Add APIs to get extrinsic/distortion matrix and timestamp, etc.#121
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davidliyutong wants to merge 2 commits into
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Add APIs to get extrinsic/distortion matrix and timestamp, etc.#121davidliyutong wants to merge 2 commits into
davidliyutong wants to merge 2 commits into
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…be very helpful for researchers of robotics Changes: - [feature] add `get_timestamp_usec` method to capture - [feature] add `get_device_timestamp_usec` to capture - [feature] add `get_system_timestamp_nsec` to capture - [feature] add `get_extrinsic_matrix` to calibration for getting extrinsic matrix of cameras - [feature] add `get_distortion_parameters` for getting distortion parameters of cameras
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Here is an example to test: import pykinect_azure as pykinect
pykinect.initialize_libraries()
def test_new_api(path: str):
pb: pykinect.Playback = pykinect.start_playback(path)
while True:
ret, capture = pb.update()
if ret:
print("Extrinsic Matrix: ", capture.calibration.get_extrinsic_matrix())
print("Distortion Matrix: ", capture.calibration.get_distortion_parameters())
color_obj = capture.get_color_image_object()
print("timestamp usec: ", color_obj.get_timestamp_usec())
print("Device timestamp usec: ", color_obj.get_device_timestamp_usec())
print("System timestamp nsec: ", color_obj.get_system_timestamp_nsec())
else:
break
test_new_api(r"recording.mkv") |
refactor: get_extrinsic_matrix support camera parameter refactor: get_distortion_parameters support camera parameter feat: add create_custom16 / create_bgra32 api to support 16bit depth
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Timestamps are helpful for researchers of robotics
Changes:
get_timestamp_usecmethod to captureget_device_timestamp_usecto captureget_system_timestamp_nsecto captureget_extrinsic_matrixto calibration for getting extrinsic matrix of camerasget_distortion_parametersfor getting distortion parameters of cameras