Azure Kinect a la Luna (AKALL)

Install Nvidia Docker toolkit on Ubuntu 18.04 or 20.04

Set distribution variable based on your system's configuration. Note: only viable on systems equipped with Nvidia VGAs. Tested on Nvidia GTX-1080

distribution=ubuntu18.04

distribution=ubuntu20.04

curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker

source: nvidia-container-toolkit

Build payload's Docker image

cd LUNA-R2D2/
docker build -t payload_image .

• This docker image will install the following key packages:
• python3 and python3-pip
• k4a-tools and libk4a1.4-dev
• software-properties-common, curl, build-essential...etc
• Compiles our custom Azure Kinect software
• Creates and binds UNIX sockets in /tmp/payload_sockets

Run payload's Docker container

To run the payload's container execute this script on the host machine after a successful docker image build. It includes a docker run command that mounts 2 essential volumes onto the host machine, one to handle the payload's UNIX sockets bi-directional communications and the other for storage. In other words, using docker volume mounts (--volume, -v) enable the host machine to essentially develop a tunnel of bits between the enclosed docker container and itself. The third optional volume mount is the X11-UNIX socket that is only needed to test the k4aviewer tool, and was only used during the development of this project. This script is concluded with the execution of entrypoint.sh that contains application specific code used to start the Python3 UNIX socket server on the container and an optional shell for debugging and testing.

Note: passing extra hardware permissions such as for the VGA, and for the USB (--gpus all -- privileged) also seems to be mandatory to run the Azure Kinect camera from within the container. Privileged mode is also only needed in the development environment and is replaced with a specific USB port. Read more about docker run

sudo chmod +x ./scripts/launch_container.sh
sudo ./scripts/launch_container.sh payload_container payload_image

Configuration on dev host machine:

Note: Only needed to test k4aviewer on the docker container.

xhost +local:docker