Ubuntu16.04上安装
主要参照这两篇博客https://thomasweng.com/azure_kinect_1604/
https://thomasweng.com/azure_kinect_1604_ros/
- 从github上下载Azure Kinect的SDK,使用的是1.1.0的版本。
git clone -b v1.1.0 https://github.com/microsoft/Azure-Kinect-Sensor-SDK.git
- 安装依赖
bash ./Azure-Kinect-Sensor-SDK/scripts/bootstrap-ubuntu.sh
- 编译
首先需升级cmake至3.9以上版本
wget https://cmake.org/files/v3.14/cmake-3.14.5.tar.gz
tar -xzvf cmake-3.14.5.tar.gz
cd cmake-3.14.5/
./bootstrap
make -j8
sudo make install
cmake --version
之后将子模块git地址改为墙内地址:
Azure-Kinect-Sensor-SDK下的.gitmodules以及Azure-Kinect-Sensor-SDK/.git下的config中关于liyuv的url改为
url=https://github.com/lemenkov/libyuv.git
进行编译
cd Azure-Kinect-Sensor-SDK
mkdir build
cd build
cmake .. -G Ninja
ninja
- 添加depthengine和依赖
下载
https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.1/
中的libk4a1.1_1.1.0-release_amd64.deb并解压,得到/libk4a1.1_1.1.0-release_amd64/usr/lib/x86_64-linux-gnu/libdepthengine.so.1.0
,将其复制到Azure-Kinect-Sensor-SDK/build/bin/
下。另外,在整个系统中查找libstdc++.so.6
,并将其复制到/Azure-Kinect-Sensor-SDK/build/bin/
下。
- 测试
如果顺利的话,运行
sudo ./Azure-Kinect-Sensor-SDK/build/bin/k4aviewer
即可打开SDK。
若碰到错误信息
X Error of failed request: GLXBadFBConfig
需要在更新显卡驱动后再运行。
ROS驱动安装
- 生成SDK的可执行文件,以供ROS查找
cd Azure-Kinect-Sensor-SDK/build
sudo ninja install
- 下载ROS版本驱动
cd
mkdir catkin_ws && cd catkin_ws
mkdir src && cd src
git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git
修改Azure_Kinect_ROS_Driver/include/azure_kinect_ros_driver/k4a_ros_device.h
头文件
volatile bool running_;
// Last capture timestamp for synchronizing playback capture and imu thread
- std::atomic_int64_t last_capture_time_usec_;
+ std::atomic<int64_t> last_capture_time_usec_;
// Last imu timestamp for synchronizing playback capture and imu thread
- std::atomic_uint64_t last_imu_time_usec_;
- std::atomic_bool imu_stream_end_of_file_;
+ std::atomic<uint64_t> last_imu_time_usec_;
+ std::atomic<bool> imu_stream_end_of_file_;
// Threads
std::thread frame_publisher_thread_;
- 编译
cd ..
catkin_make
- 复制
将之前提到的libdepthengine.so.1.0
和libstdc++.so.6
复制到catkin_ws/devel/lib/
中。
将Azure-Kinect-Sensor-SDK/scripts/99-k4a.rules
复制到/etc/udev/rules.d/
中。
- source并运行
source path/to/catkin_ws/devel/setup.bash
roslaunch azure_kinect_ros_driver driver.launch