least two captures worth of data before dropping the oldest capture. Callers needing to capture all data need to ensure they read the data as fast as the data is being produced on average.

Upon successfully reading a capture this function will return success and populate capture. If a capture is not available in the configured timeout_in_ms, then the API will return K4A_WAIT_RESULT_TIMEOUT.

If the call is successful and a capture is returned, callers must call k4a_capture_release() to return the allocated memory.

This function needs to be called while the device is in a running state; after k4a_device_start_cameras() is called and before k4a_device_stop_cameras() is called.

This function returns an error when an internal problem is encountered; such as loss of the USB connection, inability to allocate enough memory, and other unexpected issues. Any error returned by this function signals the end of streaming data, and caller should stop the stream using k4a_device_stop_cameras().

If this function is waiting for data (non-zero timeout) when k4a_device_stop_cameras() or k4a_device_close() is called on another thread, this function will return an error.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • capture_handle (POINTER(k4a_capture_t)) – If successful this contains a handle to a capture object. Caller must call k4a_capture_release() when its done using this capture.

  • timeout (c_int32) – Specifies the time in milliseconds the function should block waiting for the capture. If set to 0, the function will return without blocking. Passing a value of K4A_WAIT_INFINITE will block indefinitely until data is available, the device is disconnected, or another error occurs.

Returns

K4A_WAIT_RESULT_SUCCEEDED if a capture is returned. If a capture is not available

before the timeout elapses, the function will return K4A_WAIT_RESULT_TIMEOUT. All other failures will return K4A_WAIT_RESULT_FAILED.

Return type

c_int

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_color_control(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, command: ctypes.c_int, mode: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int, value: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int) → ctypes.c_int

Get the Azure Kinect color sensor control value.

Each control command may be set to manual or automatic. See the definition of k4a_color_control_command_t on how to interpret the value for each command.

Some control commands are only supported in manual mode. When a command is in automatic mode, the value for that command is not valid.

Control values set on a device are reset only when the device is power cycled. The device will retain the settings even if the k4a_device_t is closed or the application is restarted.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • command (k4a_color_control_command_t) – Color sensor control command.

  • mode (POINTER(k4a_color_control_mode_t)) – Location to store the color sensor’s control mode. This mode represents whether the command is in automatic or manual mode.

  • value (POINTER(c_int32)) – Location to store the color sensor’s control value. This value is always written, but is only valid when the mode returned is K4A_COLOR_CONTROL_MODE_MANUAL for the current command.

Returns

K4A_RESULT_SUCCEEDED if the value was successfully returned, K4A_RESULT_FAILED

if an error occurred.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_color_control_capabilities(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, command: ctypes.c_int, supports_auto: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_bool, min_value: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int, max_value: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int, step_value: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int, default_value: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int, default_mode: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_int) → ctypes.c_int

Get the Azure Kinect color sensor control capabilities.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • command (k4a_color_control_command_t) – Color sensor control command.

  • supports_auto (POINTER(c_bool)) – Location to store whether the color sensor’s control support auto mode or not. true if it supports auto mode, otherwise false.

  • min_value (POINTER(c_int32)) – Location to store the color sensor’s control minimum value of /p command.

  • max_value (POINTER(c_int32)) – Location to store the color sensor’s control maximum value of /p command.

  • step_value (POINTER(c_int32)) – Location to store the color sensor’s control step value of /p command.

  • default_value (POINTER(c_int32)) – Location to store the color sensor’s control default value of /p command.

  • default_mode (POINTER(k4a_color_control_mode_t)) – Location to store the color sensor’s control default mode of /p command.

Returns

K4A_RESULT_SUCCEEDED if the value was successfully returned, K4A_RESULT_FAILED

if an error occurred.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_imu_sample(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, imu_sample_handle: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_imu_sample_t, timeout: ctypes.c_int) → ctypes.c_int

Reads an IMU sample.

Gets the next sample in the streamed sequence of IMU samples from the device. If a new sample is not currently available, this function will block until the timeout is reached. The API will buffer at least two camera capture intervals worth of samples before dropping the oldest sample. Callers needing to capture all data need to ensure they read the data as fast as the data is being produced on average.

