如何解决将 Azure Kinect 库链接到 ROS2 工作区
我使用 ROS 2 Foxy 在 Ubuntu 20.04 上工作。我正在尝试制作一个可以使用我之前安装的 Azure Kinect 库的节点。这些库位于 /usr/include。
在编译我的代码时，我收到一个错误，告诉我 colcon build 找不到这些库。我在互联网上搜索，显然这是 Kinect 库的问题。
但是，据我所知，没有运行 Azure Kinect 的 ROS 2 包示例。因此，我正在尝试调整我找到的 ROS 1 包的内容 (https://github.com/microsoft/Azure_Kinect_ROS_Driver)。
当我通过 colcon build 编译我的适配时，遇到如下错误：
CMake Error at cmake/Findk4a.cmake:22 (message):
Error: Azure Kinect SDK Version numbers contain exactly 3 components (major.minor.rev). Requested number of components:
CMakeLists.txt 文件需要其他 CMake 文件，我在下面报告：
- 我的
CMakeLists.txt：
cmake_minimum_required(VERSION 3.5)
project(acquisition_block)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake required)
find_package(rclcpp required)
find_package(std_msgs required)
find_package(Boost required COMPONENTS system filesystem thread)
add_executable(skeleton_capture src/skeleton_capture.cpp)
ament_target_dependencies(skeleton_capture rclcpp std_msgs)
##install(TARGETS skeleton_capture
## DESTINATION lib/${PROJECT_NAME})
#target_include_directories(include ${Boost_INCLUDE_Dirs})
############################
#### AZURE KINECT SDK ######
############################
message("Finding K4A SDK binaries")
# disable cached locations for K4A SDK binaries.
# Do this to force the search logic to happen correctly.
# If we don't disable these cached directories,we
# won't be able to tell the difference between the ext/sdk location
# and the system installed version on linux. Since we have to treat these
# differently (one needs install,one doesn't) we must disable the cache
# so that find_package(k4a) will fail in all cases if not installed via the .deb.
unset(k4a_DIR CACHE)
# Force running the Findk4a.cmake module
include(~/phd_ws/src/acquisition_block/cmake/Findk4a.cmake)
find_package(k4a required)
if (k4abt_FOUND)
set(K4A_LIBS k4a::k4a)
else()
message("Basic k4a libraries not found!")
endif()
find_package(k4arecord required)
if (k4abt_FOUND)
list(APPEND K4A_LIBS k4a::k4arecord)
else()
message("Recording k4a libraries not found!")
endif()
# Try to find and enable the body tracking SDK
find_package(k4abt required)
if (k4abt_FOUND)
list(APPEND K4A_LIBS k4abt::k4abt)
message(STATUS "Body Tracking SDK found: compiling support for Body Tracking")
message("Body tracking libraries found!")
##target_compile_deFinitions(${PROJECT_NAME}_node PUBLIC K4A_BODY_TRACKING)
##target_compile_deFinitions(${PROJECT_NAME}_nodelet PUBLIC K4A_BODY_TRACKING)
else()
message("!!! Body Tracking SDK not found: body tracking features will not be available !!!")
endif()
include(~/phd_ws/src/acquisition_block/cmake/Installk4a.cmake)
##################################
###### END AZURE KINECT SDK ######
##################################
#target_include_directories(skeleton_capture include ${Boost_INCLUDE_Dirs})
include_directories(include ${Boost_INCLUDE_Dirs})
ament_target_dependencies(skeleton_capture
rclcpp
std_msgs
${K4A_LIBS}
)
ament_package()
Findk4a.cmake
include(~/phd_ws/src/acquisition_block/cmake/FindModuleHelpers.cmake)
set(RELATIVE_WIN_LIB_DIR "sdk/windows-desktop/amd64/release/lib")
set(RELATIVE_WIN_BIN_DIR "sdk/windows-desktop/amd64/release/bin")
set(RELATIVE_WIN_K4A_LIB_PATH "${RELATIVE_WIN_LIB_DIR}/k4a.lib")
set(RELATIVE_WIN_K4A_DLL_PATH "${RELATIVE_WIN_BIN_DIR}/k4a.dll")
set(RELATIVE_WIN_K4ARECORD_LIB_PATH "${RELATIVE_WIN_LIB_DIR}/k4arecord.lib")
set(RELATIVE_WIN_K4ARECORD_DLL_PATH "${RELATIVE_WIN_BIN_DIR}/k4arecord.dll")
if (${CMAKE_SYstem_NAME} STREQUAL "Windows")
set(DEPTHENGINE_GLOB "depthengine_*.dll")
elseif(${CMAKE_SYstem_NAME} STREQUAL "Linux")
set(DEPTHENGINE_GLOB "libdepthengine.so.*")
else()
message(FATAL_ERROR "UnkNown CMAKE_SYstem_NAME: ${CMAKE_SYstem_NAME}")
endif()
# K4A versions have exactly 3 components: major.minor.rev
if (NOT (FIND_VERSION_COUNT EQUAL 3))
message(FATAL_ERROR "Error: Azure Kinect SDK Version numbers contain exactly 3 components (major.minor.rev). Requested number of components: ${FIND_VERSION_COUNT}")
endif()
