Kinect Matlab

Microsoft Kinect, OpenNI wrapper, Skeleton, Depth

Description

This zip-file contains c++ wrapper functions for the Microsoft Kinect, OpenNI 1.* and OpenNI 2.* libary.
This code is compatible with Matlab 32bit and 64bit, Windows, MacOs and Linux.

Note!, OpenNI 2.* only depth/video stream support.

To compile the code to mex-files use the Microsoft Visual Studio (Express) or MacOS/Linux Gcc (x64/x86) C++ compiler.

To use OpenNI version 1.* install:
- OpenNI 1.5.4.0
- NITE 1.5.2.21
- SensorKinect093 v5.1.2.1

To use OpenNI version 2.* install:
- OpenNI 2.2.0
- NITE 2.2.0
- Microsoft KinectSDK v1.7

Start Matlab, go to OpenNi1 or OpenNI2 and execute compile_cpp_files. Now the mex-files are ready to use.

- Example : Will load an recorded Kinect file, and show the depth and image movie.

- ExampleIR : Will connect to your Kinect Hardware, and show a high-res IR image.

- ExampleRS : Will show the difference between the IR reference and measurement, Depth of a ROI is equal to movement of the ROI between reference and measurement. This depth can be calculated using a horizontal "tilt and scaling" invariant normalized cross correlation (included version is not invariant).

- ExampleSK : Will show Skeleton tracking on recorded Kinect movie.

- ExampleRW: Will show a depth surface overlay-ed with the photo-camera stream in real-world coordinates (mm)

- ExampleCP : Will capture the Kinect streams to a file

Acknowledgements

This file inspired Kinect Nite Point Viewer Matlab, Mx Ni Real World2 Pixel (An Addition To The Kinect/Open Ni/Nite Wrapper Of D.Kroon)), Simulink For Pcv (Point Cloud Viewer), Simulink Support For Kinect, and Matlab Wrapper For Open Ni 2.2.

• MATLAB release: MATLAB 7.11 (R2010b)
• Other requirements: Installed OpenNI 1.* or 2.*, and Gcc or Visual Studio (Express) C++ compiler.

[john]

How is the real world depth information actually calculated?

[fariba]

hello i am student of emu university master degree and my thesis about gaze tracking and i want to use kinect could you please give me some guide about your software

[Jacopo Foglietti]

Anyone tried to compile with openNI 2.1.0 for MacoOSX-x64? I get this error:

mex: compile of ' "mxNiChangeDepthViewPoint.cpp"' failed.

Error using mex (line 206)
Unable to complete successfully.

Error in compile_cpp_files (line 39)
mex('-v',['-DMX_COMPAT_32_OFF -L'
OpenNiPathLib],'/Users/standard/Documents/OpenNI-2.1.0/Redist/libOpenNI2.dylib',['-I'
OpenNiPathInclude],Filename);

[Emiliano]

Hi Rusty Buts,...

you should set the Current Folder in Matlab to the folder 'Kinect_Matlab_version1f'. In my case: MYDOCUMENTS\MATLAB\Kinect_Matlab_version1f\

You will see the files contained in such folder and the subfolders Config; Example; Mex.

Good luck

[Rusty Buts]

help, i get this error when i try to run compile_cpp_files.m :

Error using cd
Cannot CD to Mex (Name is nonexistent or not a directory).

Error in compile_cpp_files (line 47)
cd('Mex');

am i supposed to replace the word 'Mex' with some directory? thanks

[Luis]

Works great with Matlab 2012b and OpenNI x64 bits on Windows7 professional.

[kiam nasri]

 

[Michitaka]

Great work!

Do these functions support multiple senosr? (e.g. two kinect or two xtion sensors) If so, how to use mulitple sensors?

[Luciano]

Can't get compile_cpp_files to work. I have VS2010 installed and mex works with most packages. Any advice? I apprecite.

[Turgay Akdogan]

 

[Tiago]

Does anybody understands the function mxNiChangeDepthViewPoint.m?
I don't and there's no example using it...

Everything is working on Ubuntu 12.04 and MATLAB r2012b thanks to Ujwal's turtorial

[Matthew Foreman]

Hi all,

I had this package working great on a Windows 7 computer running a 32-bit version of Matlab.

Then, all of a sudden, Matlab could not connect to the Kinect, giving the error "Nodes could not be enumerated..."

I reinstalled the drivers, reinstalled Matlab, made sure that firewall and security settings had not changed (all off), etc. I can't figure out why all of a sudden its not working. The Kinect still connects to other interfaces like FAAST and OSCeleton. Any ideas why Matlab can't connect all of a sudden?