Upon successfully reading a sample this function will return success and populate imu_sample. If a sample is not available in the configured timeout_in_ms, then the API will return K4A_WAIT_RESULT_TIMEOUT.

This function needs to be called while the device is in a running state; after k4a_device_start_imu() is called and before k4a_device_stop_imu() is called.

This function returns an error when an internal problem is encountered; such as loss of the USB connection, inability to allocate enough memory, and other unexpected issues. Any error returned by this function signals the end of streaming data, and caller should stop the stream using k4a_device_stop_imu().

If this function is waiting for data (non-zero timeout) when k4a_device_stop_imu() or k4a_device_close() is called on another thread, this function will return an error.

The memory the IMU sample is written to is allocated and owned by the caller, so there is no need to call an Azure Kinect API to free or release the sample.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • imu_sample_handle (POINTER(k4a_imu_sample_t)) – Pointer to the location for the API to write the IMU sample.

  • timeout (c_int32) – Specifies the time in milliseconds the function should block waiting for the sample. If set to 0, the function will return without blocking. Passing a value of K4A_WAIT_INFINITE will block indefinitely until data is available, the device is disconnected, or another error occurs.

Returns

K4A_WAIT_RESULT_SUCCEEDED if a sample is returned. If a sample is not available

before the timeout elapses, the function will return K4A_WAIT_RESULT_TIMEOUT. All other failures will return K4A_WAIT_RESULT_FAILED.

Return type

c_int

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_installed_count() → ctypes.c_uint

Gets the number of connected devices.

This API counts the number of Azure Kinect devices connected to the host PC.

Returns

Number of sensors connected to the PC.

Return type

c_uint32

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_raw_calibration(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, data: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_ubyte, data_size: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_ulong) → ctypes.c_int

Get the raw calibration blob for the entire Azure Kinect device.

K4A_BUFFER_RESULT_SUCCEEDED if data was successfully written. If data_size points to a buffer size that is too small to hold the output or data is NULL, K4A_BUFFER_RESULT_TOO_SMALL is returned and data_size is updated to contain the minimum buffer size needed to capture the calibration data.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • data (POINTER(c_uint8)) – Location to write the calibration data to. This field may optionally be set to NULL for the caller to query for the needed data size.

  • data_size (POINTER(c_size_t)) – On passing data_size into the function this variable represents the available size of the data buffer. On return this variable is updated with the amount of data actually written to the buffer, or the size required to store the calibration buffer if data is NULL.

Returns

K4A_BUFFER_RESULT_SUCCEEDED if data was successfully written.

If data_size points to a buffer size that is too small to hold the output or data is NULL, K4A_BUFFER_RESULT_TOO_SMALL is returned and data_size is updated to contain the minimum buffer size needed to capture the calibration data.

Return type

k4a_buffer_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_serialnum(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, serial_number: ctypes.c_char_p, serial_number_size: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_ulong) → ctypes.c_int

Get the Azure Kinect device serial number.

Queries the device for its serial number. If the caller needs to know the size of the serial number to allocate memory, the function should be called once with a NULL serial_number to get the needed size in the serial_number_size output, and then again with the allocated buffer.

Only a complete serial number will be returned. If the caller’s buffer is too small, the function will return K4A_BUFFER_RESULT_TOO_SMALL without returning any data in serial_number.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • serial_number (c_char_p) – Location to write the serial number to. If the function returns K4A_BUFFER_RESULT_SUCCEEDED, this will be a NULL terminated string of ASCII characters. If this input is NULL serial_number_size will still be updated to return the size of the buffer needed to store the string.

  • serial_number_size (POINTER(c_size_t)) – On input, the size of the serial_number buffer if that pointer is not NULL. On output, this value is set to the actual number of bytes in the serial number (including the null terminator).

Returns

A return of K4A_BUFFER_RESULT_SUCCEEDED means that the serial_number

has been filled in. If the buffer is too small the function returns K4A_BUFFER_RESULT_TOO_SMALL and the size of the serial number is returned in the serial_number_size parameter. All other failures return K4A_BUFFER_RESULT_FAILED.

