How to transform depth to color image offline?

[pursueyyh]

Hello Professor, I am trying to transform depth to color image offline. However, the code I used as shown bellow return transformed image with all zeros. Could you please help me to check the code? Or is there another way to transform depth to color image offline? Looking forward to your reply.

def transform_depth_color(args): with k4a.Device.open() as device: device_config = k4a.DeviceConfiguration( color_format=k4a.EImageFormat.COLOR_BGRA32, color_resolution=COLOR_RESOLUTION[args.resolution], depth_mode=DEPTH_MODE[args.depth_mode], camera_fps=FPS[args.fps], synchronized_images_only=True, depth_delay_off_color_usec=0, wired_sync_mode=k4a.EWiredSyncMode.STANDALONE, subordinate_delay_off_master_usec=0, disable_streaming_indicator=False)

    status = device.start_cameras(device_config)

    if status != k4a.EStatus.SUCCEEDED:
        raise IOError("Failed to start cameras.")

    calibration = device.get_calibration(
        depth_mode=device_config.depth_mode,
        color_resolution=device_config.color_resolution)

    depth_arr = np.array(cv2.imread(args.filename, cv2.CV_16UC1))
    depth = Image.create(image_format=k4a.EImageFormat.DEPTH16, width_pixels=depth_arr.shape[1], height_pixels=depth_arr.shape[0], stride_bytes=depth_arr.shape[1]*depth_arr.itemsize)
    depth._data = depth_arr

    transform = k4a.Transformation(calibration)
    depth_transformed = transform.depth_image_to_color_camera(depth)._data
    # print(np.max(depth_transformed)) # 0
    depth_transformed = cv2.imwrite(args.filename.replace('.png', '_trans_m.png'), depth_transformed)