RGBD

Here I record everything I encountered working with RGBD Camera

Installation

Official Documentation: Here

Official Installation Guide: Here

However, the k4a-tools (containing Azure Kinect Recorder, and the Azure Kinect Firmware Tool) SDK only supports 18.04, 20.04, not 22.04, since my machine is 22.04, we need to do something different: we don't install from source, we download the deb and install them directly.

We need to install the following in order:

• libsoundio1_1.1.0-1_amd64.deb: download Here

• libk4a1.4_1.4.1_amd64.deb: download Here

• libk4a1.4-dev_1.4.1_amd64.deb: download Here

• k4a-tools_1.4.1_amd64.deb: download Here

To remove the need for root permission to use cameras, create the file /etc/udev/rules.d/99-k4a.rules and write the following from Here:

# Bus 002 Device 116: ID 045e:097a Microsoft Corp.  - Generic Superspeed USB Hub
# Bus 001 Device 015: ID 045e:097b Microsoft Corp.  - Generic USB Hub
# Bus 002 Device 118: ID 045e:097c Microsoft Corp.  - Azure Kinect Depth Camera
# Bus 002 Device 117: ID 045e:097d Microsoft Corp.  - Azure Kinect 4K Camera
# Bus 001 Device 016: ID 045e:097e Microsoft Corp.  - Azure Kinect Microphone Array

BUS!="usb", ACTION!="add", SUBSYSTEM!=="usb_device", GOTO="k4a_logic_rules_end"

ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097a", MODE="0666", GROUP="plugdev"
ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097b", MODE="0666", GROUP="plugdev"
ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097c", MODE="0666", GROUP="plugdev"
ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097d", MODE="0666", GROUP="plugdev"
ATTRS{idVendor}=="045e", ATTRS{idProduct}=="097e", MODE="0666", GROUP="plugdev"

LABEL="k4a_logic_rules_end"