Return type

k4a_buffer_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_sync_jack(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, sync_in_jack_connected: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_bool, sync_out_jack_connected: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_bool) → ctypes.c_int

Get the device jack status for the synchronization in and synchronization out connectors.

If sync_out_jack_connected is true then k4a_device_configuration_t wired_sync_mode mode can be set to K4A_WIRED_SYNC_MODE_STANDALONE or K4A_WIRED_SYNC_MODE_MASTER. If sync_in_jack_connected is true then k4a_device_configuration_t wired_sync_mode mode can be set to K4A_WIRED_SYNC_MODE_STANDALONE or K4A_WIRED_SYNC_MODE_SUBORDINATE.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • sync_in_jack_connected (POINTER(c_bool)) – Upon successful return this value will be set to true if a cable is connected to this sync in jack.

  • sync_out_jack_connected (POINTER(c_bool)) – Upon successful return this value will be set to true if a cable is connected to this sync out jack.

Returns

K4A_RESULT_SUCCEEDED if the connector status was successfully read.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_get_version(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, hardware_version: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_hardware_version_t) → ctypes.c_int

Get the version numbers of the device’s subsystems.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • hardware_version (POINTER(k4a_hardware_version_t)) – Location to write the version info to.

Returns

A return of K4A_RESULT_SUCCEEDED means that the version structure has been

filled in. All other failures return K4A_RESULT_FAILED.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_open(device_id: ctypes.c_uint, device_handle: pykinect_recorder.main.pyk4a.k4a._k4a.LP_LP__handle_k4a_device_t) → ctypes.c_int

Open an Azure Kinect device.

If successful, k4a_device_open() will return a device handle in the device_handle parameter. This handle grants exclusive access to the device and may be used in the other Azure Kinect API calls.

When done with the device, close the handle with k4a_device_close().

Parameters

  • device_id (c_uint32) – The index of the device to open, starting with 0. Optionally pass in K4A_DEVICE_DEFAULT.

  • device_handle (POINTER(k4a_device_t)) – Output parameter which on success will return a handle to the device.

Returns

K4A_RESULT_SUCCEEDED if the device was opened successfully.

Return type

c_int

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_set_color_control(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, command: ctypes.c_int, mode: ctypes.c_int, value: ctypes.c_int) → ctypes.c_int

Set the Azure Kinect color sensor control value.

Each control command may be set to manual or automatic. See the definition of k4a_color_control_command_t on how to interpret the value for each command.

Some control commands are only supported in manual mode. When a command is in automatic mode, the value for that command is not valid.

Control values set on a device are reset only when the device is power cycled. The device will retain the settings even if the k4a_device_t is closed or the application is restarted.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • command (k4a_color_control_command_t) – Color sensor control command.

  • mode (k4a_color_control_mode_t) – Color sensor control mode to set. This mode represents whether the command is in automatic or manual mode.

  • value (c_int32) – Value to set the color sensor’s control to. The value is only valid if mode is set to K4A_COLOR_CONTROL_MODE_MANUAL, and is otherwise ignored.

Returns

K4A_RESULT_SUCCEEDED if the value was successfully set, K4A_RESULT_FAILED

if an error occurred.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_start_cameras(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t, config: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_device_configuration_t) → ctypes.c_int

Starts color and depth camera capture.

Individual sensors configured to run will now start to stream captured data.

It is not valid to call k4a_device_start_cameras() a second time on the same k4a_device_t until k4a_device_stop_cameras() has been called.

Parameters

  • device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

  • config (POINTER(k4a_device_configuration_t)) – The configuration we want to run the device in. This can be initialized with K4A_DEVICE_CONFIG_INIT_DISABLE_ALL.

Returns

K4A_RESULT_SUCCEEDED is returned on success.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_start_imu(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t) → ctypes.c_int

Starts the IMU sample stream.

Call this API to start streaming IMU data. It is not valid to call this function a second time on the same k4a_device_t until k4a_device_stop_imu() has been called.

