3D Machine Vision

Master course, University Cote d'Azur, 2021

Github repo


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


ROS installation

Run roscore and check the version


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