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Kinect V2 to MATLAB
Import Kinect V2 (New Sensor) Skeleton Joints Points Cloud to MATLAB for Further Analysis
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‎KinectV2_to_MATLAB.sln

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Microsoft Visual Studio Solution File, Format Version 12.00
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# Visual Studio 2013
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VisualStudioVersion = 12.0.31101.0
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MinimumVisualStudioVersion = 10.0.40219.1
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "KinectV2_to_MATLAB", "KinectV2_to_MATLAB\KinectV2_to_MATLAB.csproj", "{D44C81A9-2776-4511-847F-1D905C626928}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Any CPU = Debug|Any CPU
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Release|Any CPU = Release|Any CPU
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{D44C81A9-2776-4511-847F-1D905C626928}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{D44C81A9-2776-4511-847F-1D905C626928}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{D44C81A9-2776-4511-847F-1D905C626928}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{D44C81A9-2776-4511-847F-1D905C626928}.Release|Any CPU.Build.0 = Release|Any CPU
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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EndGlobalSection
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EndGlobal

‎KinectV2_to_MATLAB/App.config

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<?xml version="1.0" encoding="utf-8" ?>
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<configuration>
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<startup>
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<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
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</startup>
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</configuration>

‎KinectV2_to_MATLAB/App.xaml

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<Application x:Class="KinectV2_to_MATLAB.App"
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xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
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xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
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StartupUri="MainWindow.xaml">
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<Application.Resources>
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</Application.Resources>
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</Application>

‎KinectV2_to_MATLAB/App.xaml.cs

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using System;
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using System.Collections.Generic;
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using System.Configuration;
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using System.Data;
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using System.Linq;
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using System.Threading.Tasks;
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using System.Windows;
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namespace KinectV2_to_MATLAB
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{
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/// <summary>
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/// Interaction logic for App.xaml
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/// </summary>
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public partial class App : Application
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{
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}
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}