This function is dependent on the state of the cameras. The color or depth camera must be started before the IMU. K4A_RESULT_FAILED will be returned if one of the cameras is not running.

Parameters

device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

Returns

K4A_RESULT_SUCCEEDED is returned on success. K4A_RESULT_FAILED if the sensor is

already running or a failure is encountered

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_stop_cameras(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t) → None

Stops the color and depth camera capture.

The streaming of individual sensors stops as a result of this call. Once called, k4a_device_start_cameras() may be called again to resume sensor streaming.

This function may be called while another thread is blocking in k4a_device_get_capture(). Calling this function while another thread is in that function will result in that function returning a failure.

Parameters

device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_device_stop_imu(device_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t) → None

Stops the IMU capture.

The streaming of the IMU stops as a result of this call. Once called, k4a_device_start_imu() may be called again to resume sensor streaming, so long as the cameras are running.

This function may be called while another thread is blocking in k4a_device_get_imu_sample(). Calling this function while another thread is in that function will result in that function returning a failure.

Parameters

device_handle (k4a_device_t) – Handle obtained by k4a_device_open().

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_create(image_format: ctypes.c_int, width: ctypes.c_int, height: ctypes.c_int, stride: ctypes.c_int, image_handle: pykinect_recorder.main.pyk4a.k4a._k4a.LP_LP__handle_k4a_image_t) → ctypes.c_int

Create an image.

This function is used to create images of formats that have consistent stride. The function is not suitable for compressed formats that may not be represented by the same number of bytes per line.

For most image formats, the function will allocate an image buffer of size height_pixels * stride_bytes. Buffers K4A_IMAGE_FORMAT_COLOR_NV12 format will allocate an additional height_pixels / 2 set of lines (each of stride_bytes). This function cannot be used to allocate K4A_IMAGE_FORMAT_COLOR_MJPG buffers.

To create an image object without the API allocating memory, or to represent an image that has a non-deterministic stride, use k4a_image_create_from_buffer().

The k4a_image_t is created with a reference count of 1.

When finished using the created image, release it with k4a_image_release.

Parameters

  • image_format (k4a_image_format_t) – The format of the image that will be stored in this image container.

  • width (c_int) – Width in pixels.

  • height (c_int) – Height in pixels.

  • stride (c_int) – The number of bytes per horizontal line of the image. If set to 0, the stride will be set to the minimum size given the format and width_pixels.

  • image_handle (POINTER(k4a_image_t)) – Pointer to store image handle in.

Returns

Returns K4A_RESULT_SUCCEEDED on success. Errors are indicated with K4A_RESULT_FAILED.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_create_from_buffer(image_format: ctypes.c_int, width: ctypes.c_int, height: ctypes.c_int, stride: ctypes.c_int, buffer: pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_ubyte, buffer_size: ctypes.c_ulong, buffer_release_cb: ctypes.c_void_p, buffer_release_cb_context: ctypes.c_void_p, image_handle: pykinect_recorder.main.pyk4a.k4a._k4a.LP_LP__handle_k4a_image_t) → ctypes.c_int

Create an image from a pre-allocated buffer.

This function creates a k4a_image_t from a pre-allocated buffer. When all references to this object reach zero the provided buffer_release_cb callback function is called so that the memory can be released. If this function fails, the API will not use the memory provided in buffer, and the API will not call buffer_release_cb.

The k4a_image_t is created with a reference count of 1.

Release the reference on this function with k4a_image_release().

Parameters

  • image_format (k4a_image_format_t) – The format of the image that will be stored in this image container.

  • width (c_int) – Width in pixels.

  • height (c_int) – Height in pixels.

  • stride (c_int) – The number of bytes per horizontal line of the image.

  • buffer (POINTER(c_uint8)) – Pointer to a pre-allocated image buffer.

  • buffer_size (c_size_t) – Size in bytes of the pre-allocated image buffer.

  • buffer_release_cb (c_void_p) – Callback to the buffer free function, called when all references to the buffer have been released. This parameter is optional.

  • buffer_release_cb_context (c_void_p) – Context for the buffer free function. This value will be called as a parameter to buffer_release_cb when the callback is invoked.

