ofxAzureKinect

ofxAddon that allows you to use Azure Kinect in openFrameworks.

Get depth, color, depth to world, and color in depth frames as ofPixels or ofTexture.
Get point cloud VBO with texture coordinates in depth space.
Get body tracking skeleton and index texture.
More coming soon... (undistort that crazy fisheye frame, read IMU values, sync between multi-devices, etc.)

Installation

The instructions below are based on the Azure Kinect Sensor SDK Usage page.

Install the Azure Kinect Sensor SDK.
Install the Azure Kinect Body Tracking SDK.
Add an environment variable for AZUREKINECT_SDK and set it to the Sensor SDK installation path (no trailing slash). The default is C:\Program Files\Azure Kinect SDK v1.3.0.
Add an environment variable for AZUREKINECT_BODY_SDK and set it to the Body SDK installation path (no trailing slash). The default is C:\Program Files\Azure Kinect Body Tracking SDK.
Add the path to the Sensor SDK bin folder to the PATH variable. The default is %AZUREKINECT_SDK%\sdk\windows-desktop\amd64\release\bin.
Add the path to the Body SDK bin folder to the PATH variable. The default is %AZUREKINECT_BODY_SDK%\sdk\windows-desktop\amd64\release\bin.
Add the path to the Body SDK tools folder to the PATH variable. The default is %AZUREKINECT_BODY_SDK%\tools.
Clone this repository in your openFrameworks addons folder.
You can then use the OF Project Generator to generate projects with the appropriate headers and libraries included. ✌️
Note that if you want to use body tracking, you will need to copy the cuDNN model file dnn_model_2_0.onnx from the Body SDK tools folder into your project's bin folder!

Configure the Linux Software Repository for Microsoft. Note that for Ubuntu you'll need to set up the repo for 18.04 even if you're running newer versions.
Install the Azure Kinect Sensor SDK packages: libk4a1.3 libk4a1.3-dev k4a-tools
Install the Azure Kinect Body Tracking SDK packages: libk4abt1.0 libk4abt1.0-dev
Setup udev rules by copying this file to /etc/udev/rules.d/99-k4a.rules.
Install libjpeg-turbo.
Clone this repository in your openFrameworks addons folder.
You can then use the OF Project Generator to generate projects with the appropriate headers and libraries included. 🐣

Tested with:

example-streams demonstrates how to get depth, color, infrared textures from the device.
example-pointCloud demonstrates how to draw the basic point cloud VBO from the device.
example-shader demonstrates how to reconstruct a point cloud using LUTs in a shader.
example-bodies demonstrates how to get the body tracking index texture, and skeleton joint information.