‎KinectV2_to_MATLAB/Extension.cs

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using Microsoft.Kinect;
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Windows.Controls;
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using System.Windows.Media;
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using System.Windows.Media.Imaging;
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using System.Windows.Shapes;
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namespace KinectV2_to_MATLAB
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{
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public static class Extension
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// to use extension, the class must be static.
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{
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#region Camera
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public static ImageSource ToBitmap(this ColorFrame frame)
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{
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int width = frame.FrameDescription.Width;
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int height = frame.FrameDescription.Height;
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PixelFormat format = PixelFormats.Bgr32;
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byte[] pixels = new byte[width * height * ((format.BitsPerPixel + 7) / 8)];
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if (frame.RawColorImageFormat == ColorImageFormat.Bgra)
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{
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frame.CopyRawFrameDataToArray(pixels);
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}
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else
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{
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frame.CopyConvertedFrameDataToArray(pixels, ColorImageFormat.Bgra);
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}
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int stride = width * format.BitsPerPixel / 8;
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return BitmapSource.Create(width, height, 96, 96, format, null, pixels, stride);
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}
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#endregion
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#region Coordinates
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#region scaling
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private static float Scale(double maxPixel, double maxSkeleton, float position)
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{
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float value = (float)((((maxPixel / maxSkeleton) / 2) * position) + (maxPixel / 2));
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if (value > maxPixel)
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{
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return (float)maxPixel;
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}
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if (value < 0)
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{
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return 0;
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}
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return value;
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}
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public static Joint ScaleTo(this Joint joint, double width, double height, float skeletonMaxX, float skeletonMaxY)
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{
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joint.Position = new CameraSpacePoint
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{
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X = Scale(width, skeletonMaxX, joint.Position.X),
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Y = Scale(height, skeletonMaxY, -joint.Position.Y),
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Z = joint.Position.Z
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};
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return joint;
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}
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public static Joint ScaleTo(this Joint joint, double width, double height)
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{
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return ScaleTo(joint, width, height, 1.0f, 1.0f);
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}
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#endregion
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#region drawing
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// drawing joints
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public static void DrawPoint(this Canvas canvas, Joint joint)
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{
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if (joint.TrackingState == TrackingState.NotTracked) return;
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joint = joint.ScaleTo(canvas.ActualWidth, canvas.ActualHeight);
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Ellipse ellipse = new Ellipse
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{
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Width = 20,
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Height = 20,
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Fill = new SolidColorBrush(Colors.LightBlue)
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};
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Canvas.SetLeft(ellipse, joint.Position.X - ellipse.Width / 2);
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Canvas.SetTop(ellipse, joint.Position.Y - ellipse.Height / 2);
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canvas.Children.Add(ellipse);
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}
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// drawing lines by two points coordinates
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public static void DrawLine(this Canvas canvas, Joint first, Joint second)
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{
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if (first.TrackingState == TrackingState.NotTracked || second.TrackingState == TrackingState.NotTracked) return;
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first = first.ScaleTo(canvas.ActualWidth, canvas.ActualHeight);
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second = second.ScaleTo(canvas.ActualWidth, canvas.ActualHeight);
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Line line = new Line
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{
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X1 = first.Position.X,
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Y1 = first.Position.Y,
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X2 = second.Position.X,
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Y2 = second.Position.Y,
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StrokeThickness = 8,
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Stroke = new SolidColorBrush(Colors.LightBlue)
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};
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canvas.Children.Add(line);
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}
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// drawing skeleton by using DrawLine method
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public static void DrawSkeleton(this Canvas canvas, Body body)
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{
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if (body == null) return;
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foreach (Joint joint in body.Joints.Values)
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{
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canvas.DrawPoint(joint);
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}
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canvas.DrawLine(body.Joints[JointType.Head], body.Joints[JointType.Neck]);
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canvas.DrawLine(body.Joints[JointType.Neck], body.Joints[JointType.SpineShoulder]);
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canvas.DrawLine(body.Joints[JointType.SpineShoulder], body.Joints[JointType.ShoulderLeft]);
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canvas.DrawLine(body.Joints[JointType.SpineShoulder], body.Joints[JointType.ShoulderRight]);
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canvas.DrawLine(body.Joints[JointType.SpineShoulder], body.Joints[JointType.SpineMid]);
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canvas.DrawLine(body.Joints[JointType.ShoulderLeft], body.Joints[JointType.ElbowLeft]);
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canvas.DrawLine(body.Joints[JointType.ShoulderRight], body.Joints[JointType.ElbowRight]);
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canvas.DrawLine(body.Joints[JointType.ElbowLeft], body.Joints[JointType.WristLeft]);
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canvas.DrawLine(body.Joints[JointType.ElbowRight], body.Joints[JointType.WristRight]);
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canvas.DrawLine(body.Joints[JointType.WristLeft], body.Joints[JointType.HandLeft]);
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canvas.DrawLine(body.Joints[JointType.WristRight], body.Joints[JointType.HandRight]);
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canvas.DrawLine(body.Joints[JointType.HandLeft], body.Joints[JointType.HandTipLeft]);
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canvas.DrawLine(body.Joints[JointType.HandRight], body.Joints[JointType.HandTipRight]);
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canvas.DrawLine(body.Joints[JointType.HandTipLeft], body.Joints[JointType.ThumbLeft]);
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canvas.DrawLine(body.Joints[JointType.HandTipRight], body.Joints[JointType.ThumbRight]);
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canvas.DrawLine(body.Joints[JointType.SpineMid], body.Joints[JointType.SpineBase]);
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canvas.DrawLine(body.Joints[JointType.SpineBase], body.Joints[JointType.HipLeft]);
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canvas.DrawLine(body.Joints[JointType.SpineBase], body.Joints[JointType.HipRight]);
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canvas.DrawLine(body.Joints[JointType.HipLeft], body.Joints[JointType.KneeLeft]);
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canvas.DrawLine(body.Joints[JointType.HipRight], body.Joints[JointType.KneeRight]);
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canvas.DrawLine(body.Joints[JointType.KneeLeft], body.Joints[JointType.AnkleLeft]);
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canvas.DrawLine(body.Joints[JointType.KneeRight], body.Joints[JointType.AnkleRight]);
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canvas.DrawLine(body.Joints[JointType.AnkleLeft], body.Joints[JointType.FootLeft]);
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canvas.DrawLine(body.Joints[JointType.AnkleRight], body.Joints[JointType.FootRight]);
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}
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#endregion
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#endregion
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}
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}