  • image_handle (POINTER(k4a_image_t)) – Pointer to store image handle in.

Returns

Returns K4A_RESULT_SUCCEEDED on success. Errors are indicated with

K4A_RESULT_FAILED and error specific data can be found in the log.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_buffer(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → pykinect_recorder.main.pyk4a.k4a._k4a.LP_c_ubyte

Get the image buffer.

Use this buffer to access the raw image data.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

The function will return NULL if there is an error, and will normally return a pointer

to the image buffer. Since all k4a_image_t instances are created with an image buffer, this function should only return NULL if the image_handle is invalid.

Return type

POINTER(c_uint8)

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_device_timestamp_usec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_ulong

Get the image’s device timestamp in microseconds.

Returns the device timestamp of the image, as captured by the hardware. Timestamps are recorded by the device and represent the mid-point of exposure. They may be used for relative comparison, but their absolute value has no defined meaning.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

If the image_handle is invalid or if no timestamp was set for the image, this

function will return 0. It is also possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming.

Return type

c_uint64

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_exposure_usec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_ulong

Get the image exposure in microseconds.

Returns an exposure time in microseconds. This is only supported on color image formats.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

If the image_handle is invalid, or no exposure was set on the image, the function will

return 0. Otherwise, it will return the image exposure time in microseconds.

Return type

c_uint64

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_format(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_int

Get the format of the image.

Use this function to determine the format of the image buffer.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

This function is not expected to fail, all k4a_image_t’s are created

with a known format. If the image_handle is invalid, the function will return K4A_IMAGE_FORMAT_CUSTOM.

Return type

k4a_image_format_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_height_pixels(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_int

Get the image height in pixels.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

This function is not expected to fail, all k4a_image_t’s are created with a known height. If the image_handle is invalid, the function will return 0.

Return type

c_int

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_iso_speed(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_uint

Get the image white balance.

Returns the image’s white balance. This function is only valid for color captures, and not for depth or IR captures.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

Returns the image white balance in Kelvin. If image_handle is invalid, or the white balance was not set or not applicable to the image, the function will return 0.

Return type

c_uint32

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_size(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_ulong

Get the image buffer size.

Use this function to know what the size of the image buffer is returned by k4a_image_get_buffer().

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

The function will return 0 if there is an error, and will normally return the image size.

Since all k4a_image_t instances are created with an image buffer, this function should only return 0 if the image_handle is invalid.

Return type

c_size_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_stride_bytes(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_int

Get the image stride in bytes.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

This function is not expected to fail, all k4a_image_t’s are created with a known stride. If the image_handle is invalid, or the image’s format does not have a stride, the function will return 0.

Return type

c_int

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_system_timestamp_nsec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_ulong

Get the image’s system timestamp in nanoseconds.

Returns the system timestamp of the image. Timestamps are recorded by the host. They may be used for relative comparision, as they are relative to the corresponding system clock. The absolute value is a monotonic count from an arbitrary point in the past.

The system timestamp is captured at the moment host PC finishes receiving the image.

On Linux the system timestamp is read from clock_gettime(CLOCK_MONOTONIC), which measures realtime and is not impacted by adjustments to the system clock. It starts from an arbitrary point in the past. On Windows the system timestamp is read from QueryPerformanceCounter(), it also measures realtime and is not impacted by adjustments to the system clock. It also starts from an arbitrary point in the past.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

If the image_handle is invalid or if no timestamp was set for the image, this function

will return 0. It is also possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming.

Return type

c_uint64

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_timestamp_usec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_ulong

Get the image’s device timestamp in microseconds.

Returns the device timestamp of the image. Timestamps are recorded by the device and represent the mid-point of exposure. They may be used for relative comparison, but their absolute value has no defined meaning.

Note

Deprecated starting in 1.2.0. Please use k4a_image_get_device_timestamp_usec().

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

If the image_handle is invalid or if no timestamp was set for the image, this

function will return 0. It is also possible for 0 to be a valid timestamp originating from the beginning of a recording or the start of streaming.

Return type

c_uint64

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_white_balance(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_uint

Get the image white balance.

