Kinect Matlab
version 1.9 (6.22 MB) by
3209 downloads
Microsoft Kinect, OpenNI wrapper, Skeleton, Depth
79 Downloads
Copyright (c) 2011, Dirk-Jan Kroon
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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
Comments and Ratings (152)
0 downloads
12 Dec 2017
I use kinect matlab.
May I ask you some questions?
Matlab is 2017b.
mxNiChangeDepthViewPoint.cpp
c:\program files\openni\include\XnPlatform.h(58): fatal error C1189: #error:
Xiron Platform Abstraction Layer - Win32 - Microsoft Visual
Studio versions above ) are not supported!
error: compile_cpp_files (line 49)
mex('-v',['-L' OpenNiPathLib],'-lopenNI64',['-I' OpenNiPathInclude ],Filename);
What should I do if this happens?
thank you.
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21 Feb 2017
Can it be used with OpenNI2 and Kinect2 in Ubuntu14.04 ?
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27 Sep 2016
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1 Jun 2016
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1 Jun 2016
im using matlab 2010a x64 on windows 7 x64 with openni 1 x64.
for some reason i cant get my asus 601 to have a descent frame rate, i get a mean of 1~2 fps when runing &Exmanple&,what should i do?
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19 May 2016
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21 Apr 2015
piyush gupta, I don't know if you still have the same or you have solved it!
Anyway, i had the same problem but the note in the file &compile_cpp_files& it was the solution
Note!, on strange compile errors change ['-I' OpenNiPathInclude '\'] to ['-I' OpenNiPathInclude '']
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13 Apr 2015
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22 Dec 2014
105 downloads
10 Dec 2014
Hi, Is it possible to get the depth image registered with the RGB image (or viceversa)?
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11 Sep 2014
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30 Jul 2014
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30 Jul 2014
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30 Jul 2014
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17 Jul 2014
I successfully compiled the compile_cpp_file but when i run the Example.m, i got this error :-
Attempt to execute SCRIPT mxNiCreateContext as a function:
C:\Users\zg834397\Documents\MATLAB\kinect_matlab\OpenNI1\Mex\mxNiCreateContext.m
Error in Example (line 6)
KinectHandles = mxNiCreateContext(SAMPLE_XML_PATH,filename);
Could someone help me?
0 downloads
13 Jun 2014
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29 May 2014
I've been happily using this for a while now and recently noticed that mxNiStopCapture doesn't actually stop my recordings (although mxNiDeleteContext does).
That is, if I continue to loop mxNiUpdateContext after having called mxNiStopCapture, new data will continue to be added to the recording.
Has anyone else had this issue?
0 downloads
6 May 2014
1 download
13 Apr 2014
works great with Matlab R2011a, Win7 64bit and OpenNI1.
When compile, use the short folder names:
OpenNiPathLib='C:\Progra~1\OpenNI\Lib64';
OpenNiPathInclude='C:\Progra~1\OpenNI\Include';
otherwise the compiler cl gives some error.
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2 Oct 2013
To use this toolbox, use compile_cpp_files('C:\Progra~1\OpenNI2\') and not compile_cpp_files('C:\Progra~1\OpenNI2') or compile_cpp_files('C:\Program Files\OpenNI2\')
Otherwise, it works great.
Note that the Kinect is directly supported since R2013a if you have the image acquisition toolbox
0 downloads
28 Aug 2013
I have question regarding the purchase of Kinect. Do I have to buy the Kinect for windows, to connect and run the programs, or Kinect for XBox will do the same stuff?
Please help me as soon as possible.
Thanks for the programs.
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29 Jul 2013
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12 Mar 2013
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8 Feb 2013
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4 Feb 2013
Works great with Matlab 2012b and OpenNI x64 bits on Windows7 professional.
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3 Feb 2013
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1 Feb 2013
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24 Jan 2013
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23 Jan 2013
24 downloads
16 Jan 2013
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
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24 Oct 2012
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10 Oct 2012
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10 Oct 2012
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11 Sep 2012
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11 Sep 2012
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
%detect the version of system
is64 = strcmp('64', cs(end-1:end));
disp('Unable to detect the version of the system!');
disp('The system is 64bit system!');
disp('The system is 32bit system!')
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'')');
cd('Mex');
files=dir('*.cpp');
% for 32bit
OpenNiPathLib=[OpenNiPath 'Lib'];
OpenNiPathInclude=[OpenNiPath 'Include'];
for i=1:length(files)
Filename=files(i).
clear(Filename);
mex('-v',['-L' OpenNiPathLib],'-lopenNI',['-I' OpenNiPathInclude],Filename);
%for 64bit
OpenNiPathLib=[OpenNiPath 'Lib64'];
OpenNiPathInclude=[OpenNiPath 'Include'];
for i=1:length(files)
Filename=files(i).
clear(Filename);
mex('-v',['-L' OpenNiPathLib],'-lopenNI64',['-I' OpenNiPathInclude],Filename);
cd('..');
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17 Jul 2012
nuiCapture can export Kinect sensor data to Matlab &&
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10 Jul 2012
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9 Jul 2012
3 downloads
6 Jul 2012
Mac OSX 10.7 & Matlab 2012a
1) Install OPENNI, SENSORKINECT, NITE by following these detailed instructions:
2) Run compile_cpp_files(sPath_OPENNI), where sPath_OPENNI is the path to OpenNI on your drive.