Thanks,

Matt

[Jacopo Foglietti]

i've found this link very useful to resolve compiling problem in MacOSX Lion 10.7.5, with Matlab 2012a and Xcode 4.3.2

http://www.mathworks.it/support/solutions/en/data/1-FR6LXJ/

[Jacopo Foglietti]

ds

[feng yuxuan]

function compile_cpp_files_update(OpenNiPath)
% This function compile_cpp_files will compile the c++ code files
% which wraps OpenNI for the Kinect in Matlab.
%
% Please install first on your computer:
% - NITE-Bin-Win32-v1.3.0.18
% - OpenNI-Bin-Win32-v1.0.0.25
%
% Just execute by:
%
% compile_c_files
%
% or with specifying the OpenNI path
%
% compile_cpp_files('C:\Program Files (x86)\OpenNI\');
%
% Modify: update to support 64bit in win7

%reset the mex
mex -setup;

%detect the version of system
try
cs = computer;
is64 = strcmp('64', cs(end-1:end));
catch
disp('Unable to detect the version of the system!');
end

if is64
disp('The system is 64bit system!');
else
disp('The system is 32bit system!')
end

if(nargin<1)
OpenNiPathInclude=getenv('OPEN_NI_INCLUDE');
OpenNiPathLib=getenv('OPEN_NI_LIB');
if(isempty(OpenNiPathInclude)||isempty(OpenNiPathLib))
error('OpenNI path not found, Please call the function like compile_cpp_files(''examplepath\openNI'')');
end
else

cd('Mex');
files=dir('*.cpp');
if ~is64
% for 32bit
OpenNiPathLib=[OpenNiPath 'Lib'];
OpenNiPathInclude=[OpenNiPath 'Include'];

for i=1:length(files)
Filename=files(i).name;
clear(Filename);
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename);
end
else
%for 64bit
OpenNiPathLib=[OpenNiPath 'Lib64'];
OpenNiPathInclude=[OpenNiPath 'Include'];

for i=1:length(files)
Filename=files(i).name;
clear(Filename);
mex('-v',['-L' OpenNiPathLib],'-lopenNI64',['-I' OpenNiPathInclude],Filename);
end
end
end
cd('..');

[feng yuxuan]

Hi! I modify a little of the code to support 64bit system in Win7.

function compile_cpp_files_update(OpenNiPath)
% This function compile_cpp_files will compile the c++ code files
% which wraps OpenNI for the Kinect in Matlab.
%
% Please install first on your computer:
% - NITE-Bin-Win32-v1.3.0.18
% - OpenNI-Bin-Win32-v1.0.0.25
%
% Just execute by:
%
% compile_c_files
%
% or with specifying the OpenNI path
%
% compile_cpp_files('C:\Program Files (x86)\OpenNI\');
%
% Modify: update the code to support 64bit

%reset the mex
mex -setup;

%detect the version of system
try
cs = computer;
is64 = strcmp('64', cs(end-1:end));
catch
disp('Unable to detect the version of the system!');
end

if is64
disp('The system is 64bit system!');
else
disp('The system is 32bit system!')
end

if(nargin<1)
OpenNiPathInclude=getenv('OPEN_NI_INCLUDE');
OpenNiPathLib=getenv('OPEN_NI_LIB');
if(isempty(OpenNiPathInclude)||isempty(OpenNiPathLib))
error('OpenNI path not found, Please call the function like compile_cpp_files(''examplepath\openNI'')');
end
else

cd('Mex');
files=dir('*.cpp');
if ~is64
% for 32bit
OpenNiPathLib=[OpenNiPath 'Lib'];
OpenNiPathInclude=[OpenNiPath 'Include'];

for i=1:length(files)
Filename=files(i).name;
clear(Filename);
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename);
end
else
%for 64bit
OpenNiPathLib=[OpenNiPath 'Lib64'];
OpenNiPathInclude=[OpenNiPath 'Include'];

for i=1:length(files)
Filename=files(i).name;
clear(Filename);
mex('-v',['-L' OpenNiPathLib],'-lopenNI64',['-I' OpenNiPathInclude],Filename);
end
end
end
cd('..');

[Kassem Al Ismaeil]

Does it work with Asus XtionPRO live? Thanks

[Kyle]

Any thoughts on how to fix this error? I have all the OpenNI binaries installed

Open failed: Give Pointer to Kinect as input
??? Error using ==> mxNiSkeleton
Kinect Error

[Lim]

Thanks a million!

I've been working on OpenNI, Visual Studio and Matlab for over a month! Yet I can't get Matlab to run my xbox kinect. With your files, I can proceed with my work easily!

For other user to take note,
I'm using the following and it works for me...
Windows 7 Home Premium,
Microsoft Visual Studio 2008,
Matlab 7.10.0 (R2010a),
OpenNI V1.5.2.23
Xbox Kinect

[Lim]

 

[Steven Cadavid]

nuiCapture can export Kinect sensor data to Matlab <http://www.nuicapture.com>

[reinhardt]

It works in my win7, with newest unstable edition of openNI:

function compile_cpp_files(OpenNiPath)
% This function compile_cpp_files will compile the c++ code files
% which wraps OpenNI for the Kinect in Matlab.
%
% Please install first on your computer:
% - NITE-Bin-Win32-v1.3.0.18
% - OpenNI-Bin-Win32-v1.0.0.25
%
% Just execute by:
%
% compile_c_files
%
% or with specifying the OpenNI path
%
% compile_cpp_files('C:\Program Files (x86)\OpenNI\');
%
%openNI64.lib
if(nargin<1)
OpenNiPathInclude=getenv('OPEN_NI_INCLUDE');
% OpenNiPathLib=getenv('OPEN_NI_LIB');
OpenNiPathLib=getenv('OPEN_NI_LIB64');
if(isempty(OpenNiPathInclude)||isempty(OpenNiPathLib))
error('OpenNI path not found, Please call the function like compile_cpp_files(''examplepath\openNI'')');
end
else
% OpenNiPathLib=[OpenNiPath 'Lib'];
% OpenNiPathInclude=[OpenNiPath 'Include'];
OpenNiPathLib= fullfile(OpenNiPath, 'Lib64');
OpenNiPathInclude= fullfile(OpenNiPath, 'Include');
end

cd('Mex');
files=dir('*.cpp');
for i=1:length(files)
Filename=files(i).name;
clear(Filename);
% mex('-v',['-L' OpenNiPathLib],'-lOpenNI',['-I' OpenNiPathInclude],Filename);
mex('-v',['-L' OpenNiPathLib],'-lopenNI64',['-I' OpenNiPathInclude],Filename);
%mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename);
end
cd('..');

[Steven]

Thanks for this code. I'm having difficulty getting it to work.