Returns the image’s white balance. This function is only valid for color captures, and not for depth or IR captures.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

Returns the image white balance in Kelvin. If image_handle is invalid, or the white balance was not set or not applicable to the image, the function will return 0.

Return type

c_uint32

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_get_width_pixels(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_int

Get the image width in pixels.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

Returns

This function is not expected to fail, all k4a_image_t’s are created with a known width.

If the image_handle is invalid, the function will return 0.

Return type

c_int

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_reference(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → None

Add a reference to the k4a_image_t.

References manage the lifetime of the object. When the references reach zero the object is destroyed. A caller must not access the object after its reference is released.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_release(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → None

Remove a reference from the k4a_image_t.

References manage the lifetime of the object. When the references reach zero the object is destroyed. A caller must not access the object after its reference is released.

Parameters

image_handle (k4a_image_t) – Handle of the image for which the get operation is performed on.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_set_device_timestamp_usec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, timestamp_usec: ctypes.c_ulong) → None

Set the device time stamp, in microseconds, of the image.

Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t.

The device timestamp represents the mid-point of exposure of the image, as captured by the hardware.

Parameters

  • image_handle (k4a_image_t) – Handle of the image to set the timestamp on.

  • timestamp_usec (c_uint64) – Device timestamp of the image in microseconds.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_set_exposure_time_usec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, exposure_usec: ctypes.c_ulong) → None

Set the exposure time, in microseconds, of the image.

Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. An exposure time of 0 is considered invalid. Only color image formats are expected to have a valid exposure time.

Note

Deprecated starting in 1.2.0. Please use k4a_image_set_exposure_usec().

Parameters

  • image_handle (k4a_image_t) – Handle of the image to set the exposure time on.

  • exposure_usec (c_uint64) – Exposure time of the image in microseconds.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_set_exposure_usec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, exposure_usec: ctypes.c_ulong) → None

Set the exposure time, in microseconds, of the image.

Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. An exposure time of 0 is considered invalid. Only color image formats are expected to have a valid exposure time.

Parameters

  • image_handle (k4a_image_t) – Handle of the image to set the exposure time on.

  • exposure_usec (c_uint64) – Exposure time of the image in microseconds.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_set_iso_speed(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, iso_speed: ctypes.c_uint) → None

Set the ISO speed of the image.

Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. An ISO speed of 0 is considered invalid. Only color images are expected to have a valid ISO speed.

Parameters

  • image_handle (k4a_image_t) – Handle of the image to set the ISO speed on.

  • iso_speed (c_uint32) – ISO speed of the image.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_set_system_timestamp_nsec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, timestamp_nsec: ctypes.c_ulong) → None

Set the system time stamp, in nanoseconds, of the image.

Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t.

The system timestamp is a high performance and increasing clock (from boot). The timestamp represents the time immediately after the image buffer was read by the host PC.

Parameters

  • image_handle (k4a_image_t) – Handle of the image to set the timestamp on.

  • timestamp_nsec (c_uint64) – Timestamp of the image in nanoseconds.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_set_timestamp_usec(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, timestamp_usec: ctypes.c_ulong) → None

Set the device time stamp, in microseconds, of the image.

Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t.

The device timestamp represents the mid-point of exposure of the image, as captured by the hardware.

Note

Deprecated starting in 1.2.0. Please use k4a_image_set_device_timestamp_usec().

Parameters

  • image_handle (k4a_image_t) – Handle of the image to set the timestamp on.

  • timestamp_usec (c_uint64) – Device timestamp of the image in microseconds.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_image_set_white_balance(image_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, white_balance: ctypes.c_uint) → None

Set the white balance of the image.

Use this function in conjunction with k4a_image_create() or k4a_image_create_from_buffer() to construct a k4a_image_t. A white balance of 0 is considered invalid. White balance is only meaningful for color images, and not expected on depth or IR images.

Parameters

  • image_handle (k4a_image_t) – Handle of the image to set the white balance on.

  • white_balance (c_uint32) – White balance of the image in degrees Kelvin.

