Kinect Azure Framework - kv3

If you like my little framework, be a friend and donate little money

e.g. for a cup of coffee (Paypal: spende@angermayer.de).

What the framework support

- access to the data streams (images, mircophone array, and IMU sensor data)
- ODAS support - detect the direction of the noise
- ODAS cofiguration files for Kinect Azure micrphone array (kv3/cfg/...)
- access and image handling via opencv 4
- better support and intigration from PCL Lib (https://www.pcl.org/)
- save RGBD,registered RGB pointcloud, mesh fro PCL and kinect sensor raw data with a running number
- convert data between opencv MAT format and RGB Pointcloud

Motivation

My motivation was to use the microsoft kinect azure driver / API and make all more comfortbable to use.

Install Instructions

Precondition

connect the Kinect Azure system via USB and connect the power supply.

todo...

sudo apt update
sudo apt upgrade
sudo apt install -y cmake git

Install..

cd ~
git clone https://github.com/busybeaver42/kv3.git
cd kv3
mkdir build
cd build
cmake ..
make -j4

optional:
cmake-gui ..
make -j4

execute

./bin/kv3

API documentation

inside git repository:

../kv3/doxyDocu/genDocu/html/index.html

or use: the doxygen config file "Doxyfile", inside path ./kv3/doxyDocu/...
How to:
cd /kv3/doxyDocu/
doxywizard Doxyfile
And create your documentation (press lower down corner the <next> button several time and
at the end press the <Run doxygen> button in the upper left corner )

ODAS (Open embeddeD Audition System)

based on following github repro, I have create an example to use the 
ODAS information from the ODAS live system.
https://github.com/introlab/odas
    
You have to install the ODAS repro before. 
Afterwards, my application can read and show the ODAS position data.
The ODAS system need to know on which card and device the kinect azure is located.
This example shows you how to use odas live system information in your
own application, together with the datastream and rendering from the Kinect Azure.

git checkout odas
./bin/kv3
cd /odas/build/bin
sudo ./odaslive -vc /odas/config/odaslive/kv3Socket.cfg

perhaps you have to modify before the configuration file "kv3Socket.cfg". 
use: arecord -l to get information you need to modify the card and device id
inside the configuration file (modify it at line 20 - card and 21 - device).
You will found a lot of example configuration files below /kv3/cfg/... 

hint: perhaps you have to modify the source code for the default sound device
equal to card and device of the kinect azure inside file
../kv3/sup/audio/include/kv3audio.h
71 #define DEFAULT_DEVICE      "plughw:2,0" // plughw:card,device

kv3 GUI - with pointcloud visualisation

kv3 GUI - with mesh visualisation

kv3 GUI - with mesh with normals visualisation

kv3 GUI ODAS

Control Keys

key <1> - Mode 3: RGB 1920x1080 ; Depth 1024x1024 
key <2> - Mode 2: RGB 4096x3072 ; Depth  640x 576 
key <3> - Mode 1: RGB 1280x 720 ; Depth  640x 576 
key <4> - Mode 4: RGB 1280x 720 ; Depth  320x 288 
key <5> - Mode 5: RGB 4096x3072 ; Depth 1024x1024 
key <ESC> Exit
key <s> try to save all data (incl. mesh as .stl-file) to "resultPath" (must be modified inside source code - default: /var/www/ramdev/...)
key <j> switch to mjpeg format
key <b> switch to BGRA format (default)
key <l> live meshing B-Spline fitting (could take a while) and save the result as .obj-file.
key <p> enable and disable the pointcloud/mesh visualisation
key <n> smooth normals to smooth the mesh