KinfuROS

Authors: Parker Ewen (pewen@umich.edu), Gitesh Sambhaji Gunjal (gitesh@umich.edu), Hao Chen (haochern@umich.edu), Anran Li (anranli@umich.edu), Yuzhen Chen (yuzhench@umich.edu), and Ram Vasudevan (ramv@umich.edu).

Dependencies

The package is built on Ubuntu 20.04 with ROS Noetic Distribution. Make sure the ROS Noetic is installed before downloading the dependencies.

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 install curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Building

Create a catkin workspace.

mkdir -p ~/catkin_ws/src && cd ~/catkin_ws/src

Download the package in src folder, make sure in main branch.

git clone https://github.com/anranli2003/KinfuROS

Build the package using either catkin_make or catkin build in catkin_ws folder.

catkin build

Source the workspace.

source devel/setup.bash

Building the seg_preproc

Download the Depenedencies for k4a

https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4/libk4a1.4_1.4.1_amd64.deb
https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/libk/libk4a1.4-dev/libk4a1.4-dev_1.4.1_amd64.deb
optionally: https://packages.microsoft.com/ubuntu/18.04/prod/pool/main/k/k4a-tools/k4a-tools_1.4.1_amd64.deb

Download Tensor RT from Nvidia's website (Version 8.6.1 GA), assuming CUDA has already been installed
```
https://developer.nvidia.com/nvidia-tensorrt-8x-download 
```

Usage (for pre-recorded ROS bags)

Before running the package, make sure you build the package successfully and source the workspace.

Run the preproc package (

python3 ~/catkin_ws/src/seg_preproc/scripts/preproc.py

2 Launch the package using the following code.

roslaunch kinfu_semantic kinect_fusion_rviz.launch

Run the ROS bag containing pre-recorded

rosbag play {$bagname}.bag

Useage (for real-time camera capture)

Before running the package, make sure you build the package successfully and source the workspace. Make sure to also install the Microsoft Azure Camera driver on your computer and is able to connect.

Run the preproc package (

python3 ~/catkin_ws/src/seg_preproc/scripts/preproc.py

Run the Azure Kinect driver to connect camera

roslaunch azure_kinect_ros_driver slam_rtabmap.launch

Launch the package using the following code.