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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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Kinect for Azure option not enabled #476

Closed scimad closed 4 years ago

scimad commented 4 years ago

Why is Kinect for Azure option not active in my RTAB-Map (latest build from source)? I learned that RTAB-Map only supports video captured from Azure Kinect for now, but I have that option disabled in Detection >> Select Source >> More Options >> RGBD ?

System Configuration: Ubuntu 18.04

Further info: I also confirm the applications / examples on Azure/SDK running, and RTAB map also running with Intel D435i.

matlabbe commented 4 years ago

When building rtabmap, make sure you see this at the end of the cmake output:

$ cd rtabmap/build
$ cmake ..
...
--  Camera Drivers:
--   With Freenect             = YES (License: Apache v2 and/or GPLv2)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = NO (libfreenect2 not found)
--   With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)
--   With Kinect for Azure     = NO (Kinect for Azure SDK not found)
--   With dc1394               = YES (License: LGPL)
--   With FlyCapture2/Triclops = NO (Point Grey SDK not found)
--   With ZED                  = YES (With CUDA)
--   With RealSense            = NO (librealsense not found)
--   With RealSense2           = YES (License: Apache-2)
...

it should be With Kinect for Azure = YES if cmake is able to find K4A. We didn't do a lot of testing with K4A (we cannot buy it from Canada yet).

EDIT: On ubuntu, k4a is searched by cmake using this command: https://github.com/introlab/rtabmap/blob/b39fd0321ee8a0c683019dfc02141506615a0df3/CMakeLists.txt#L341-L342

cheers, Mathieu

scimad commented 4 years ago

Works perfectly, thanks.