0 downloads
2 Jul 2012
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.
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22 Jun 2012
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1 Jun 2012
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1 Jun 2012
I wasn't able to capture Depth and RGB using all resolution of my ASUS Xtion Pro Live ( 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,
0 downloads
23 May 2012
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15 May 2012
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.
0 downloads
10 May 2012
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!
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29 Mar 2012
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27 Mar 2012
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);
0 downloads
13 Mar 2012
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.
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12 Jun 2011
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?
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8 Jun 2011
7 downloads
6 Jun 2011
I ran it on Win 7, Matlab 2011a. Followin modifications to compile_cpp_files.m were needed:
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.
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16 Mar 2011
I wanted to know how to align rgb and depth images using this interface.
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22 Feb 2011
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.
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31 Jan 2011
Not tested, but should be very fun :)
MATLAB Release
MATLAB 7.11 (R2010b)
Acknowledgements
Download apps, toolboxes, and other File Exchange content using Add-On Explorer in MATLAB.
OpenNI1/Example/
OpenNI1/Mex/
OpenNI2/Mex/
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Copyright (C) 2017 Baidu如图.抛物线y=x²+bx+c与直线y=x-1交于A.B两点.点A的横坐标为-3.点B在y轴上.点P是y轴左侧抛物线上的一动点.横坐标为m.过点P作PC⊥x轴于C.交直线AB于D.(1)求抛物线的解析式,(2)当m为何值时.,(3)是否存在点P,使△PAD是直角三角形.若存在.求出点P的坐标,若不存在.说明理由.    题目和参考答案——精英家教网——
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& 题目详情
如图，抛物线y=x²+bx+c与直线y=x－1交于A、B两点.点A的横坐标为－3，点B在y轴上，点P是y轴左侧抛物线上的一动点，横坐标为m，过点P作PC⊥x轴于C，交直线AB于D.（1）求抛物线的解析式；（2）当m为何值时，；（3）是否存在点P,使△PAD是直角三角形，若存在，求出点P的坐标；若不存在，说明理由.   
（1）y=x2+4x-1；（2）∴m=,-2，或-3时S四边形OBDC=2SS△BPD【解析】试题分析：（1）由x=0时带入y=x-1求出y的值求出B的坐标，当x=-3时，代入y=x-1求出y的值就可以求出A的坐标，由待定系数法就可以求出抛物线的解析式；（2）连结OP，由P点的横坐标为m可以表示出P、D的坐标，可以表示出S四边形OBDC和2S△BPD建立方程求出其解即可．（3）如图2，当∠APD=90°时，设出P点的坐标，就可以表示出D的坐标，由△APD∽△FCD就可与求出结论，如图3，当∠PAD=90°时，作AE⊥x轴于E，就有,可以表示出AD，再由△PAD∽△FEA由相似三角形的性质就可以求出结论．试题解析：∵y=x-1，∴x=0时，y=-1，∴B（0，-1）．当x=-3时，y=-4，∴A（-3，-4）．∵y=x2+bx+c与直线y=x-1交于A、B两点，∴∴∴抛物线的解析式为：y=x2+4x-1；（2）∵P点横坐标是m（m＜0），∴P（m，m2+4m-1），D（m，m-1）如图1①，作BE⊥PC于E， ∴BE=-m．CD=1-m，OB=1，OC=-m，CP=1-4m-m2，∴PD=1-4m-m2-1+m=-3m-m2，∴解得：m1=0（舍去），m2=-2，m3=如图1②，作BE⊥PC于E，∴BE=-m．PD=1-4m-m2+1-m=2-4m-m2，解得：m=0（舍去）或m=-3，∴m=,-2，或-3时S四边形OBDC=2S△BPD；）如图2，当∠APD=90°时，设P（a，a2+4a-1），则D（a，a-1），∴AP=m+4，CD=1-m，OC=-m，CP=1-4m-m2，∴DP=1-4m-m2-1+m=-3m-m2．在y=x-1中，当y=0时，x=1，∴（1，0），∴OF=1，∴CF=1-m．AF=4∵PC⊥x轴，∴∠PCF=90°，∴∠PCF=∠APD，∴CF∥AP，∴△APD∽△FCD， ∴解得：m=1舍去或m=-2，∴P（-2，-5）如图3，当∠PAD=90°时，作AE⊥x轴于E，∴∠AEF=90°．CE=-3-m，EF=4，AF=4PD=1-m-（1-4m-m2）=3m+m2．∵PC⊥x轴，∵PC⊥x轴，∴∠DCF=90°，∴∠DCF=∠AEF，∴AE∥CD．∴AD=(-3-m)∵△PAD∽△FEA，∴∴m=-2或m=-3∴P（-2，-5）或（-3，-4）与点A重合，舍去，∴P（-2，-5）．考点：二次函数综合题.
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