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I ended up uderstanding how to fix it.
First there is a litle bug in the depth.numpy function. The correct one is:
case k4a_image_format_t::K4A_IMAGE_FORMAT_DEPTH16:
case k4a_image_format_t::K4A_IMAGE_FORMAT_IR16:
return py::array(
py::buffer_info(
_image.get_buffer(),
sizeof(unsigned short int),
py::format_descriptor<unsigned short int>::format(),
2,
{_image.get_height_pixels(), _image.get_width_pixels()},
{
sizeof(unsigned short int) * _image.get_width_pixels(),
sizeof(unsigned short int)
}
)
);
You should change the following line: sizeof(unsigned short int) * _image.get_height_pixels(),
to: sizeof(unsigned short int) * _image.get_width_pixels(),
Using the provided example the following function seams not to work properly:
img=transformation.depth_image_to_color_camera(img)
Could you provide a working example on how to fit the depth image to the color one?
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