K4A.Net — Three-in-one managed .NET library to work with Azure Kinect devices (also known as Kinect for Azure, K4A, Kinect v4). It consists of the following "components":

1. Sensor API — access to depth camera, RGB camera, accelerometer and gyroscope, plus device-calibration data and synchronization control
   • Corresponding namespace: K4AdotNet.Sensor
2. Record API — data recording from device to MKV-files, and data reading from such files
   • Corresponding namespace: K4AdotNet.Record
3. Body Tracking API — body tracking of multiple skeletons including eyes, ears and nose
   • Corresponding namespace: K4AdotNet.BodyTracking

• Written fully on C#
• No unsafe code in library K4AdotNet itself (only DllImports)
• CLS-complaint (can be used from any .Net-compatible language, including C#, VB.Net)
• Library K4AdotNet is compiled against .NET Standard 2.0 target framework
  • This makes it compatible with .NET Core 2.0 and later, .NET Framework 4.6.1 and later, Unity 2018.1 and later, etc.
  • See https://docs.microsoft.com/en-us/dotnet/standard/net-standard for details
• Clean API, which is close to C/C++ native API from Azure Kinect Sensor SDK and Azure Kinect Body Tracking SDK. Plus useful helper methods.
• No additional dependencies
  • Except dependencies on native libraries (DLLs) from Azure Kinect Sensor SDK and Azure Kinect Body Tracking SDK
  • These native libraries are included to repo (see externals directory)
  • For details see below
• Plenty of powerful samples
  • More samples will be available soon (stay tuned)
• Unit-tested
  • To be done ASAP
• Well documented
  • To be done ASAP
• Potentially multi-platform (Windows, Linux)
  • But currently tested only under Windows
  • Plus there's no Linux-version of Azure Kinect Body Tracking SDK yet
  • And most of samples are written using WPF

K4AdotNet depends on the following native libraries (DLLs) from Azure Kinect Sensor SDK and Azure Kinect Body Tracking SDK:

Some important notes:

• depthengine_1_0.dll is required only if you are using Transformation class to transform images between cameras (depth to color, color to depth, depth to point cloud). All other Sensor API (types from K4AdotNet.Sensor namespace) depends only on k4a.dll.
• k4abt.dll (native body tracking library) depends on onnxruntime.dll — ONNX runtime for neural networks, which in turn, depends on NVIDIA CUDA 10.0 and cudnn64_7.dll library (part of NVIDIA cuDNN. For details see https://docs.microsoft.com/en-us/azure/Kinect-dk/body-sdk-setup
• Also, Body Tracking requires ONNX-file with model of neural network: dnn_model.onnx (159 MB). You can find it in externals/k4abt/windows-desktop/amd64.
• If you're not going to use some part of API, then you can ignore (don't copy to your project) appropriate native library(ies).

It's almost ready to use

• More samples (Body tracking WPF sample, 3D view, ...)
• Documentation comments
• More unit-tests
• Nuget package(s)
• Find out how to convert MJPEG -> BGRA faster (implementation in k4a.dll is very slow)
• Test under Linux, samples for Linux (using Avalonia UI Framework?)
• Samples for Unity3D
• Some hosting for documentation

• Open K4AdotNet.sln in Visual Studio 2017 or Visual Studio 2019
• Build solution (Ctrl+Shift+B)
• After that you can run and explore samples