fix capture.transformed_depth_point_cloud (#73)

etiennedub · Oct 14, 2020 · 3d66197 · 3d66197
1 parent 0bb3e76
commit 3d66197
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/pyk4a/capture.py b/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
 

diff --git a/pyk4a/transformation.py b/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,
     )