Please can I ask, does it work with Kinect XBOX 360 or just Kinect for Windows?

[Sergiy]

Mac OSX 10.7 & Matlab 2012a

1) Install OPENNI, SENSORKINECT, NITE by following these detailed instructions: http://developkinect.com/resource/mac-os-x/install-openni-nite-and-sensorkinect-mac-os-x
2) Run compile_cpp_files(sPath_OPENNI), where sPath_OPENNI is the path to OpenNI on your drive.

[Watcharapong Chuesa-ard]

I have a problem please help me, I using Matlab 2012a Windows7 x64 compile and test program to found

Invalid MEX-file 'C:\MATLAB\filenamexxx.mexw64': The
specified module could not be found.

thanks

[Chris Atkin]

I was having issues installing this on Mac OS X 10.7.4 (11E53), MATLAB R2011a 64-bit. I have the latest version of Xcode installed at the time (4.3.3).

The exact error I was having can be found at http://pastebin.com/dnjtuq2Q.

In order to solve this, I first changed compile_cpp_files as directed by Tim earlier (changing OpenNiPathInclude and OpenNiPathLib, modifying the mex command to build 64-bit versions).

Then, I needed to change my ~/.matlab/R2011a/mexopts.sh script on line 167 - changing SDKROOT to '/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.7.sdk' instead of the (now outdated) '/Developer' location.

[Ming]

Nice job

[le]

thanks

[Axel]

Hi all,
I am having troubles with mxNiDeleteContext. When I call it, Matlab freezes on 'Busy' and there's no way to recover but with a killall.

I also tried to execute the mxNiDeleteContext in a for loop on each non-zero value of the handles vector, both in normal and in debug mode, but the situation doesn't change.

I tested it both on a Ubuntu 11.04 with Matlab R2010b and on a Ubuntu 12.04 with Matlab 2012a.

Did someone encounter similar problems? Any clue about it?

Thank you so much for your help!!!

Best

[Manuel]

Hi all,

I wasn't able to capture Depth and RGB using all resolution of my ASUS Xtion Pro Live (1280x1024 according to its especification).
I've changed MapOutputMode on SamplesConfig.xml to <MapOutputMode xRes="1280" yRes="1024" FPS="30"/>, but capture process aborts with:
Open failed: The value is invalid!
Check whether C:\kinect\Matlab\Config\SamplesConfig.xml is available.
Any ideas?

Many thanks,

[mystpuni]

is this working also with microsft sdk 1, not the beta version???

[Lloyd Emokpae]

Just a quick note, I was able to resolve the "/usr/bin/ld: cannot find -lopenNI" issue with ubuntu 12.04 by performing the following steps:

1. Creating a symbolic link to libOpenNI.so

-> ln -s /path/to/libOpenNI.so.1.0.0 /path/to/libOpenNI.so

2. Temporary update the environmental variable path in matlab to point to openNI library and Include folder by adding the following lines to the top of the compile_cpp_files.m file:

-> setenv('OPEN_NI_LIB', '/path/to/openNI/lib');
-> setenv('OPEN_NI_INCLUDE', '/path/to/openNI/Include');

3. Changing the mex function call in the compile_cpp_files.m to refer to '-lOpenNI' instead of '-lopenNI' since the libOpenNI.so has the letter o capitalized.

[Harm]

Great stuff, although it took me some time to get most of it running under Windows 7, 64 bits, but got there in the end.

However, one problem I have now: my Infrared photo returns 0's only. Depth works fine, so the IR-camera should be running... Anybody else faced this problem and has a clue how to overcome it? Could it be something in the KinectHandles / XML setting? Any advice is appreciated!

[Alexander Wallar]

Hey I keep on getting this error:

??? Error using ==> mxNiSkeleton
No User Node in Kinect Context

Error in ==> ExampleSK at 12
Pos= mxNiSkeleton(KinectHandles);

Any help please?

[Charles]

I managed to get the Kinect working on both my Mac and Windows now so thank you all for your aid.

However I have yet to work out a way to get the information I want from the Kinect into Matlab.

What I want is to be able to grab a set of x,y,z co-ordinates from the Kinect. At this point it doesn't matter for which body part. Hand tracker or skeleton model being the obvious options I have been trying to compile them in a way that allows a real time stream to an expanding variable...

However I am stumped and out of my depth. Any advice or help would be greatly apreshiated.

[Mario]

I found this to be a great contribution. However, I am facing problems when trying to detect skeleton nodes.