# First,check the ext/sdk folder for a depth engine. ALWAYS DO THIS FirsT.
# We must not run "find_package(k4a)" until we are certain that we can use
# the ext/sdk folder. Otherwise,the k4a::k4a target will
# override any attempts to later create a new imported k4a::k4a target.
unset(_depthengine_bin)
file(GLOB_RECURSE _depthengine_bin
LIST_DIRECTORIES FALSE
"${PROJECT_SOURCE_DIR}/ext/sdk/*${DEPTHENGINE_GLOB}")
if(NOT _depthengine_bin)
quiet_message(STATUS "Could not find depth engine in ./ext/sdk! Rejecting ext/sdk")
else()
find_package(k4a ${FIND_VERSION} ${_exact_arg} ${_quiet_arg} NO_MODULE NO_DEFAULT_PATH PATHS "${PROJECT_SOURCE_DIR}/ext/sdk")
find_package(k4arecord ${FIND_VERSION} ${_exact_arg} ${_quiet_arg} NO_MODULE NO_DEFAULT_PATH PATHS "${PROJECT_SOURCE_DIR}/ext/sdk")
if(${k4a_FOUND} AND ${k4arecord_FOUND})
set(K4A_INSTALL_NEEDED TRUE)
quiet_message(STATUS "Found an Azure Kinect SDK in ./ext/sdk")
# Add the depth engine as an IMPORTED_LINK_DEPENDENT_LIBRARIES to ensure it gets copied
set_property(TARGET k4a::k4a PROPERTY IMPORTED_LINK_DEPENDENT_LIBRARIES "${_depthengine_bin}")
# If we found a valid SDK in ext/sdk,this always overrides anything we might find in the system path.
# k4a_FOUND should have been set by find_package(k4a),so return Now.
quiet_message(STATUS "Accepted SDK in ./ext/sdk. System paths will not be searched")
return()
else()
quiet_message(STATUS "No Azure Kinect SDK found in ./ext/sdk")
endif()
endif()
# On Linux,we might find k4a installed to the system path. Failing that,we can search the ext/sdk folder.
if(CMAKE_HOST_SYstem_NAME STREQUAL "Linux")
set(K4A_INSTALL_NEEDED FALSE)
set(_exact_arg )
if (FIND_VERSION_EXACT)
set(_exact_arg EXACT)
endif()
set(_quiet_arg )
if (FIND_QUIETLY)
set(_quiet_arg QUIET)
endif()
set(_required_arg )
if (FIND_required)
set(_required_arg required)
endif()
# Linux is much easier: just check if k4a is installed to the system path
find_package(k4a ${FIND_VERSION} ${_exact_arg} ${_quiet_arg} ${_required_arg} NO_MODULE)
find_package(k4arecord ${FIND_VERSION} ${_exact_arg} ${_quiet_arg} ${_required_arg} NO_MODULE)
# On Windows,we will have to find K4A installed in Program Files. Failing that,we can search the ext/sdk folder.
elseif(CMAKE_HOST_SYstem_NAME STREQUAL "Windows")
# Windows always needs installation
set(K4A_INSTALL_NEEDED TRUE)
# Get a list of SDK's installed in Program Files
file(GLOB _sdk_dirs "C:/Program Files/Azure Kinect SDK*")
set(_best_sdk_dir "")
set(_best_sdk_version "0.0.0")
foreach(_sdk_dir ${_sdk_dirs})
unset(_version_file CACHE)
find_file(_version_file "version.txt"
PATHS ${_sdk_dir}
NO_DEFAULT_PATH
)
if(NOT _version_file)
quiet_message(WARNING "Azure Kinect SDK located at ${_sdk_dir} does not contain a version file. Skipping this SDK.")
continue()
endif()
set(_version_file_contents "0.0.0")
file(READ ${_version_file} _version_file_contents)
if(${_version_file_contents} MATCHES "^([0-9]+)[.]([0-9]+)[.]([0-9]+)(-.+)?")
