This library is a simple and pythonic wrapper in Python 3 for the Azure-Kinect-Sensor-SDK.
Images are returned as numpy arrays and behave like python objects.
This approach incurs almost no overhead in terms of CPU, memory or other resources. It also simplifies usage. Kinect C api image buffers are directly reused and image releases are performed automatically by the python garbage collector.
Make sure your
LD_LIBRARY_PATH contains the directory of k4a.lib
pip install pyk4a
In most cases
pip install pyk4a is enough to install this package.
Because of the numerous issues received from Windows users, the installer (setup.py) automatically detects the kinect SDK path.
When the installer is not able to find the path, the following snippet can help. Make sure you replace the paths in these instructions with your own kinect SDK path. It is important to replace 1.4.1 with your installed version of the SDK.
pip install pyk4a --no-use-pep517 --global-option=build_ext --global-option="-IC:\Program Files\Azure Kinect SDK v1.4.1\sdk\include" --global-option="-LC:\Program Files\Azure Kinect SDK v1.4.1\sdk\windows-desktop\amd64\release\lib""
k4a.dll is required. The automatic detection should be able to find this file.
It is also possible to specify the DLL's directory with the environment variable
K4A_DLL_DIR is used, the automatic DLL search is not performed.
For a basic example displaying the first frame, you can run this code:
from pyk4a import PyK4A # Load camera with the default config k4a = PyK4A() k4a.start() # Get the next capture (blocking function) capture = k4a.get_capture() img_color = capture.color # Display with pyplot from matplotlib import pyplot as plt plt.imshow(img_color[:, :, 2::-1]) # BGRA to RGB plt.show()
git clone https://github.com/etiennedub/pyk4a.git cd pyk4a/example python viewer.py
You can also follow the various example folder scripts as reference.
Submit an issue and please include as much details as possible.
Make sure to use the search function on closed issues, especially if your problem is related to installing on windows.
1) Install required packages:
2) Install local pyk4a version (compiles pyk4a.cpp):
Feel free to send pull requests. The develop branch should be used.
Please rebuild, format, check code quality and run tests before submitting a pull request:
make build make fmt lint make test
Note: you need
clang-format tool(v 11.0+) for formatting CPP code.