I am using Fedora x64 and Matlab 2011a. In my system both OpenNI and NITE are working from the command line (1.5.X versions), but in Matlab wrapper only examples not using skeleton detection are executing correctly.

When I try the ExampleSK I get the error:

??? Error using ==> mxNiSkeleton
No User Node in Kinect Context

Error in ==> ExampleSK at 12
Pos= mxNiSkeleton(KinectHandles);

If I incorporate a User node in the XML configuration file such as:

<Node type="User" name="User1"></Node>,
then the error I get when executing ExampleSK is:

??? Error using ==> mxNiCreateContext
Kinect Error 2

Error in ==> ExampleSK at 9
KinectHandle=mxNiCreateContext(SAMPLE_XML_PATH);

[Jhon Quevedo]

Please can you help me with the following error can not find the solution thank you very much:

One or more of the Following nodes not could be enumerated:

Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected!

?? Error using ==> mxNiCreateContext
Error Kinect

Error in ==> ExampleIR at 5
KinectHandles = mxNiCreateContext (SAMPLE_XML_PATH);

Software: I use is: win7 64 bit matlab 2011th, visual studio c + + 2010, driver correctly detects the engine, audio and camera, and tried with stable and unstable PrimeSense is the same.

In the examples C: \ Program Files \ OpenNI \ Samples \ Bin64 \ Release shows:
Device: PrimeSense/SensorV2/5.1.0.41: The device is not connected! I do thank you.

[Tim]

Update to my previous post, I was eventually able to get this software to compile and run. I had to do three main things to make this work on a 64-bit version of Matlab in OS X Lion:

0. Install universal (32/64 bit) versions of Open NI libraries.

1. Provide the explicit location of the Open NI libraries to mex.

2. Tell mex to not downgraded the MX library to 32-bit

To accomplish #1 and #2 above, I made the following changes in the compile_cpp_files script:

a. OpenNiPathInclude='/usr/include/ni/';

b. OpenNiPathLib='/usr/lib';

c. mex('-v',['-DMX_COMPAT_32_OFF -L' OpenNiPathLib],'/usr/lib/libOpenNI.dylib',['-I' OpenNiPathInclude],Filename);

After that, everything just ran fine.

[Tim]

Having trouble with the 'compile_cpp_files' step. I'm using Mac OS X 10.7.3 with Matlab R2011b (64-bit but there's no other option for Mac I think) and Xcode 4.3. I've successfully installed all the Open NI stuff. The trouble comes when mex tries to link against Open NI:

-> gcc -O -Wl,-twolevel_namespace -undefined error -arch x86_64 -Wl,-syslibroot,/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.7.sdk -mmacosx-version-min=10.5 -bundle -Wl,-exported_symbols_list,/Applications/MATLAB_R2011b.app/extern/lib/maci64/mexFunction.map -o "mxNiChangeDepthViewPoint.mexmaci64" mxNiChangeDepthViewPoint.o -L/usr/lib -lOpenNI -L/Applications/MATLAB_R2011b.app/bin/maci64 -lmx -lmex -lmat -lstdc++

ld: library not found for -lOpenNI
collect2: ld returned 1 exit status

The Open NI library is located in /usr/lib (and you can see I've provided this path to mex) and it's called libOpenNI.dylib. Does anybody know if I need to do something special because it's a dynamic library? By the way, with Xcode 4.3 I had to tell mexopts.sh where the SDKs where because they are not in the usual old place anymore.

thanks in advance for any help

T

[Cumhur Erkut]

@Charles: I got it working on Mac OSx (SL 10.6.8). I believe that the link @Thomas provides is the right solution. However, I found an easier way: I have called the compilation script with the argument of my OpenNI folder that contains Include and Lib dirs, like this

compile_cpp_files('/PathTo/OpenNI-Bin-Dev-MacOSX-v1.5.2.23/').

Note that the library starts with a capital letter, so I have changed L34 of the script to

mex('-v',['-L' OpenNiPathLib],'-lOpenNI',['-I' OpenNiPathInclude],Filename);

It compiled and linked. Then, in Example.m I needed to change the backward slashes (\) to unix-like forward slashes (/), and it worked. Hope this helps.

BTW, your snippet indicates that, despite you are on 10.7, your MATLAB mex uses 10.6 SDKs. Consider running mex -setup, and editing SDKROOT in
/Users/yourUname/.matlab/R2011b/mexopts.sh

[kobegan]

 

[Heng JIao]

Hi, I have got a problem. I am using Matlab 2009b. the compiler is vs2008 express.（i have vs 2010 professional, but for some reason matlab cannot detect it.）All stuff I installed are 32-bit. I compiled this code. It works fine with the saved data. But I cannot run the Kinect stream. It says
"mage: PrimeSense/SensorKinect/5.1.0.25: Xiron OS failed to connect to a network socket!

??? Error using ==> mxNiCreateContext
Kinect Error"

Please help me.

Many THanks

[HONGMIN ZHU]

the skeleton tracking example seems not work when using camera stream instead of recorded video. I just uncommened
KinectHandles=mxNiCreateContext(SAMPLE_XML_PATH);

new user can be detected, but there's no message:
"Pose Psi detected for user"
"Calibration started for user" "Calibration complete, start tracking user"

Any one have tried this?