set(_sdk_version "${CMAKE_MATCH_1}.${CMAKE_MATCH_2}.${CMAKE_MATCH_3}")
set(_sdk_version_major "${CMAKE_MATCH_1}")
set(_sdk_version_minor "${CMAKE_MATCH_2}")
set(_sdk_version_patch "${CMAKE_MATCH_3}")
quiet_message("Found Azure Kinect SDK located at ${_sdk_dir} with version ${_sdk_version}")
# Now do the real logic. First,exact matches should take precedence (if requested)
if (FIND_VERSION_EXACT)
# If we found the exact version requested,no need to search any more
if (_sdk_version VERSION_EQUAL FIND_VERSION)
set(_best_sdk_dir ${_sdk_dir})
set(_best_sdk_version ${_sdk_version})
break()
endif()
else()
# Find the "best compatible version"
# For K4A,this means:
# - Major version must be the same as requested
# - Minor version must be greater-than-or-equal requested
# - Patch version must be greater-than-or-equal requested,but ONLY if Minor version equals the requested version
# First check if this SDK is major-version compatible
if (NOT (_sdk_version_major EQUAL FIND_VERSION_MAJOR))
quiet_message(STATUS "Rejecting SDK located at ${_sdk_dir}: Major version mismatch (found ${_sdk_version_major},requested ${FIND_VERSION_MAJOR})")
continue()
endif()
# Next,check if minor version is greater than or equal requested
if (NOT (_sdk_version_minor GREATER_EQUAL FIND_VERSION_MInor))
quiet_message(STATUS "Rejecting SDK located at ${_sdk_dir}: Minor version too low (found ${_sdk_version_minor},requested at least ${FIND_VERSION_MInor})")
continue()
endif()
# If the _sdk_version_minor is greater than the FIND_VERSION_MInor,we don't care about the patch version
# since the patch version resets on a minor version upgrade
if (_sdk_version_minor EQUAL FIND_VERSION_MInor)
# Finally,check if patch version is greater than or equal requested
if (NOT (_sdk_version_patch GREATER_EQUAL FIND_VERSION_PATCH))
quiet_message(STATUS "Rejecting SDK located at ${_sdk_dir}: Patch version too low (found ${_sdk_version_patch},requested at least ${FIND_VERSION_PATCH})")
continue()
endif()
endif()
# If we got here,the SDK is version compatible. Check if a better SDK version has already been selected
if (_best_sdk_version VERSION_GREATER _sdk_version)
quiet_message(STATUS "Rejecting SDK located at ${_sdk_dir}: A more recent SDK has already been found (found ${_sdk_version},already found ${_best_sdk_version})")
continue()
endif()
set(_k4a_lib_path "${_sdk_dir}/${RELATIVE_WIN_K4A_LIB_PATH}")
if(NOT EXISTS "${_k4a_lib_path}")
quiet_message(WARNING "Rejecting SDK located at ${_sdk_dir}: Could not find k4a.lib at ${_k4a_lib_path}")
continue()
endif()
set(_k4arecord_lib_path "${_sdk_dir}/${RELATIVE_WIN_K4ARECORD_LIB_PATH}")
if(NOT EXISTS "${_k4arecord_lib_path}")
quiet_message(WARNING "Rejecting SDK located at ${_sdk_dir}: Could not find k4arecord.lib at ${_k4arecord_lib_path}")
continue()
endif()
set(_k4a_bin_path "${_sdk_dir}/${RELATIVE_WIN_K4A_DLL_PATH}")
if(NOT EXISTS "${_k4a_bin_path}")
quiet_message(WARNING "Rejecting SDK located at ${_sdk_dir}: Could not find k4a.dll at ${_k4a_bin_path}")
continue()
endif()
set(_k4arecord_bin_path "${_sdk_dir}/${RELATIVE_WIN_K4ARECORD_DLL_PATH}")
if(NOT EXISTS "${_k4arecord_bin_path}")
quiet_message(WARNING "Rejecting SDK located at ${_sdk_dir}: Could not find k4arecord.dll at ${_k4arecord_bin_path}")
continue()
endif()
unset(_depthengine_bin)
file(GLOB _depthengine_bin
LIST_DIRECTORIES FALSE
${_sdk_dir}/${RELATIVE_WIN_BIN_DIR}/${DEPTHENGINE_GLOB})
if(NOT _depthengine_bin)
quiet_message(WARNING "Rejecting SDK located at ${_sdk_dir}: Could not find a depth engine dll at ${_sdk_dir}/${RELATIVE_WIN_BIN_DIR}")
continue()
endif()
set(_best_sdk_version ${_sdk_version})
set(_best_sdk_dir ${_sdk_dir})
endif()
else()
quiet_message(WARNING "Could not parse SDK version found in ${_version_file}. Found version ${_version_file_contents}. Skipping this SDK.")
