ROS之AzureKinect

Azure Kinect DK 深度相机+NVIDIA jetson实时三维重建系列

1. Azure Kinect DK 深度相机sdk安装（Ubuntu+ARM64,Ubuntu+AMD64,Windows）

2. Azure Kinect ROS Driver 安装

3. Azure Kinect DK 点云和RGBD图的获取

4. Azure Kinect DK 实现三维重建 （PC非实时版）

5. Azure Kinect DK 实现三维重建 （jetson实时版）

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1 说明

Azure_Kinect_ROS_Driver/releasing.md at melodic · microsoft/Azure_Kinect_ROS_Driver · GitHub

• 仅发布ROS1 Melodic的支持，安装Azure Kinect ROS Driver前请先装ROS melodic的发行版。
• 请先完成Azure Kinect SDK的安装：Azure Kinect DK深度相机sdk安装（Ubuntu+ARM64,Ubuntu+AMD64,Windows）_lucky li的博客-CSDN博客
• 已在arm（jetson nano）和pc上测试通过。

2 建立ROS workspace

mkdir -p ~/ws_kinect_dk/src
cd ~/ws_kinect_dk/src
catkin_init_workspace
git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git
github若网络不好，可以 git clone https://gitee.com/luckyluckydadada/Azure_Kinect_ROS_Driver.git  

3 复制SDK到ROS workspace

cd ~/ws_kinect_dk/src
mkdir -p ext/sdk
cd ext/sdk
mkdir -p bin include lib

找到sdk的安装文件（请一定要先完成Azure Kinect SDK的安装，并通过测试k4aviewer）：

cd /usr
find -name *k4a*

jetson上的bin，include，lib目录如上面所示，

./include/k4arecord
./include/k4arecord/k4arecord_export.h
./include/k4a
./include/k4a/k4a.hpp
./include/k4a/k4atypes.h
./include/k4a/k4a.h
./include/k4a/k4a_export.h
./include/k4a/k4aversion.h
./share/doc/libk4a1.4
./lib/aarch64-linux-gnu/libk4arecord.so
./lib/aarch64-linux-gnu/libk4a.so.1.4
./lib/aarch64-linux-gnu/cmake/k4arecord
./lib/aarch64-linux-gnu/cmake/k4arecord/k4arecordConfigVersion.cmake
./lib/aarch64-linux-gnu/cmake/k4arecord/k4arecordTargets-relwithdebinfo.cmake
./lib/aarch64-linux-gnu/cmake/k4arecord/k4arecordConfig.cmake
./lib/aarch64-linux-gnu/cmake/k4arecord/k4arecordTargets.cmake
./lib/aarch64-linux-gnu/cmake/k4a
./lib/aarch64-linux-gnu/cmake/k4a/k4aTargets-relwithdebinfo.cmake
./lib/aarch64-linux-gnu/cmake/k4a/k4aTargets.cmake
./lib/aarch64-linux-gnu/cmake/k4a/k4aConfigVersion.cmake
./lib/aarch64-linux-gnu/cmake/k4a/k4aConfig.cmake
./lib/aarch64-linux-gnu/libk4a.so
./lib/aarch64-linux-gnu/libk4a1.4
./lib/aarch64-linux-gnu/libk4arecord.so.1.4
./lib/aarch64-linux-gnu/libk4arecord.so.1.4.1
./lib/aarch64-linux-gnu/libk4a.so.1.4.1
./bin/k4aviewer
./bin/k4arecorder

进行复制：

cd ~/ws_kinect_dk/src/ext/sdk/bin
cp /usr/bin/k4a* .
cd ~/ws_kinect_dk/src/ext/sdk/include
cp -r /usr/include/k4a* .
cd ~/ws_kinect_dk/src/ext/sdk/lib
cp -r  /usr/lib/aarch64-linux-gnu/libk4a*  .

pc上的：

./local/lib/libk4arecord.so
./local/lib/libk4a.so.1.4.0
./local/lib/libk4arecord.so.1.4
./local/lib/libk4a.so
./local/lib/libk4a.so.1.4
./local/lib/libk4arecord.so.1.4.0
./local/include/k4arecord
./local/include/k4arecord/k4arecord_export.h
./local/include/k4a
./local/include/k4a/k4atypes.h
./local/include/k4a/k4aversion.h
./local/include/k4a/k4a.hpp
./local/include/k4a/k4a_export.h
./local/include/k4a/k4a.h
./local/bin/k4arecorder
./local/bin/k4aviewer

进行复制：

cd ~/ws_kinect_dk/src/ext/sdk/bin;cp -r /usr/local/bin/k4a* .

cd ~/ws_kinect_dk/src/ext/sdk/include;cp -r /usr/local/include/k4a* .

cd ~/ws_kinect_dk/src/ext/sdk/lib;cp -r /usr/local/lib/libk4a* .

4 编译ROS Driver

cd ~/ws_kinect_dk
catkin_make
catkin_make install

5 测试

cd ~/ws_kinect_dk
source ./devel/setup.bash
roslaunch azure_kinect_ros_driver driver.launch 

可以打开rviz查看topic。