Azure Kinect 开发

K4A.Net

https://github.com/bibigone/k4a.net 

K4A.Net — Three-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
  • This makes it compatible with .NET Core 2.0 and later, .NET Framework 4.6.1 and later, Unity 2018.1 and later, etc.
  • See https://docs.microsoft.com/en-us/dotnet/standard/net-standard for details
• 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
  • Except dependencies on native libraries (DLLs) from Azure Kinect Sensor SDK and Azure Kinect Body Tracking SDK
  • Native libraries from Azure Kinect Sensor SDK are included to repository(see externals directory) and NuGet package
  • But native libraries from Azure Kinect Body Tracking SDK are not included to repository. It is recommended to install Azure Kinect Body Tracking SDK separately. For details see below
• Plenty of powerful samples:
  • for .NET Core
  • for WPF
  • for Unity
• Well documented
• Unit-tested
• 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