KinZ-Matlab

Matlab Toolbox for Azure Kinect

Matlab interface for the Azure Kinect

Requirements:
- Azure Kinect SDK. https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md
- C++ compiler
- MATLAB 2015b or newer for pointCloudDemo2, which uses MATLAB's built-in pointCloud object

Installation
1. Install the Azure Kinect SDK as described in https://docs.microsoft.com/en-us/azure/kinect-dk/sensor-sdk-download. For Windows, download the .exe where it says Microsoft installer and follow the steps. For Ubuntu use the sudo apt install commands shown on the same page.
2. For Body tracking functionality (optional) you need an NVIDIA GPU and install CUDA. Download from https://developer.nvidia.com/cuda-downloads?/
3. For Body tracking, install the Azure Kinect Body Tracking SDK. For Windows, download the msi installer from https://docs.microsoft.com/en-us/azure/kinect-dk/body-sdk-download).
For Ubuntu run the sudo apt install command provided on the webpage.
4. Before compiling the code for Matlab, make sure the Kinect works correctly using the viewers provided by Microsoft, e.g. C:\Program Files\Azure Kinect SDK v1.4.1\tools\k4aviewer.exe and *C:\Program Files\Azure Kinect Body Tracking SDK\tools\k4abt_simple_3d_viewer.exe*.
In Linux just type k4aviewer or k4abt_simple_3d_viewer (for body tracking) in the terminal.
5. Once the Kinect is correctly installed, close the viewer, and open Matlab.
6. In Matlab, set the compiler for C++ as shown in https://www.mathworks.com/help/matlab/matlab_external/choose-c-or-c-compilers.html
5. Open the compile_for_windows.m or compile_for_linux.m, set the corresponding paths, and run. If the compilation was successful, add the dlls path to the Windows pat
6. (Windows only) Add to the windows path environmental variable the bin directory containing the k4a.dll and optionally k4abt.dll (if compiling the body tracking SDK).
For example add C:\Program Files\Azure Kinect SDK v1.4.1\tools to the path environmental variable. Follow the instructions described in https://www.architectryan.com/2018/03/17/add-to-the-path-on-windows-10/

Demos:
1) videoDemo.m: displays depth, color, infrared video, and sensor data.
2) calibrationDemo.m: obtain depth camera intrinsic parameters and color camera parameters.
4) bodyTrackingDemo.m: displays depth and color and the skeleton on both images
5) pointCloudDemo.m: displays depth and a colored point cloud on a scatter3
6) pointCloudDemo2.m displays the depth and a colored point cloud using MATLAB's built-in pointCloud object and pcshow.