argument 4: <class 'TypeError'>: expected LP__CameraSpacePoint instance instead of LP__CameraSpacePoint

[sean195114]

this is my code , and it always has this problem. Can someone help me, many thx.

import comtypes import ctypes import _ctypes from ctypes import sizeof, alignment from ctypes import POINTER, c_ushort import pygame import numpy import sys import cv2 import numpy as np import math

from pykinect2 import PyKinectV2 from pykinect2.PyKinectV2 import * from pykinect2 import PyKinectRuntime import mapper import time time.clock = time.time

Initialize Kinect

kinect = PyKinectRuntime.PyKinectRuntime(PyKinectV2.FrameSourceTypes_Color | PyKinectV2.FrameSourceTypes_Depth)

class _CameraSpacePoint(ctypes.Structure): fields = [ ('x', ctypes.c_float), ('y', ctypes.c_float), ('z', ctypes.c_float), ] def depth_space_2_world_depth(depth_map, x, y): """ Return depth of object given the depth map coordinates :param depth_map: kinect.get_last_depth_frame :param x: depth pixel x :param y: depth pixel y :return: depth z of object """ if int(y) 512 + int(x) <= 512 424: return float(depth_map[int(y) * 512 + int(x)]) # mm else:

If it exceeds return the last value to catch overflow

    return float(depth_map[512*424])    

def color_2_world(kinect, depth_frame_data, camera_space_point, as_array=False): """ Map Color Frame to World Space :param kinect: Class for main file :param depth_frame_data: kinect._depth_frame_data :param camera_space_point: _CameraSpacePoint structure from PyKinectV2 :param as_array: returns frame as numpy array :return: returns mapped color frame to camera space COMMETHOD([], HRESULT, 'MapColorFrameToCameraSpace', ( [], c_uint, 'depthDataPointCount' ), ( ['in'], POINTER(c_ushort), 'depthFrameData' ), ( [], c_uint, 'cameraPointCount' ), ( [], POINTER(_CameraSpacePoint), 'cameraSpacePoints' )), """ color2world_points_type = _CameraSpacePoint np.int(1920 1080) color2world_points = ctypes.cast(color2world_points_type(), ctypes.POINTER(_CameraSpacePoint)) kinect._mapper.MapColorFrameToCameraSpace(ctypes.c_uint(512 424), kinect._depth_frame_data, ctypes.c_uint(1920 1080), color2world_points) pf_csps = ctypes.cast(color2world_points, ctypes.POINTER(ctypes.c_float)) data = np.ctypeslib.as_array(pf_csps, shape=(1080, 1920, 3)) if not as_array: return color2world_points else: return data

camera_space_point = _CameraSpacePoint()

while True:

Capture color image and depth information

if kinect.has_new_color_frame() and kinect.has_new_depth_frame() :
    # Get color image
    frame = kinect.get_last_color_frame()
    frame = frame.reshape((kinect.color_frame_desc.Height, kinect.color_frame_desc.Width, 4)).astype(np.uint8)

    # Get depth value of object from depth information
    depth_frame = kinect.get_last_depth_frame()
    depth_image = depth_frame.reshape((kinect.depth_frame_desc.Height, kinect.depth_frame_desc.Width, 1)).astype(np.uint8)

    # Convert image to HSV color space
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    # Define the HSV range for blue color
    lower_blue = np.array([100, 100, 100])
    upper_blue = np.array([140, 255, 255])

    # Build a mask to mark the blue parts
    mask = cv2.inRange(hsv, lower_blue, upper_blue)

    # Find contours of the blue object
    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

    # If contours are found, display them on the image
    if contours:
        # Draw each contour
        for cnt in contours:
            cv2.drawContours(frame, [cnt], 0, (0, 255, 0), 2)
            M = cv2.moments(cnt)
            if M["m00"] != 0:
                cx = int(M["m10"] / M["m00"])
                cy = int(M["m01"] / M["m00"])

                depth_point = depth_space_2_world_depth(kinect.get_last_depth_frame(), kinect.depth_frame_desc.Width // 2 , kinect.depth_frame_desc.Height // 2)

                # Set the values of _CameraSpacePoint structure
                camera_space_point.x = cx
                camera_space_point.y = cy
                camera_space_point.z = depth_point

                # Pass the pointer to color_2_world function
                camera_color_point = color_2_world(kinect, depth_frame, camera_space_point, as_array=False)

                # Get the corresponding world coordinates from the mapped result
                x_world = camera_color_point.contents.x
                y_world = camera_color_point.contents.y
                z_world = camera_color_point.contents.z

                # Ensure the visibility and clarity of text position and color
                cv2.putText(frame, f'X: {x_world:.2f} Y: {y_world:.2f} Z: {z_world:.2f}', (10, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 0), 2)

    # Display the color and depth images
    cv2.imshow('Color Frame', frame)
    depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
    cv2.imshow('Depth Frame', depth_colormap)

    # Press 'q' to exit the loop
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

Release the Kinect and close the windows

kinect.close() cv2.destroyAllWindows()

ArgumentError Traceback (most recent call last)

in 111 112 # Pass the pointer to color_2_world function --> 113 camera_color_point = color_2_world(kinect, depth_frame, camera_space_point, as_array=False) 114 115 in color_2_world(kinect, depth_frame_data, camera_space_point, as_array) 57 color2world_points_type = _CameraSpacePoint * np.int(1920 * 1080) 58 color2world_points = ctypes.cast(color2world_points_type(), ctypes.POINTER(_CameraSpacePoint)) ---> 59 kinect._mapper.MapColorFrameToCameraSpace(ctypes.c_uint(512 * 424), kinect._depth_frame_data, ctypes.c_uint(1920 * 1080), color2world_points) 60 pf_csps = ctypes.cast(color2world_points, ctypes.POINTER(ctypes.c_float)) 61 data = np.ctypeslib.as_array(pf_csps, shape=(1080, 1920, 3)) ArgumentError: argument 4: : expected LP__CameraSpacePoint instance instead of LP__CameraSpacePoint def color_2_world(kinect, depth_frame_data, camera_space_point, as_array=False): I think the error happens due to here!