added pyk4a server

notebooks/pyk4a_explore.py

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+# %%
+import os
+os.environ['DISPLAY'] = ':0'
+
+# %%
+from pyk4a import PyK4A
+
+# Load camera with the default config
+k4a = PyK4A()
+k4a.start()
+
+# %%
+k4a.exposure_mode_auto = (True, 100)
+
+# %%
+k4a.exposure_mode_auto = False
+k4a.exposure = 8330
+# k4a.brightness = 1000
+
+# %%
+# 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()
+# %%

run_server_pyk4a.py

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+import argparse
+import pickle
+from io import BytesIO
+
+import imageio
+import numpy as np
+from aiohttp import web
+
+import pyk4a
+from pyk4a import Config, PyK4A
+
+# launch kinect
+k4a = PyK4A(
+    Config(
+        camera_fps=pyk4a.FPS.FPS_30,
+        color_resolution=pyk4a.ColorResolution.RES_720P,
+        depth_mode=pyk4a.DepthMode.NFOV_UNBINNED,
+    )
+)
+k4a.start()
+
+# set exposure parameters
+k4a.exposure_mode_auto = False
+k4a.exposure = 8330
+
+async def view_handle(request):
+    img_buf = BytesIO()
+    capture = k4a.get_capture()
+    color_img = capture.color
+    depth_img = capture.transformed_depth
+
+    color_img = color_img[...,[2,1,0]].astype(np.float32) / 255.0
+    depth_img = depth_img.astype(np.float32)
+
+    depth_img -= np.min(depth_img)
+    depth_img /= np.max(depth_img)
+    img = np.concatenate([color_img, np.repeat(depth_img[:, :, np.newaxis], 3, axis=2)], axis=0)
+    imageio.imwrite(img_buf, (img * 255).astype(np.uint8), format='jpeg')
+
+    return web.Response(body=img_buf.getbuffer(), content_type='image/jpeg')
+
+
+async def pickle_handle(request):
+    img_buf = BytesIO()
+    capture = k4a.get_capture()
+    color_img = capture.color
+    depth_img = capture.transformed_depth
+    color_img = color_img[...,[2,1,0]]
+
+    enc = pickle.dumps({
+        'color_img':color_img,
+        'depth_img':depth_img
+    })
+    return web.Response(body=enc)
+
+
+async def intr_handle(request):
+    color_intr = k4a.calibration.get_camera_matrix(pyk4a.calibration.CalibrationType.COLOR)
+    enc = pickle.dumps(color_intr)
+    return web.Response(body=enc)
+
+
+app = web.Application()
+app.add_routes([web.get('/', view_handle),
+                web.get('/view', view_handle),
+                web.get('/intr', intr_handle),
+                web.get('/pickle', pickle_handle)])
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser("Kinect Server")
+    parser.add_argument("--port", type=int, default=8080, help="port")
+    args = parser.parse_args()
+
+    web.run_app(app, port=args.port)