3D Machine Vision
Master course, University Cote d'Azur, 2021
3D-machine-vision
The companion github repository of 3D machine vision course (Polytech Nice Sophia University, France)
Install Azure kinect SDK
sudo apt install curl git
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
sudo apt-get update
sudo apt install libk4a1.4*
sudo apt install k4a-tools
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
This Github repository is part of the 3D Machine Vision Course Practical Software.
Version 1.0.0
Authors: Arnab Dey, Houssem Bouhlabal, Andrew Comport
Contact: Andrew.Comport@cnrs.fr