kinect/AzureKinectForUE

Azure Kinect for Unreal Engine

Exposes Azure Kinect Support for integration into Unreal Engine Applications. Mainly for depth and color textures creation from Kinect's raw feed.

Prerequisites

• Platform: Win64
• Dependencies:
  • Azure Kinect SDK v1.4.1 is installed
    • Download from here
    • An env variable AZUREKINECT_SDK that points to the Azure Kinect SDK root path should be registered.
  • Azure Kinect Body Tracking SDK v1.1.0 is installed
    • Download from here
    • An env variable AZUREKINECT_BODY_SDK that points to the Azure Kinect Body Tracking SDK root path should be registered.
  • This plugin cannot be neither built nor open without the SDKs and paths above.
    • AzureKinect.Build.cs describes how it resolves dependent paths.
• Unreal Engine 4.27~
  • Only tested with 4.27. May work with lower.

Features

In-Editor activation

• Write Depth / Color buffer into RenderTarget2Ds.

Blueprint activation

Niagara Particle

• You can modify base a niagara system NS_KinectParticle.

Skeleton tracking

• Bone mapping node in Anim Graph

Notice

Depthe data are stored RenderTarget2D into standard 8bit RGBA texture.
R: first 8bit as uint8 of original uint16 sample
G: last 8bit as uint8 of original uint16 sample
B: 0x00 or 0xFF (if depth sample is invalid)
A: 0xFF (Constant value)

Thus we need conversion to acquire orignal depth samples.

// In MaterialEditor or Niagara, sample values in Depth texture are normalized to 0-1.
float DepthSample = (G * 256.0 + R) * 256.0; // millimetor

// In C++
uint8 R = Sample.R, G = Sample.G;
uint16 DepthSample = G << 8 | R;  // millimetor

Depth pixel from Azure Kinect SDK is originally a single uint16 in millimetor. But RenderTarget2D can't store uint16 as texture (EPixelFormat::PF_R16_UINT doesn't work for RenderTarget).

Reference

Existing plugin for Azure Kinect

• secretlocation/azure-kinect-unreal
  • Body tracking only, not support point cloud and texture(s)
  • Referred a lot from this repo

License

MIT License

Copyright 2021 Ayumu Nagamtsu

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.