‎KinectV2_to_MATLAB/KinectV2_to_MATLAB.csproj

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<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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<Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
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<PropertyGroup>
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<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
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<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
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<ProjectGuid>{D44C81A9-2776-4511-847F-1D905C626928}</ProjectGuid>
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<OutputType>WinExe</OutputType>
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<AppDesignerFolder>Properties</AppDesignerFolder>
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<RootNamespace>KinectV2_to_MATLAB</RootNamespace>
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<AssemblyName>KinectV2_to_MATLAB</AssemblyName>
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<TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
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<FileAlignment>512</FileAlignment>
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<WarningLevel>4</WarningLevel>
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</PropertyGroup>
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<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
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<PlatformTarget>AnyCPU</PlatformTarget>
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<DebugSymbols>true</DebugSymbols>
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<DebugType>full</DebugType>
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<Optimize>false</Optimize>
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<OutputPath>bin\Debug\</OutputPath>
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<DefineConstants>DEBUG;TRACE</DefineConstants>
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<ErrorReport>prompt</ErrorReport>
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<WarningLevel>4</WarningLevel>
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</PropertyGroup>
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<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
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<PlatformTarget>AnyCPU</PlatformTarget>
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<DebugType>pdbonly</DebugType>
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<Optimize>true</Optimize>
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<OutputPath>bin\Release\</OutputPath>
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<DefineConstants>TRACE</DefineConstants>
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<ErrorReport>prompt</ErrorReport>
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<WarningLevel>4</WarningLevel>
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</PropertyGroup>
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<ItemGroup>
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<Reference Include="Microsoft.Kinect, Version=2.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL">
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<SpecificVersion>False</SpecificVersion>
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<HintPath>..\..\..\..\..\..\..\Program Files\Microsoft SDKs\Kinect\v2.0_1409\Assemblies\Microsoft.Kinect.dll</HintPath>
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</Reference>
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<Reference Include="System" />
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<Reference Include="System.Data" />
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<Reference Include="System.Xml" />
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<Reference Include="Microsoft.CSharp" />
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<Reference Include="System.Core" />
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<Reference Include="System.Xml.Linq" />
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<Reference Include="System.Data.DataSetExtensions" />
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<Reference Include="System.Xaml">
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<RequiredTargetFramework>4.0</RequiredTargetFramework>
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</Reference>
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<Reference Include="WindowsBase" />
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<Reference Include="PresentationCore" />
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<Reference Include="PresentationFramework" />
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</ItemGroup>
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<ItemGroup>
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<ApplicationDefinition Include="App.xaml">
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<Generator>MSBuild:Compile</Generator>
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<SubType>Designer</SubType>
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</ApplicationDefinition>
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<Page Include="MainWindow.xaml">
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<Generator>MSBuild:Compile</Generator>
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<SubType>Designer</SubType>
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</Page>
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<Compile Include="App.xaml.cs">
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<DependentUpon>App.xaml</DependentUpon>
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="Extension.cs" />
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<Compile Include="MainWindow.xaml.cs">
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<DependentUpon>MainWindow.xaml</DependentUpon>
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<SubType>Code</SubType>
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</Compile>
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</ItemGroup>
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<ItemGroup>
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<Compile Include="Properties\AssemblyInfo.cs">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="Properties\Resources.Designer.cs">
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<AutoGen>True</AutoGen>
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<DesignTime>True</DesignTime>
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<DependentUpon>Resources.resx</DependentUpon>
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</Compile>
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<Compile Include="Properties\Settings.Designer.cs">
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<AutoGen>True</AutoGen>
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<DependentUpon>Settings.settings</DependentUpon>
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<DesignTimeSharedInput>True</DesignTimeSharedInput>
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</Compile>
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<EmbeddedResource Include="Properties\Resources.resx">
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<Generator>ResXFileCodeGenerator</Generator>
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<LastGenOutput>Resources.Designer.cs</LastGenOutput>
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</EmbeddedResource>
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<None Include="Properties\Settings.settings">
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<Generator>SettingsSingleFileGenerator</Generator>
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<LastGenOutput>Settings.Designer.cs</LastGenOutput>
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</None>
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<AppDesigner Include="Properties\" />
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</ItemGroup>
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<ItemGroup>
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<None Include="App.config" />
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</ItemGroup>
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<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
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<!-- To modify your build process, add your task inside one of the targets below and uncomment it.
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Other similar extension points exist, see Microsoft.Common.targets.
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<Target Name="BeforeBuild">
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<Target Name="AfterBuild">
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</Target>
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-->
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</Project>

‎KinectV2_to_MATLAB/MainWindow.xaml

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<Window x:Class="KinectV2_to_MATLAB.MainWindow"
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xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
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xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
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Title="Preview" Height="768" Width="1024">
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<Grid>
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<Image Name="camera" />
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<Canvas Name="canvas" />
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</Grid>
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</Window>

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