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_transformation_color_image_to_depth_camera(transformation_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_transformation_t, depth_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, color_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, transformed_color_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_int

Transforms a color image into the geometry of the depth camera.

This produces a color image for which each pixel matches the corresponding pixel coordinates of the depth camera.

depth_image and color_image need to represent the same moment in time. The depth data will be applied to the color image to properly warp the color data to the perspective of the depth camera.

depth_image must be of type K4A_IMAGE_FORMAT_DEPTH16. color_image must be of format K4A_IMAGE_FORMAT_COLOR_BGRA32.

transformed_color_image image must be of format K4A_IMAGE_FORMAT_COLOR_BGRA32. transformed_color_image must have the width and height of the depth camera in the mode specified by the k4a_calibration_t used to create the transformation_handle with k4a_transformation_create().

transformed_color_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Parameters

  • transformation_handle (k4a_transformation_t) – Transformation handle.

  • depth_image (k4a_image_t) – Handle to input depth image.

  • color_image (k4a_image_t) – Handle to input color image.

  • transformed_color_image (k4a_image_t) – Handle to output transformed color image.

Returns

K4A_RESULT_SUCCEEDED if transformed_color_image was successfully written

and K4A_RESULT_FAILED otherwise.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_transformation_create(calibration: pykinect_recorder.main.pyk4a.k4a._k4a.LP__k4a_calibration_t) → pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_transformation_t

Get handle to transformation handle.

The transformation handle is used to transform images from the coordinate system of one camera into the other. Each transformation handle requires some pre-computed resources to be allocated, which are retained until the handle is destroyed.

The transformation handle must be destroyed with k4a_transformation_destroy() when it is no longer to be used.

Parameters

calibration (POINTER(k4a_calibration_t)) – A calibration structure obtained by k4a_device_get_calibration().

Returns

A transformation handle. A NULL is returned if creation fails.

Return type

k4a_transformation_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_transformation_depth_image_to_color_camera(transformation_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_transformation_t, depth_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, transformed_depth_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_int

Transforms the depth map into the geometry of the color camera.

This produces a depth image for which each pixel matches the corresponding pixel coordinates of the color camera.

depth_image and transformed_depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.

transformed_depth_image must have a width and height matching the width and height of the color camera in the mode specified by the k4a_calibration_t used to create the transformation_handle with k4a_transformation_create().

The contents transformed_depth_image will be filled with the depth values derived from depth_image in the color camera’s coordinate space.

transformed_depth_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Parameters

  • transformation_handle (k4a_transformation_t) – Transformation handle.

  • depth_image (k4a_image_t) – Handle to input depth image.

  • transformed_depth_image (k4a_image_t) – Handle to output transformed depth image.

Returns

K4A_RESULT_SUCCEEDED if transformed_depth_image was successfully written

and K4A_RESULT_FAILED otherwise.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_transformation_depth_image_to_color_camera_custom(transformation_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_transformation_t, depth_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, custom_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, transformed_depth_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, transformed_custom_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, interpolation_type: ctypes.c_int, invalid_custom_value: ctypes.c_uint) → ctypes.c_int

Transforms depth map and a custom image into the geometry of the color camera.

This produces a depth image and a corresponding custom image for which each pixel matches the corresponding pixel coordinates of the color camera.

depth_image and transformed_depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.

custom_image and transformed_custom_image must be of format K4A_IMAGE_FORMAT_CUSTOM8 or K4A_IMAGE_FORMAT_CUSTOM16.

transformed_depth_image and transformed_custom_image must have a width and height matching the width and height of the color camera in the mode specified by the k4a_calibration_t used to create the transformation_handle with k4a_transformation_create().

custom_image must have a width and height matching the width and height of depth_image.

The contents transformed_depth_image will be filled with the depth values derived from depth_image in the color camera’s coordinate space.

The contents transformed_custom_image will be filled with the values derived from custom_image in the color camera’s coordinate space.

transformed_depth_image and transformed_custom_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Using K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR for interpolation_type could create new values to transformed_custom_image which do no exist in custom_image. Using K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST will prevent this from happenning but will result in a less smooth image.