[Fa Fa]

hi all,
i have win7 and 64bit matlab R2011b.
can you help me please,
i have error with compiler;
??? Error using ==> mex at 208
Unable to complete successfully.

Error in ==> compile_cpp_files at 34
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename).
thanks

[Charles]

Hi all, I'm hoping you can help me.
I seem to have reached a problem that was addressed earlier by Joelle but fail to understand how he managed to overcome it.

I am running Matlab R2011b on a Mac OS X Lion.
I managed to get the Kinect drivers working, proven by being able to run the samples in the NITE and OpenNI folders, however when I try to run the compile_cpp_files code I get the following error.

/Applications/MATLAB_R2011b.app/bin/mex: line 305: gcc-4.2: command not found
-> g++-4.2 -c -I/Users/charlesbartlett/Documents/Kinect_Development/OpenNI-Bin-Dev-MacOSX-v1.4.0.2Include -I/Applications/MATLAB_R2011b.app/extern/include -I/Applications/MATLAB_R2011b.app/simulink/include -DMATLAB_MEX_FILE -fno-common -no-cpp-precomp -fexceptions -arch x86_64 -isysroot /Developer/SDKs/MacOSX10.6.sdk -mmacosx-version-min=10.5 -DMX_COMPAT_32 -O2 -DNDEBUG "mxNiChangeDepthViewPoint.cpp"

/Applications/MATLAB_R2011b.app/bin/mex: line 1285: g++-4.2: command not found

mex: compile of ' "mxNiChangeDepthViewPoint.cpp"' failed.

Error using mex (line 206)
Unable to complete successfully.

Error in compile_cpp_files (line 34)
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I'
OpenNiPathInclude],Filename);

For the OpenNIPath I set it to the location I extracted the OpenNI to, so all seems well there. Thus I'm wondering if this is to do with it being a 64bit Matlab or Mac or both. But Ideally I would just like to get the skeleton example working nicely.

Many Thanks for any help you can give!!

[Thomas]

If anypony is still having trouble using this on Mac OS X (10.7), with a "lOpenNI not found" error, have a look at this stackoverflow question:

http://stackoverflow.com/questions/8140156/gcc-linker-cant-find-library-openni/8294683#8294683

[Munzir]

Somehow I was hoping for all the functionality of OpenNI to be available in MATLAB via some toolbox.

I basically want to bootstrap the skeleton-tracking algorithm of OpenNI and enable it to find the tip of an object (e.g. a sword) held in the hand of the user. Is this tool good enough for that purpose or should I stick to coding in C++?

I guess if we want to use all the C++ functions of OpenNI, we have to write a C++ file the way u wrote and then bring it to MATLAB (if at all needed). Am I right or is there a better way to go about it, using your tool maybe?

[Emanuele Ruffaldi]

I've tested it with 64bits. You can modify the compile_cpp_files.m as follows:

try
c = computer;
tis64 = strcmp('64',c(end-1:end));
catch me
tis64 = 0;
end

if(nargin<1)
OpenNiPathInclude=getenv('OPEN_NI_INCLUDE');
OpenNiPathLib=getenv('OPEN_NI_LIB');
if(isempty(OpenNiPathInclude)||isempty(OpenNiPathLib))
error('OpenNI path not found, Please call the function like compile_cpp_files(''examplepath\openNI'')');
end
else
OpenNiPathLib=[OpenNiPath 'Lib'];
if tis64
OpenNiPathLib=[OpenNiPath 'Lib64'];
end
OpenNiPathInclude=[OpenNiPath 'Include'];
end

if tis64
lib = '-lopenNI64';
else
lib = '-lopenNI';
end

cd('Mex');
files=dir('*.cpp');
for i=1:length(files)
Filename=files(i).name;
clear(Filename);
mex('-v',['-L' OpenNiPathLib],lib,['-I' OpenNiPathInclude],Filename);
end
cd('..');

[peter chen]

Does it work on Asus Xtion Pro Live? Do I need to modify any code to get it working? Thanks~

[John]

When I ran the ExampleRW.m to get the 3d motion of my object, I got a lot of "noise" as here: http://picturepush.com/public/6834326

<br>Does anybody got the same problem. I dont know why it happens to me.

[Victor Borjas]

Joelle, where did you change __int64 for long long int? Im having the same problems installing it on Mac OS with Matlab R2009b.

ld: library not found for -lOpenNI

But library libOpenNI.dylib is in the /usr/lib/ folder... so I guess it has to do with something similar as what you did.

[lalit]

Can some one please explain in detail how to get it running on 64 bit bit Windows machine? I have tried a lot of combinations but wasnt able to get it done.

[Bauke]

 

[Paulo]

Hi Ujwal. Thanks a lot for sharing your "how-to" document. I will give it a try.

[Ujwal]

Hi Matt! Since Paulo said that most ppl here are using windows I didn't bother putting the fix for linux. Anyways I have prepared a documentation for kinect+ubunut+matlab and put it up here:
https://sites.google.com/site/ujwalbonde/kinect_installation.pdf?attredirects=0
Let us know if there is a problem.

[Paulo]

Hi Ujwal. That's great! I would like to have access to your fix. Since other people will be interested as well, would it be possible for you to make it available here or on a public URL? Thanks!

[Matt]

Ujwal, I'd be really intersted in the fix as well if you don't mind sharing the wealth!