continue()
endif()
endforeach()
if (_best_sdk_version VERSION_EQUAL "0.0.0")
set(_message_type WARNING)
if (FIND_required)
set(_message_type FATAL_ERROR)
endif()
# Print this message if FIND_REQURIED since it is mandatory to produce a Fatal error,or
# print a warning if we weren't asked to be quiet
if(FIND_required OR (NOT FIND_QUIETLY))
message(${_message_type} "Could not find a compatible Azure Kinect Sensor SDK installed in Program Files")
endif()
return()
endif()
add_library(k4a::k4a SHARED IMPORTED GLOBAL)
target_include_directories(
k4a::k4a
INTERFACE
${_best_sdk_dir}/sdk/include
${_best_sdk_dir}/sdk/include/k4a
)
set_property(TARGET k4a::k4a PROPERTY IMPORTED_CONfigURATIONS "")
set_property(TARGET k4a::k4a PROPERTY IMPORTED_LOCATION "${_best_sdk_dir}/${RELATIVE_WIN_K4A_DLL_PATH}")
set_property(TARGET k4a::k4a PROPERTY IMPORTED_IMPLIB "${_best_sdk_dir}/${RELATIVE_WIN_K4A_LIB_PATH}")
unset(_depthengine_bin)
file(GLOB _depthengine_bin
LIST_DIRECTORIES FALSE
${_best_sdk_dir}/${RELATIVE_WIN_BIN_DIR}/${DEPTHENGINE_GLOB})
if(NOT _depthengine_bin)
message(FATAL_ERROR "SDK was accepted without a depth engine!")
return()
endif()
# Mark the depthengine as a requirement for running k4a.dll
set_property(TARGET k4a::k4a PROPERTY IMPORTED_LINK_DEPENDENT_LIBRARIES "${_depthengine_bin}")
add_library(k4a::k4arecord SHARED IMPORTED GLOBAL)
target_include_directories(
k4a::k4arecord
INTERFACE
${_best_sdk_dir}/sdk/include
${_best_sdk_dir}/sdk/include/k4arecord
)
set_property(TARGET k4a::k4arecord PROPERTY IMPORTED_CONfigURATIONS "")
set_property(TARGET k4a::k4arecord PROPERTY IMPORTED_LOCATION "${_best_sdk_dir}/${RELATIVE_WIN_K4ARECORD_DLL_PATH}")
set_property(TARGET k4a::k4arecord PROPERTY IMPORTED_IMPLIB "${_best_sdk_dir}/${RELATIVE_WIN_K4ARECORD_LIB_PATH}")
set(${CMAKE_FIND_PACKAGE_NAME}_FOUND TRUE)
set(${CMAKE_FIND_PACKAGE_NAME}_VERSION ${_best_sdk_version})
else()
message(FATAL_ERROR "UnkNown host system: ${CMAKE_HOST_SYstem_NAME}")
endif()
- 在 Findk4a.cmake 中调用的
FindModuleHelpers.cmake
function(print_variable x)
message(STATUS "${x}: ${${x}}")
endfunction()
function(quiet_message)
if(NOT FIND_QUIETLY)
message(${ARGV})
endif()
endfunction()
## Initialize some standardized variables
set(FIND_VERSION_COUNT ${${CMAKE_FIND_PACKAGE_NAME}_FIND_VERSION_COUNT})
set(FIND_VERSION_EXACT ${${CMAKE_FIND_PACKAGE_NAME}_FIND_VERSION_EXACT})
set(FIND_VERSION ${${CMAKE_FIND_PACKAGE_NAME}_FIND_VERSION})
set(FIND_VERSION_MAJOR ${${CMAKE_FIND_PACKAGE_NAME}_FIND_VERSION_MAJOR})
set(FIND_VERSION_MInor ${${CMAKE_FIND_PACKAGE_NAME}_FIND_VERSION_MInor})
set(FIND_VERSION_PATCH ${${CMAKE_FIND_PACKAGE_NAME}_FIND_VERSION_PATCH})
set(FIND_QUIETLY ${${CMAKE_FIND_PACKAGE_NAME}_FIND_QUIETLY})
set(FIND_required ${${CMAKE_FIND_PACKAGE_NAME}_FIND_required})
你能帮我吗？由于无法正确调用函数而无法编码，这真的很令人沮丧。
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