Parameters

  • transformation_handle (k4a_transformation_t) – Transformation handle.

  • depth_image (k4a_image_t) – Handle to input depth image.

  • custom_image (k4a_image_t) – Handle to input custom image.

  • transformed_depth_image (k4a_image_t) – Handle to output transformed depth image.

  • transformed_custom_image (k4a_image_t) – Handle to output transformed custom image.

  • interpolation_type (k4a_transformation_interpolation_type_t) – Parameter that controls how pixels in custom_image should be interpolated when transformed to color camera space. K4A_TRANSFORMATION_INTERPOLATION_TYPE_LINEAR if linear interpolation should be used. K4A_TRANSFORMATION_INTERPOLATION_TYPE_NEAREST if nearest neighbor interpolation should be used.

  • invalid_custom_value (c_uint32) – Defines the custom image pixel value that should be written to transformed_custom_image in case the corresponding depth pixel can not be transformed into the color camera space.

Returns

K4A_RESULT_SUCCEEDED if transformed_depth_image and transformed_custom_image

were successfully written and K4A_RESULT_FAILED otherwise.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_transformation_depth_image_to_point_cloud(transformation_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_transformation_t, depth_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t, camera: ctypes.c_int, xyz_image: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t) → ctypes.c_int

Transforms the depth image into 3 planar images representing X, Y and Z-coordinates of corresponding 3D points.

depth_image must be of format K4A_IMAGE_FORMAT_DEPTH16.

The camera parameter tells the function what the perspective of the depth_image is. If the depth_image was captured directly from the depth camera, the value should be K4A_CALIBRATION_TYPE_DEPTH. If the depth_image is the result of a transformation into the color camera’s coordinate space using k4a_transformation_depth_image_to_color_camera(), the value should be K4A_CALIBRATION_TYPE_COLOR.

The format of xyz_image must be K4A_IMAGE_FORMAT_CUSTOM. The width and height of xyz_image must match the width and height of depth_image. xyz_image must have a stride in bytes of at least 6 times its width in pixels.

Each pixel of the xyz_image consists of three int16_t values, totaling 6 bytes. The three int16_t values are the X, Y, and Z values of the point.

xyz_image should be created by the caller using k4a_image_create() or k4a_image_create_from_buffer().

Parameters

  • transformation_handle (k4a_transformation_t) – Transformation handle.

  • depth_image (k4a_image_t) – Handle to input depth image.

  • camera (k4a_calibration_type_t) – Geometry in which depth map was computed.

  • xyz_image (k4a_image_t) – Handle to output xyz image.

Returns

K4A_RESULT_SUCCEEDED if xyz_image was successfully written and

K4A_RESULT_FAILED otherwise.

Return type

k4a_result_t

pykinect_recorder.main.pyk4a.k4a._k4a.k4a_transformation_destroy(transformation_handle: pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_transformation_t) → None

Destroy transformation handle.

Parameters

transformation_handle (k4a_transformation_t) – Transformation handle to destroy.

pykinect_recorder.main.pyk4a.k4a._k4a.setup_library(module_k4a_path)

Structures (Types)

Hello.

pykinect_recorder.main.pyk4a.k4a._k4atypes.K4A_FAILED(result)
pykinect_recorder.main.pyk4a.k4a._k4atypes.K4A_SUCCEEDED(result)
pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_calibration_camera_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_calibration_camera_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_calibration_extrinsics_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_calibration_extrinsics_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_calibration_intrinsic_parameters_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_calibration_intrinsic_parameters_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_calibration_intrinsics_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_calibration_intrinsics_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_calibration_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_calibration_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_capture_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_capture_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_device_configuration_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_device_configuration_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_device_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_device_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_float2_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_float2_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_float3_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_float3_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_hardware_version_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_hardware_version_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_image_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_image_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_imu_sample_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_imu_sample_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_transformation_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes.LP__handle_k4a_transformation_t

pykinect_recorder.main.pyk4a.k4a._k4atypes.k4a_version_t

alias of pykinect_recorder.main.pyk4a.k4a._k4atypes._k4a_version_t

Wrappers

Hello.