[Ujwal]

Hi Paulo, got a fix for that... at least its working for my system. I can drop you a mail if you need the fix.

[Paulo]

Hi Ujwal. I did not find a solution for that problem yet. I have been working on a different project in the past few weeks though. I was hoping the problem would have been fixed in the recent versions of this OpenNI wrapper. But it seems most people here are using Windows.

[Ujwal]

Paulo, I tried what you had advised for ubuntu(10.10, 64bit)... the problem still persists. Was it resolved for you?

[Carsten]

 

[Soumitry J Ray]

Can this tool be used to connect multiple kinects on? I guess not. Can anyone throw some light on this? Thanks!

[Christian]

I am trying to run the package under win7 64 bit. with XP 32bit, it works perfect with the sensor kinect v5.0.1 driver for 32 bit.

but which driver works for 64 bit?
the windows sdk doesn`t seem to work.

[Dave Holden]

line 25,25 of compile_cpp_files.m I believe ought to be:

OpenNiPathLib= fullfile(OpenNiPath, 'Lib');
OpenNiPathInclude= fullfile(OpenNiPath, 'Include');

[Soumitry J Ray]

@John - Recently I conducted experiments with 4 pens mounted on a desk. The depth measurements were off by +/-1 cm or less for distances in the range of 1-2 m.

[Dirk-Jan Kroon]

For people who want to align the depth-image with the photo-image, add the following line to the c.code. (I will add it my self in the next version)
g_DepthGenerator.GetAlternativeViewPointCap().SetViewPoint(g_Image);

[John]

Can anybody tell me how accurate the depth value retrieve from mxNiDepthRealWorld function. I must be very appreciate.

[Soumitry J Ray]

@John - Go to Config folder and open the file SamplesConfig.xml and try changing this parameter:
<MapOutputMode xRes="640" yRes="480" FPS="30"/> to 320 and 240 as you desire.

NOTE: You will probably have to do that for all "Node Types".

[John]

I ran ExampleCP.m to record rgb and depth image. How do you change the size of those images from 640 x 480 to 320 x 240?

[Soumitry J Ray]

The package works perfectly fine with 32 bit matlab! :)

[Soumitry J Ray]

I ran it on Win 7, Matlab 2011a. Followin modifications to compile_cpp_files.m were needed: 1) OpenNiPathLib=getenv('OPEN_NI_LIB64');2) mex('-v',['-L' OpenNiPathLib],'-lopenNI64',['-I' OpenNiPathInclude],Filename);
3)OpenNiPath =getenv('OPEN_NI_INSTALL_PATH64');
-----------------------------------------
I could run the examples with the videos in this package. However, when I try to feed video from the Kinect camera I get this error:
One or more of the following nodes could not be enumerated:

Device: PrimeSense/SensorV2/5.0.1.32: The device is not connected!
IR: PrimeSense/SensorV2/5.0.1.32: Can't create any node of the requested type!

My Kinect is powered on and running, I have also installed the drivers. Please kindly let me know if some else has encountered a similar problem.

Thanks

[Rogelio]

Hi, I have done every step to make it work, and in fact it did worke, but then when i try to do it again it stop working, now i have an error that looks like this: Error in ==> ExampleSK at 9
KinectHandle=mxNiCreateContext(SAMPLE_XML_PATH); Why does this happen?, how do i make it run again?, i can run the video example, but i can't run the kinect, if i use an openni example it works, so the drivers are not the issue, any idea?

[juan]

hi, does this work on v2009b?

[Christian]

*Adam H.

for this example I guess the samplesConfig.xml is loaded in the startup process.
If you want to use IR, you have to use the samplesIRconfig.xml. It opens the IR node.

By the way, isn`t it possible to use all nodes with only one XML?

[Paulo]

Matt, I'm using freenect as well but then we are on our own finding calibration and skeletonization code. So I would like to make this OpenNI wrapper work with Matlab in Linux.

I see you are now having problems linking to the openNI library. I believe you can fix this issue by correctly setting your LD_LIBRARY_PATH environment variable BEFORE running Matlab (I've tried using Matlab's setenv() function but it didn't work for me).

Here's what you can try from the system shell:

$ export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/openNI/
$ matlab

I don't remember now which folder has libopenNI.so, but you should make sure you point to the correct folder on the first command above.

Let's us know if this solves your problem.

~Paulo

[Matt]

Paulo, I didn't get much further. I edited XnPlatform.h and XnOs.h to include what they would've if they could figure my OS and now I get:

-> g++ -c -I/home/matt/kinect/OpenNI/Include -I/usr/local/MATLAB/R2010b/extern/include -I/usr/local/MATLAB/R2010b/simulink/include -DMATLAB_MEX_FILE -ansi -D_GNU_SOURCE -D_FILE_OFFSET_BITS=64 -fPIC -pthread -DMX_COMPAT_32 -O -DNDEBUG "mxNiCreateContext.cpp"

-> g++ -O -pthread -shared -m32 -Wl,--version-script,/usr/local/MATLAB/R2010b/extern/lib/glnx86/mexFunction.map -Wl,--no-undefined -o "mxNiCreateContext.mexglx" mxNiCreateContext.o -L/home/matt/kinect/OpenNI/Lib -lopenNI -Wl,-rpath-link,/usr/local/MATLAB/R2010b/bin/glnx86 -L/usr/local/MATLAB/R2010b/bin/glnx86 -lmx -lmex -lmat -lm

/usr/bin/ld: cannot find -lopenNI
collect2: ld returned 1 exit status

Which is a bit further along but still not working. In the meantime I'll get by using freenect, http://acberg.com/kinect/ , but I'd much rather use this to get access to sensitivity settings and the fancy tracking functions. I plan on getting back to fiddling with this, I'll let you know if I get it going! Cheers

[Paulo]

To complement my message above: this seems to be a problem when trying to compile in Matlab for Linux (I'm running Ubuntu 10.10).

