bishengsjtu / kinect4-ros Goto Github PK

This repository holds code of a ROS package for data acquisition(color image, depth map and point cloud) with [Kinect 4 Azure(https://azure.microsoft.com/en-us/services/kinect-dk/). It is basically a ROS wrapper of the low-level API provided by Microsoft/Azure-Kinect-Sensor-SDK, the manufacturer of the camera.

The package has been tested with the following dependencies:

• Ubuntu 18.04
• CMake version 3.10.2
• gcc version 7.4.0
• ROS Melodic
• Point Cloud Library v1.8 (shipped with ROS Melodic)
• Azure-Kinect-Sensor-SDK(https://github.com/Microsoft/Azure-Kinect-Sensor-SDK)

$ git clone https://github.com/ZiqiChai/k4a-ros

$ catkin_make

1. Plug your camera correctly, in terms of power and signal
2. Call the launch file.

$ roslaunch k4a-ros k4a_ros_node.launch

3. Or just run the ros node without rviz

$ rosrun k4a-ros k4a_ros_node

1. "k4a/color/color": color image (Frame is color sensor, format is bgr8)

2. "k4a/color/color_to_depth": color image, aligned to depth map (Frame is depth sensor, format is bgr8)

3. "k4a/depth/depth": depth map (Frame is depth sensor, format is original 16UC1)

4. "k4a/depth/depth_colorized": colorized depth map (Frame is depth sensor, format is bgra8)

5. "k4a/depth/depth_to_color": depth map, aligned to color image (Frame is color sensor, format is original 16UC1)

6. "k4a/depth/depth_to_color_colorized": colorized depth map, aligned to color image (Frame is color sensor, format is bgra8)

7. "k4a/ir_image": ir image (Frame is depth sensor, format is original 16UC1)

8. "k4a/point_cloud/point_cloud_depth_to_depth": PCL point cloud with PointXYZ, this is converted from original depth map. (Frame is depth sensor, unit is millimeter)

9. "k4a/point_cloud/point_cloud_color_to_depth": PCL point cloud with PointXYZRGB, this is converted by aligning color image to original depth map.(Frame is depth sensor, unit is millimeter)

10. "k4a/point_cloud/point_cloud_depth_to_color": PCL point cloud with PointXYZRGB, this is converted by aligning depth map to original color image .(Frame is color sensor, unit is millimeter)

• KinectAzureDKProgramming

  https://github.com/forestsen/KinectAzureDKProgramming

• Kinect2Grabber

  https://github.com/UnaNancyOwen/KinectGrabber

• Kinect Azure DK SDK

  https://github.com/microsoft/Azure-Kinect-Sensor-SDK