3D-machine-vision

The companion github repository of 3D machine vision course (Polytech côte d'azure University, France)

Install Azure kinect SDK

curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
curl -sSL https://packages.microsoft.com/config/ubuntu/18.04/prod.list | sudo tee /etc/apt/sources.list.d/microsoft-prod.list
curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
sudo apt-get update
sudo apt install libk4a1.3-dev
sudo apt install libk4abt1.0-dev
sudo apt install k4a-tools=1.3.0
sudo cp 99-k4a.rules /etc/udev/rules.d/

Test kinect

k4aviewer

ROS installation

Run roscore and check the version

roscore

If there ROS is not installed run the following command lines

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-melodic-desktop-full
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install python-rosdep
sudo rosdep init
rosdep update

Setup local ROS workspace

cd ~
mdkir catkin_ws/src -p 
cd catkin_ws/src
git clone https://github.com/microsoft/Azure_Kinect_ROS_Driver.git
cd ..
catkin_make --force-cmake
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Test azure_kinect_ros :

roslaunch azure_kinect_ros_driver driver.launch
rosrun rviz rviz

add PointCloud2 and chose the right topic and modify the topic to display the point cloud

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This Github repository is part of the 3D Machine Vision Course Practical Software.

Version 1.1.0

Authors: Houssem Boulahbal, Yacine Ahmine, Arnab Dey, Andrew Comport

Contact: Andrew.Comport@cnrs.fr