[Paulo]

Matt, I am having the same problem. Even when the include folders are set correctly, it seems some OpenNI symbols are not defined when compiling from within Matlab.

Thus, we end up with the unsupported platform error. Did you find a way to fix this problem?

[Adam Hartshorne]

When I run for instance ExampleSK with,

KinectHandles=mxNiCreateContext(SAMPLE_XML_PATH);

active.

I get,

Image Node : Found
Depth Node : Found
Infrared Node :Not found
User Node : Found

I assume IR node should also be found. I have tried restarting / clearing / deleting handle.

Any ideas? I am using the OpenNI drivers that came out a few days ago, could that be the problem?

[Matt]

I'm having some trouble compiling on ubuntu 10.10, I get the following error:

/XnPlatform.h:71: error: #error OpenNI Platform Abstraction Layer - Unsupported Platform!

and

/home/matt/kinect/OpenNI/Include/XnOS.h:52: error: #error OpenNI OS Abstraction Layer - Unsupported Platform!

I know I've got OpenNI, NITE and the drivers working because I've run the demos...

Any help would be greatly appreciated!

[Sinan Numan]

Thank you for this wonderful tool. I'm starting a project on object recognition (using matlab) and I wanted to use Kinect. Before finding your post, I had the idea of saving the stream of images using C++ and the freenect library to the disk so that Matlab can read it (file buffers). But you saved me the effort / efficiency.

[muhammad Raza]

Actually depth image returns you some values with uint16, these values are actually depth information (not in mm), you can get output of mxNiDepthRealworld coordinates in mm. Blue color is only for displaying.

[khaled emam]

how can i get depth information from the blue depth image. I need to get the distance of any pixel and the camera itself .. is there a method of color mapping and if so how can i do this with the blue image even if i change the color map to default or autumn .. there is no large color variation

[muhammad Raza]

Hi, Although i have running posted code with matlab, its giving resolution of 240*320 for both depth and RGB image, but kinect actual resolution is 480*640, How can i get actual resolution?
However Tim Zaman posted MEX files generate 480*640 resolution images. Is it possible with attached files to get full resolution?
one more thing i want to confirm depth and RGB image have sam frame IDs?

Thanks

[khaled emam]

this solved my problem with compile_cpp_files error
http://www.mathworks.com/support/solutions/en/data/1-D5W493/?solution=1-D5W493

[irad]

If anyone has a good solution for:
"compile_cpp_files at 34
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename)"
While using matlab R2010b(64 bit), Without installing a 32bit version,
I'll be glad to hear it.
thanks.

[msingh]

Hi,

Does anybody know about the compilation errors that I am getting? I am using MATLAB Version 7.1.0.246 (R14) Service Pack 3 with Microsoft Visual C/C++ 7.1.

Since nobody else is getting the rather specific compiler error I am getting, I am suspecting it is related to the specific compilers I am using. Since Matlab 7.1 does not support any compilers newer than Visual Studio .Net 2003, the options are limited.

Perhaps I need to switch to newer Matlab. Please let me know.

Thanks.

========
--> "cl "-IC:\Program Files\OpenNI\Include" -c -Zp8 -G5 -GR -W3 -DMATLAB_MEX_FILE -nologo /FoC:\DOCUME~1\msingh\LOCALS~1\Temp\mxNiCreateContext.obj -I"C:\Program Files\MATLAB71"\extern\include /MD -O2 -Oy- -DNDEBUG mxNiCreateContext.cpp"

mxNiCreateContext.cpp
C:\Program Files\OpenNI\Include\XnCppWrapper.h(4770) : warning C4002: too many actual parameters for macro 'XN_VALIDATE_NEW'
C:\Program Files\OpenNI\Include\XnCppWrapper.h(4770) : warning C4003: not enough actual parameters for macro 'XN_NEW'
C:\Program Files\OpenNI\Include\XnCppWrapper.h(4770) : error C2512: 'xn::StateChangedCallbackTranslator' : no appropriate default constructor available

C:\PROGRAM FILES\MATLAB71\BIN\MEX.PL: Error: Compile of 'mxNiCreateContext.cpp' failed.

