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RMonica / ros_kinfu

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Kinect for Azure Support #18

Open bumbastic opened 4 years ago

bumbastic commented 4 years ago

Do you have any plans for supporting Kinect for Azure?

RMonica commented 4 years ago

I have never used Kinect for Azure. However, it looks like there is a ROS driver: https://github.com/microsoft/Azure_Kinect_ROS_Driver If the driver publishes standard rectified depth and camera_info topics, then it should be compatible.

Just start from one of the sample launch files and change the parameters depth_image_topic, camera_info_topic, depth_height and depth_width.

bumbastic commented 4 years ago

Thanks for your answer. I'll attempt to set it up with a K4a.

bumbastic commented 4 years ago

I attempted to build with catkin_make but got this error: nvcc fatal : Unsupported gpu architecture 'compute_30' CUDA 10.2 is installed

RMonica commented 4 years ago

You have to edit line 55 of ros_kinfu/kinfu/pcl_kinfu_large_scale/CMakeLists.txt Remove the unsupported compute capability 3.0 from the string: -gencode arch=compute_30,code=sm_30 Also, you may have to add the compute capability of your GPU if it's not already there. For example, if you have 7.0, add -gencode arch=compute_70,code=sm_70.

eric-schleicher commented 3 years ago

@bumbastic were you ever successful in getting ros_kinfu to work with the k4a?

bumbastic commented 3 years ago

Sorry, I never completed the setup. I use open3d now with out Ros.