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Merge pull request #4 from lpasselin/feature/no_data_copy_required
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Feature/no data copy required
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@etiennedub
etiennedub authored Oct 16, 2019
2 parents cd3f9c9 + f0f5511 commit 59780a7
Showing 1 changed file with 53 additions and 45 deletions.
98 changes: 53 additions & 45 deletions pyk4a/pyk4a.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,6 @@ extern "C" {

k4a_capture_t capture;
k4a_transformation_t transformation_handle;
k4a_image_t depth_image;
k4a_image_t color_image;
k4a_device_t device;

static PyObject* device_open(PyObject* self, PyObject* args){
Expand Down Expand Up @@ -86,43 +84,45 @@ extern "C" {
}

static PyObject* device_stop_cameras(PyObject* self, PyObject* args){
if (transformation_handle)
k4a_transformation_destroy(transformation_handle);
if (capture)
k4a_capture_release(capture);
if (depth_image)
k4a_image_release(depth_image);
if (color_image)
k4a_image_release(color_image);
if (transformation_handle) k4a_transformation_destroy(transformation_handle);
if (capture) k4a_capture_release(capture);
k4a_device_stop_cameras(device);
return Py_BuildValue("I", K4A_RESULT_SUCCEEDED);
}

static PyObject* device_get_capture(PyObject* self, PyObject* args){
int32_t timeout;
PyArg_ParseTuple(args, "I", &timeout);

if (capture)
k4a_capture_release(capture);
if (capture) k4a_capture_release(capture);
k4a_capture_create(&capture);
k4a_wait_result_t result = k4a_device_get_capture(device, &capture, timeout);
return Py_BuildValue("I", result);
}

static void capsule_cleanup(PyObject *capsule) {
k4a_image_t *image = (k4a_image_t*)PyCapsule_GetContext(capsule);
k4a_image_release(*image);
free(image);
}

static PyObject* device_get_color_image(PyObject* self, PyObject* args){
if (color_image)
k4a_image_release(color_image);
color_image = k4a_capture_get_color_image(capture);
k4a_image_t* color_image = (k4a_image_t*) malloc(sizeof(k4a_image_t));
*color_image = k4a_capture_get_color_image(capture);
if (color_image) {
uint8_t* buffer = k4a_image_get_buffer(color_image);
uint8_t* buffer = k4a_image_get_buffer(*color_image);
npy_intp dims[3];
dims[0] = k4a_image_get_height_pixels(color_image);
dims[1] = k4a_image_get_width_pixels(color_image);
dims[0] = k4a_image_get_height_pixels(*color_image);
dims[1] = k4a_image_get_width_pixels(*color_image);
dims[2] = 4;
PyArrayObject* np_color_image = (PyArrayObject*) PyArray_SimpleNewFromData(3, (npy_intp*) dims, NPY_UINT8, buffer);

PyArrayObject* np_color_image = (PyArrayObject*) PyArray_SimpleNewFromData(3, dims, NPY_UINT8, buffer);
PyObject *capsule = PyCapsule_New(buffer, NULL, capsule_cleanup);
PyCapsule_SetContext(capsule, color_image);
PyArray_SetBaseObject((PyArrayObject *) np_color_image, capsule);
return PyArray_Return(np_color_image);
}
else {
free(color_image);
return Py_BuildValue("");
}
}
Expand All @@ -131,37 +131,45 @@ extern "C" {
int is_transform_enabled;
PyArg_ParseTuple(args, "p", &is_transform_enabled);

if (depth_image)
k4a_image_release(depth_image);
depth_image = k4a_capture_get_depth_image(capture);
if (is_transform_enabled && depth_image && color_image) {
k4a_image_t* depth_image = (k4a_image_t*) malloc(sizeof(k4a_image_t));
*depth_image = k4a_capture_get_depth_image(capture);
if (is_transform_enabled && *depth_image) {
k4a_image_t color_image = k4a_capture_get_color_image(capture);
k4a_image_t depth_image_transformed;
k4a_image_create(
k4a_image_get_format(depth_image),
k4a_image_get_width_pixels(color_image),
k4a_image_get_height_pixels(color_image),
k4a_image_get_width_pixels(color_image) * (int)sizeof(uint16_t),
&depth_image_transformed);
k4a_result_t res = k4a_transformation_depth_image_to_color_camera(
transformation_handle,
depth_image, depth_image_transformed);
if (res == K4A_RESULT_FAILED)
return Py_BuildValue("");
k4a_image_release(color_image);
k4a_image_release(depth_image);
depth_image = depth_image_transformed;
if (color_image) {
k4a_image_t depth_image_transformed;
k4a_image_create(
k4a_image_get_format(*depth_image),
k4a_image_get_width_pixels(color_image),
k4a_image_get_height_pixels(color_image),
k4a_image_get_width_pixels(color_image) * (int)sizeof(uint16_t),
&depth_image_transformed);
k4a_result_t res = k4a_transformation_depth_image_to_color_camera(
transformation_handle,
*depth_image, depth_image_transformed);
if (res == K4A_RESULT_FAILED){
free(depth_image);
return Py_BuildValue("");
}

k4a_image_release(color_image);
k4a_image_release(*depth_image);
*depth_image = depth_image_transformed;
}
}

if (depth_image) {
uint8_t* buffer = k4a_image_get_buffer(depth_image);
if (*depth_image) {
uint8_t* buffer = k4a_image_get_buffer(*depth_image);
npy_intp dims[2];
dims[0] = k4a_image_get_height_pixels(depth_image);
dims[1] = k4a_image_get_width_pixels(depth_image);
PyArrayObject* np_depth_image = (PyArrayObject*) PyArray_SimpleNewFromData(2, (npy_intp*) dims, NPY_UINT16, buffer);
dims[0] = k4a_image_get_height_pixels(*depth_image);
dims[1] = k4a_image_get_width_pixels(*depth_image);
PyArrayObject* np_depth_image = (PyArrayObject*) PyArray_SimpleNewFromData(2, dims, NPY_UINT16, buffer);
PyObject *capsule = PyCapsule_New(buffer, NULL, capsule_cleanup);
PyCapsule_SetContext(capsule, depth_image);
PyArray_SetBaseObject((PyArrayObject *) np_depth_image, capsule);
return PyArray_Return(np_depth_image);
}
else {
free(depth_image);
return Py_BuildValue("");
}
}
Expand Down Expand Up @@ -234,7 +242,7 @@ extern "C" {
INITERROR;
struct module_state *st = GETSTATE(module);

st->error = PyErr_NewException("pyvicon_module.Error", NULL, NULL);
st->error = PyErr_NewException("pyk4a_module.Error", NULL, NULL);
if (st->error == NULL)
{
Py_DECREF(module);
Expand Down

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