??? Error using ==> mex
Unable to complete successfully

[chotan]

Yes, at last it's working for me. Though I used Matlab R2010a, VS2010 (ultimate) c++ compiler. To compile VS2010 C++ I used following link:

http://www.mathworks.com/support/solutions/en/data/1-D5W493/?solution=1-D5W493

[Simon]

An easy solution on 64bits machine is to install a 32bit version of Matlab R2010b with the installer in the following path:
/bin/win32/

It's work great =)

[chotan]

*Pramod: mex -setup is showing following compilers-

Would you like mex to locate installed compilers [y]/n? n

Select a compiler:
[1] Intel C++ 11.1 (with Microsoft Visual C++ 2008 SP1 linker)
[2] Intel C++ 9.1 (with Microsoft Visual C++ 2005 SP1 linker)
[3] Intel Visual Fortran 11.1 (with Microsoft Visual C++ 2008 SP1 linker)
[4] Intel Visual Fortran 11.1 (with Microsoft Visual C++ 2008 Shell linker)
[5] Intel Visual Fortran 10.1 (with Microsoft Visual C++ 2005 SP1 linker)
[6] Lcc-win32 C 2.4.1
[7] Microsoft Visual C++ 6.0
[8] Microsoft Visual C++ 2005 SP1
[9] Microsoft Visual C++ 2008 Express
[10] Microsoft Visual C++ 2008 SP1
[11] Open WATCOM C++

[0] None

Compiler:

which compiler I can select, though I installed VS2010, it's not showing here.

[Pramod chakrapani]

You need to do a "mex -setup" and select VS2010 as compiler.

[chotan]

Hi Dirk, I'm using Win7(32), Matlab 2008b, VS2010 Ultimate. I installed unstable updated OpenNI and NITE according to your suggestion. I'm getting following error which is similar to previous posting's error.

??? Error using ==> mex at 213
Unable to complete successfully.

Error in ==> compile_cpp_files at 34
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename);

Shall I show the OpenNI installation directory in the 1st line like "function compile_cpp_files('C:\Program Files\OpenNI\')". I'm littel bit cofused here. In the 'C:\Program Files\OpenNI\Lib\' "openNI.lib" is available. Kindly help me out please.

[Pramod chakrapani]

I wanted to know how to align rgb and depth images using this interface.

[Dirk-Jan Kroon]

* muhammad Raza
3D hand tracking is indeed possible by simply using some functionality from Primesence Nite

[muhammad Raza]

Hi, I am reading comments about kinect for last month, i am really interested to use it,

Dirk i need your recommendation for its application in 3D hand tracking feasible.

Please guide me, so that i can buy it.

thanks.

[Dirk-Jan Kroon]

*Paulo
You can set the include directory of OpenNI manually (as user input to compile_cpp_files).

[Paulo]

Has anyone here successfully compiled it on Ubuntu 10.10 (32-bit, OpenNI-1.0.0.25).

I get a bunch of compile warnings and errors, ending with:

mex: compile of ' "mxNiCreateContext.cpp"' failed.

Seems like an include directory is mis-configured.

[Roberto Herrera]

It worked!
There a user guide for the library????

[Naoto]

 

[oren]

Hi,
Nice job!
Can you add an example of record into files in ONI format?

[Simon]

Hi, I'm trying to compile those files but i had an error (similar to Joelle's message):

??? Error using ==> mex at 222
Unable to complete successfully.

Error in ==> compile_cpp_files at 34
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename);

I have Windows 64bits with Matlab R2010a

Can you help me?

[Joelle]

 

[Tim Zaman]

I checked out your code, seems great, although you do have to compile stuff. Small mistake in Example.m and ExampleSK.m; you define "KinectHandle" instead of "KinectHandles"(s), when using Kinect Hardware, when you remove the %. Otherwise, it's a 5 star code once it's up. I'd say for now its better than the other code i have used for matlab before.

[Joelle]

The problem was the __int64 which is not defined on Mac Os X. I replaced it with long long int and it worked just fine. Thank you very much for your code!

[Joelle]

There is no OpenNI.lib file but a libOpenNI.dylib file in that folder.

[Dirk-Jan Kroon]

*Joelle,
Is OpenNI.lib, present in the 'OpenNiPathLib' folder?

Also the OpenNI.lib file has to 32bit if you use Matlab 32.bit and visa-versa.

[Joelle]

Thanks for the answer. I tried on Mac OS X with Matlab R2008b but I get a message error similar to Enita:
??? Error using ==> mex at 213
Unable to complete successfully.

Error in ==> compile_cpp_files at 27
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename);

Does it only work with R2010b or did someone manage to make it work on older version?

[Dirk-Jan Kroon]

* Joelle
The code may work out-of-the-box in Mac OS X, if you give the proper-path to the library in the compile_cpp_files
* Enita
This is a bug in Matlab R2008a
* Tim Zaman,
Using the camera-interface in your link is interesting. But it will not work with skeleton-tracking and hand-detection.

[Joelle]

Has someone adapted this for Mac OS X?

[Roberto Herrera]

NITE-Bin-Win32-v1.3.0.18 , hi, where I can download?

I tested on Windows 7 but not work!

[Tim Zaman]

Hi. I've posted the full and easy installation instructions here http://timzaman.wordpress.com/2011/02/01/kinect-on-windows-7-with-matlab/

[Enita]

a special thank for c++ wrapper functions!
i have a problem to compile mex files :
??? Error using ==> mex at 207
Unable to complete successfully.

Error in ==> compile_cpp_files at 27
mex('-v',['-L' OpenNiPathLib],'-lopenNI','-lNiSampleModule',['-I' OpenNiPathInclude],Filename);

i use matlab 7.6 (R2008a) with Windows7.
Is mex compiler changed for this version ?
thx for help!

[Sebastien PARIS]

Not tested, but should be very fun :)