forestsen / kinectazuredkprogramming

Samples about Kinect Azure DK programming

Kinect Azure DK Programming

Samples about Kinect Azure DK programming

1. OpenCV_OneKinect

   Using OpenCV 4.1.0 function imshow to display raw RGB/IR/Depth data acquired from One Kinect.

2. OpenCV_TwoKinects

   Using OpenCV 4.1.0 function imshow to display raw RGB/IR/Depth data acquired from Two Kinects on one PC.

3. OpenGL_GLUT_ShowImage

   Displaying raw RGB/IR/Depth data as the background on the FreeGLUT OpenGL rendering environment.

4. OpenGL_GLUT_ArUco_AR

   Using ArUco library to calculate the model view and projection matrix in favor of the rendering Augmented Scene.

5. OpenGL_GLFW_GLEW_ArUco_AR

   Using GLFW + GLEW based OpenGL 3 GLSL to display raw RGB data from Kinect on the background and render the ArUco-assisted augmented scene.

6. OpenGL_GLFW_GLEW_PointCloudRenderer

   Using GLFW + GLEW based OpenGL 3 GLSL to display raw RGB data from Kinect on the background and render the point cloud transformed from raw Depth data.

7. Aruco_TwoKinects_Calibration_Extrinsics

   Using ArUco library to calibrate the extrinsic matrix between Two Kinects. We will get two csv files stored two transformation matrix which are "sub => master" and "sub => marker".

8. OpenCV_TwoKinects_GreenScreen

   The code is copied from Azure Kinect SDK example "green screen", however, this project is based on the OpenCV 4.1.0.

9. OneKinect_Recording_RGB_DEPTH_IR

   Record the rgb+depth+ir stream into the mkv video file.

10. OneKinect_Playback_RGB_DEPTH_IR

    Playback the mkv video file using opencv.

11. Open3D_OneKinect

    Using the Open3D to open the azure kinect device and show the rgb + depth image or the point cloud based on the open3d's visualization class.

Environment

• Kinect Azure DK driver v1.2.0
• OpenCV 4.1.0
• FreeGLUT 3.0.0
• GLEW 2.1.0
• GLFW 3.3
• GLM 0.9.7.1
• ArUco 3.1.2
• PCL 1.9.1
• Eigen 3.3
• libjpeg-turbo 2.0.3
• libyuv
• Open3D 0.8.0
• Visual Studio Community 2017

License

Copyright © 2019 Haipeng WANG
Distributed under the MIT License.

Contact

• Haipeng Wang
  • E-mail: [email protected]

References

• Kinect2Grabber

  https://github.com/UnaNancyOwen/KinectGrabber

• Kinect Azure DK SDK

  https://github.com/microsoft/Azure-Kinect-Sensor-SDK

PS:

I choose the Visual Studio 2017 Win64 compiler to CMake.

On the Visual Studio 2017 platform, the x64|Release version is strongly recommended.

kinectazuredkprogramming's Issues

不同的kinect的标定参数是否一样？

在双kinect标定的代码中，两个相机使用的都是从master相机设备获取的标定参数。然而我实验了一下，两台kinect读出的标定参数似乎是不同的。

Linux support

The code can only build on windows.

VS调试报错：无法解析的外部符号

您好，我新建了项目并使用NuGet包管理器安装了Kinect sensor，并且配置好了opencv和头文件路径；F5后会出现错误：
错误 LNK2001 无法解析的外部符号 "void __cdecl sen::ColorizeDepthImage(class k4a::image const &,struct sen::Pixel (__cdecl*)(unsigned short const &,unsigned short const &,unsigned short const &),struct std::pair<unsigned short,unsigned short>,class std::vector<struct sen::Pixel,class std::allocator > *)" (?ColorizeDepthImage@sen@@YAXAEBVimage@k4a@@p6a?AUPixel@1@AEBG11@ZU?$pair@GG@std@@peav?$vector@UPixel@sen@@v?$allocator@UPixel@sen@@@std@@@6@@z) k4a_1 F:\VS_Area\k4a_1\源.obj 1

请问您知道怎样解决嘛？谢谢

cmake build 缺少opencv Dir

我应该把opencv 放在什么文件夹或则怎么设置路径

Where did the intrinsic matrix come from?

How did you arrive at the intrinsic matrix given in azure_kinect_intrinsic.json? Did you use the reported calibration parameters from k4a_device_get_calibration? If so, how might we replicate this matrix with a different Kinect Azure with their own parameters?

CMake编译报错

CMake报错如下：
Selecting Windows SDK version 10.0.18362.0 to target Windows 10.0.18363.
Finding K4A SDK binaries
Azure Kinect SDK is not installed to Program Files.
CMake Error at CMakeLists.txt:120 (message):
K4A SDK not found in Program Files or ./ext/sdk. Please install the Azure
Kinect SDK.

Configuring incomplete, errors occurred!
See also "D:/Project/Kinect/KinectAzureDKProgramming/Build/CMakeFiles/CMakeOutput.log".

我已经按照了KinectDK的并且CMake-gui上面配置k4a_DIR路径如下都不行：
C:/Program Files/Azure Kinect SDK v1.3.0/sdk/include/k4a
C:/Program Files/Azure Kinect SDK v1.3.0/sdk/include
C:/Program Files/Azure Kinect SDK v1.3.0/sdk/
C:/Program Files/Azure Kinect SDK v1.3.0
C:/Program Files/Azure Kinect SDK v1.3.0/sdk/windows-desktop/amd64/release/bin
C:/Program Files/Azure Kinect SDK v1.3.0/sdk/windows-desktop/amd64/release/lib
C:/Program Files/Azure Kinect SDK v1.3.0/tools

Not able to build project

Hi,

The project looks awesome and thanks for uploading it online!
Unfortunately I am not able to build the project, any instructions in the read-me would be highly appreciated. Currently I am stuck in adding the references to the SDK. I've tried changing it to version 1.3.0 (instead of 1.2.0) as the latter is not available for download. But this does not seem to work.

Thank you.