136 lines
7.5 KiB
Markdown
136 lines
7.5 KiB
Markdown
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# Using Azure Kinect SDK
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## Installation
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If you aren't making changes to the SDK itself, you should use a binary
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distribution. On Windows, binaries are currently available as an MSI and a
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NuGet package. On Linux, binaries are currently available as debian packages.
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See below for installation instructions for each distribution mechanism. If
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you would like a package that is not available please file an
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[issue](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/issues/new?assignees=&labels=Enhancement&template=feature-request--enhancement-.md&title=).
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If you are making changes to the SDK, you can build your own copy of the SDK
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from source. Follow the instruction in [building](building.md) for how to
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build from source.
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### MSIs
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The latest stable binaries are available for download as MSIs.
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Tag | MSI | Firmware
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[v1.4.1](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/releases/tag/v1.4.1) | [Azure Kinect SDK 1.4.1.exe](https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe) | [1.6.110079014](https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/AzureKinectDK_Fw_1.6.110079014.bin)
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[v1.4.0](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/releases/tag/v1.4.0) | [Azure Kinect SDK 1.4.0.exe](https://download.microsoft.com/download/4/5/a/45aa3917-45bf-4f24-b934-5cff74df73e1/Azure%20Kinect%20SDK%201.4.0.exe) | [1.6.108079014](https://download.microsoft.com/download/4/5/a/45aa3917-45bf-4f24-b934-5cff74df73e1/Firmware/AzureKinectDK_Fw_1.6.108079014.bin)
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[v1.3.0](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/releases/tag/v1.3.0) | [Azure Kinect SDK 1.3.0.exe](https://download.microsoft.com/download/e/6/6/e66482b2-b6c1-4e34-bfee-95294163fc40/Azure%20Kinect%20SDK%201.3.0.exe) | [1.6.102075014](https://download.microsoft.com/download/1/9/8/198048e8-63f2-45c6-8f96-1fd541d1b4bc/AzureKinectDK_Fw_1.6.102075014.bin)
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[v1.2.0](https://github.com/microsoft/Azure-Kinect-Sensor-SDK/releases/tag/v1.2.0) | Deprecated | [1.6.102075014](https://download.microsoft.com/download/1/9/8/198048e8-63f2-45c6-8f96-1fd541d1b4bc/AzureKinectDK_Fw_1.6.102075014.bin)
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[v1.1.1](https://github.com/Microsoft/Azure-Kinect-Sensor-SDK/releases/tag/v1.1.1) | Deprecated | [1.6.987014](https://download.microsoft.com/download/4/9/0/490A8EB2-FFCA-4BAD-B0AD-0581CCE438FC/AzureKinectDK_Fw_1.6.987014.bin)
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[v1.1.0](https://github.com/Microsoft/Azure-Kinect-Sensor-SDK/releases/tag/v1.1.0) | Deprecated | [1.6.987014](https://download.microsoft.com/download/4/9/0/490A8EB2-FFCA-4BAD-B0AD-0581CCE438FC/AzureKinectDK_Fw_1.6.987014.bin)
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[v1.0.2](https://github.com/Microsoft/Azure-Kinect-Sensor-SDK/releases/tag/v1.0.2) | Deprecated | [1.6.987014](https://download.microsoft.com/download/4/9/0/490A8EB2-FFCA-4BAD-B0AD-0581CCE438FC/AzureKinectDK_Fw_1.6.987014.bin)
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The installer will put all the needed headers, binaries, and tools in the
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location you choose (by default this is `C:\Program Files\Azure Kinect SDK
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version\sdk`).
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### NuGet
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Directly include the Sensor SDK in your project using
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[Nuget](https://www.nuget.org/packages/microsoft.azure.kinect.sensor/).
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### Debian Package
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We currently have debian packages available for Ubuntu 18.04. If you have
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need for a different debian distribution, please file an
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[enhancement request](https://aka.ms/azurekinectfeedback).
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Our packages are hosted in [Microsoft's Package
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Repository](https://packages.microsoft.com).
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* **AMD64** users, please follow [these
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instructions](https://docs.microsoft.com/en-us/windows-server/administration/linux-package-repository-for-microsoft-software)
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to configure Microsoft's Package Repository on your machine.
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* **ARM64** users, please use the same instructions, but use https://packages.microsoft.com/ubuntu/18.04/multiarch/prod for the repository path instead of the default ~~https://packages.microsoft.com/ubuntu/18.04/prod~~.
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Once you have configured Microsoft's Package Repository you should have access
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to the following packages:
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* libk4a\<major\>.\<minor\> (Runtime package)
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* libk4a\<major\>.\<minor\>-dev (Development package)
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* k4a-tools (Tools package)
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Please note that "\<major\>" and "\<minor\>" refer to the major and minor
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portion of the version of the SDK you would like to target. For example, at the writing of these instructions the following packages are available.
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* libk4a1.4
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* libk4a1.4-dev
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* k4a-tools
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Each package contains different elements.
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* Runtime package - contains shared objects needed to run executables that depend on libk4a.
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* Development package - contains headers and cmake files to build against libk4a.
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* Tools package - contains k4aviewer and k4arecorder
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## Using tools
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The installer comes with a pre-built viewer application (k4aviewer.exe) which can be used to verify the
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functionality of your device and explore its capabilities. The installer puts a link to this in your Start
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menu as Azure Kinect Viewer. Other command line tools; such as the recorder and firmware update utilities, are
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available in the installer 'tools' directory.
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## Including the SDK in your project
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If you are including the Azure Kinect SDK in a C or C++ project, update your project to link to **k4a.lib** and
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add the include path such that you can `#include <k4a/k4a.h>`. You also need to ensure that **k4a.dll** and **depthengine_2_0.dll** are in your path or in the same directory as your application.
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For recording and playback you will need to also reference **k4arecord.lib** and the headers in include/k4arecord and have
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**k4arecord.dll** in your path.
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## Dependencies
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The following dependencies are needed for the Azure Kinect SDK to run.
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### Cross Platform Dependencies
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The Azure Kinect SDK uses a closed source depth engine to interpret depth frames
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coming from the depth camera. This depth engine must be in your OS's loader's
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path. The depth engine is a shared object and can be found with any version
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of the shipping SDK. If you are a developer, you will need to copy this
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depth engine from where the SDK is installed to a location where your loader
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can find it.
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### Windows Dependencies
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* [Depth Engine](depthengine.md)
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### Linux Dependencies
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* OpenSSL
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* OpenGL
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* [Depth Engine](depthengine.md)
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## Device Setup
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### Windows Device Setup
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On Windows, once attached, the device should automatically enumerate and load
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all drivers.
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### Linux Device Setup
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On Linux, once attached, the device should automatically enumerate and load
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all drivers. However, in order to use the Azure Kinect SDK with the device and without
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being 'root', you will need to setup udev rules. We have these rules checked
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into this repo under 'scripts/99-k4a.rules'. To do so:
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* Copy 'scripts/99-k4a.rules' into '/etc/udev/rules.d/'.
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* Detach and reattach Azure Kinect devices if attached during this process.
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Once complete, the Azure Kinect camera is available without being 'root'.
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## API Documentation
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See https://microsoft.github.io/Azure-Kinect-Sensor-SDK/ for the most recent API documentation, including documentation for the current
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development branch.
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