This repository holds code of a ROS package for data acquisition(color image, d 7431 epth 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- Plug your camera correctly, in terms of power and signal
- Call the launch file.
$ roslaunch k4a-ros k4a_ros_node.launch- Or just run the ros node without rviz
$ rosrun k4a-ros k4a_ros_node-
"k4a/color/color": color image (Frame is color sensor, format is bgr8)
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"k4a/color/color_to_depth": color image, aligned to depth map (Frame is depth sensor, format is bgr8)
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"k4a/depth/depth": depth map (Frame is depth sensor, format is original 16UC1)
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"k4a/depth/depth_colorized": colorized depth map (Frame is depth sensor, format is bgra8)
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"k4a/depth/depth_to_color": depth map, aligned to color image (Frame is color sensor, format is original 16UC1)
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"k4a/depth/depth_to_color_colorized": colorized depth map, aligned to color image (Frame is color sensor, format is bgra8)
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"k4a/ir_image": ir image (Frame is depth sensor, format is original 16UC1)
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"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)
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"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)
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"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)
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KinectAzureDKProgramming
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Kinect2Grabber
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Kinect Azure DK SDK