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K4A.Net - Three-in-one .NET library to work with Azure Kinect devices (also known as Kinect for Azure, K4A, Kinect v4). It includes sensor API, recording and playback API, body tracking API. Samples for WPF, .NET Core and Unity are included.

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K4A.Net (K4AdotNet)

K4A.NetThree-in-one managed .NET library to work with Azure Kinect devices (also known as Kinect for Azure, K4A, Kinect v4). It consists of the following "components":

  1. Sensor API — access to depth camera, RGB camera, accelerometer and gyroscope, plus device-calibration data and synchronization control
    • Corresponding namespace: K4AdotNet.Sensor
    • Corresponding native API: k4a.h
  2. Record API — data recording from device to MKV-files, and data reading from such files
    • Corresponding namespace: K4AdotNet.Record
    • Corresponding native API: record.h and playback.h
  3. Body Tracking API — body tracking of multiple skeletons including eyes, ears and nose
    • Corresponding namespace: K4AdotNet.BodyTracking
    • Corresponding native API: k4abt.h

Key features

  • Written fully on C#
  • No unsafe code in library K4AdotNet itself (only DllImports)
  • CLS-compliant (can be used from any .Net-compatible language, including C#, F#, VB.Net)
  • Library K4AdotNet is compiled against .NET Standard 2.0 and .NET Framework 4.6.1 target frameworks
  • Clean API, which is close to C/C++ native API from Azure Kinect Sensor SDK and Azure Kinect Body Tracking SDK.
  • Plus useful helper methods, additional checks and meaningful exceptions.
  • Full feature set (all API provided by native SDKs are available in this C# wrapper)
  • Up-to-date with the latest versions of native SDKs
  • No additional dependencies
  • Plenty of powerful samples:
    • for .NET Core
    • for WPF
    • for Unity
    • and even more samples will be available soon (stay tuned)
  • Well documented
  • Unit-tested (more tests are awaited)
  • Potentially multi-platform (Windows, Linux)
    • But currently tested only under Windows
    • And most of samples are written using WPF
  • Available as NuGet package: https://www.nuget.org/packages/K4AdotNet

Dependencies

K4AdotNet depends on the following native libraries (DLLs) from Azure Kinect Sensor SDK and Azure Kinect Body Tracking SDK:

Library "component" Depends on Version in use Location in repository Included in NuGet package
Sensor API k4a.dll, depthengine_2_0.dll(1) 1.3.0 externals/k4a/windows-desktop/amd64 YES
Record API k4arecord.dll 1.3.0 externals/k4a/windows-desktop/amd64 YES
Body Tracking API k4abt.dll(2), dnn_model_2_0.onnx 1.0.0 no(3)

Notes:

  • (1) depthengine_2_0.dll is required only if you are using Transformation or Device classes. All other Sensor API (types from K4AdotNet.Sensor namespace) depends only on k4a.dll.
  • (2) k4abt.dll uses ONNX Runtimeonnxruntime.dll, which in turn depends on the following NVIDIA cuDNN and NVIDIA CUDA 10.0 libraries: cudnn64_7.dll, cublas64_100.dll, cudart64_100.dll. Also, Visual C++ Redistributable for Visual Studio 2015 is required: vcomp140.dll.
  • (3) The full list of libraries and data files required for Body Tracking:
    k4abt.dll (3.7 MB),
    dnn_model_2_0.onnx (159 MB),
    cudnn64_7.dll (333 MB),
    cublas64_100.dll (64 MB),
    cudart64_100.dll (0.4 MB),
    vcomp140.dll (0.2 MB).
    It is mostly unpractical to have such bulky files in repositories. For this reason they are not included to the repository. Also, they are not included to NuGet package.

How to use Body Tracking runtime:

  • The easiest way to use Body Tracking is to ask user to install Body Tracking SDK by him/herself: https://docs.microsoft.com/en-us/azure/Kinect-dk/body-sdk-setup
  • But you can also put all required libraries and data files to the output directory of your project (on post-build step, for example). All required libraries and data files can be found in directory tools of Body Tracking SDK.
  • K4AdotNet is trying to find Body Tracking runtime in the following locations:
    • directory with executable file
    • directory with K4AdotNet assembly
    • installation directory of Body Tracking SDK under Program Files
  • Use bool Sdk.IsBodyTrackingRuntimeAvailable(out string message) method to check if Body Tracking runtime and all required components are available/installed
  • Also, you can optionally call bool Sdk.TryInitializeBodyTrackingRuntime(out string message) method on start of your application to initialize Body Tracking runtime (it can take a few seconds)

Versions

See https://github.com/bibigone/k4a.net/releases

Roadmap

  • More unit and integration tests
  • More samples (Recording, 3D view, Box-man, IMU...)
  • Find out how to convert MJPEG -> BGRA faster (implementation in k4a.dll is very slow)
  • Test under Linux, samples for Linux (using Avalonia UI Framework?)
  • Some hosting for HTML documentation (DocFX + github.io?)

How to build

  • Open K4AdotNet.sln in Visual Studio 2017 or Visual Studio 2019
  • Build solution (Ctrl+Shift+B)
  • After that you can run and explore samples:
    • K4AdotNet.Samples.Core.BodyTrackingSpeed — sample .NET Core console application to measure speed of Body Tracking.
    • K4AdotNet.Samples.Wpf.Viewer — sample WPF application to demonstrate usage of Sensor API and Record API.
    • K4AdotNet.Samples.Wpf.BodyTracker — sample WPF application to demonstrate usage of Body Tracking API.
    • K4AdotNet.Samples.Wpf.BackgroundRemover — sample WPF application implementing the background removal effect for color picture with the help of depth data.
  • Instruction on building Unity sample can be found here.

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K4A.Net - Three-in-one .NET library to work with Azure Kinect devices (also known as Kinect for Azure, K4A, Kinect v4). It includes sensor API, recording and playback API, body tracking API. Samples for WPF, .NET Core and Unity are included.

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