在Ubuntu 16.04下安裝intel realsense D435攝像頭(多次實測)
第一次安裝realsense2及使用pyrealsense2時費了好大功夫,因為好多文件中都有坑,有的又是跳著寫的,參考了幾篇文件最後又參考官網上總算成功安裝上librealsense2,其實英文比較好的同學可以直接參考官方文件,pyrealsense2我安裝的時候是12月15號,中文文件反正我是沒怎麼見到,我去國外論壇及官方文件一看,12月1號才釋出pyrealsense2,根據參考也除錯成功,並能成功執行demo,最近換了主機又要重新搭環境,到後面又要安裝realsense,特此記錄一下
從官網上安裝sdk2以及相關依賴可參考文件:
https://realsense.intel.com/sdk-2/#install
https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md
Installing the packages(安裝):
- Add Intel server to the list of repositories :
echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list
It is recommended to backup/etc/apt/sources.list.d/realsense-public.list
- Register the server’s public key :
sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
- Refresh the list of repositories and packages available :
sudo apt-get update
- In order to run demos install:
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
The above two lines will deploy librealsense2 udev rules, kernel drivers, runtime library and executable demos and tools. Reconnect the Intel RealSense depth camera and run:realsense-viewer(彈出介面,可顯示影象,若顯示的英文錯誤是韌體需更新的話請繼續向下看)
- Developers shall install additional packages:
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
Withdev
package installed, you can compile an application with librealsense usingg++ -std=c++11 filename.cpp -lrealsense2
or an IDE of your choice.Verify that the kernel is updated :
modinfo uvcvideo | grep "version:"
(檢視版本)should includerealsense
string
Uninstalling the Packages(解除安裝):
Important Removing Debian package is allowed only when no other installed packages directly refer to it. For example removing librealsense2-udev-rules
requires librealsense2
to be removed first.
Remove a single package with:sudo apt-get --purge <package-name>
Remove all RealSense™ SDK-related packages with:dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge
接著就是更新韌體:
第8、9頁按步來即可,我還整理了中文的可參考此專欄韌體升級https://blog.csdn.net/qq_42393859/article/details/86133988
若之前沒成功顯示影象,這次在執行realsense-view即可,若要進行開發,還需繼續
CMake、librealsense、pyrealsense2的配置安裝
下載並安裝CMake
1)下載cmake-3.8.2.tar.gz : https://cmake.org/files/
2) 在主資料夾下新建tools/資料夾,將cmake-3.8.2.tar.gz解壓之後放在tools/中,為了防止出現許可權不足問題,直接對檔案更改許可權:
解壓:sudo tar -zxvf cmake-3.8.2.tar.gz
賦許可權:sudo chmod -R 777 cmake-3.8.2
3)a安裝gcc-c++:
sudo apt-get install build-essential
或者直接執行這兩條命令
sudo apt-get install gcc
sudo apt-get install g++
4)執行以下命令:
sudo ./bootstrap
sudo make
sudo make install
5)檢視是否安裝成功以及安裝版本:
cmake --version
下載librealsense驅動 https://github.com/IntelRealSense/librealsense/
Note: USB介面必須為3.0
核心版本>4.4.0
本系統為 Ubuntu 16.04.3,如果安裝步驟上有所不同,請參照英文版教程:
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md 對應版本安裝。
1)先確定核心版本:
uname -r
如果>=4.4.0-50的版本就可以繼續向下進行了,否則需要升級你的Ubuntu核心。
2)安裝一些依賴:
sudo apt-get install libusb-1.0-0-dev pkg-config libgtk-3-dev
3)安裝glfw3庫:
sudo apt-get install libglfw3-dev
4)下載驅動安裝包:
git clone https://github.com/IntelRealSense/librealsense
5)進入該資料夾
cd librealsense/
6)在 librealsense 資料夾下執行
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
7)進入下載的 librealsense 路徑下,執行如下:
$ mkdir build
$ cd build
$ cmake ../
$ cmake ../ -DBUILD_EXAMPLES=true
$ make && sudo make install
8)在 librealsense 資料夾下安裝Video4Linux視訊核心驅動,注意不要插上RealSense R200攝像頭。
在librealsense的路徑下執行:
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
安裝Openssl庫:
sudo apt-get install libssl-dev
編譯配置檔案:
./scripts/patch-realsense-ubuntu-xenial.sh
提示完成後,插上RealSense,再執行:
sudo dmesg | tail -n 50
可無失敗資訊則可驗證安裝驅動成功。
此時可進入/usr/local/lib中檢視或者librealsense下的example資料夾下,執行:
./cpp-capture.cpp
出現RealSense拍攝的影象即成功!
pyrealsense2安裝
https://blog.csdn.net/qq_42393859/article/details/85044330
因為執行demo和開發裡面會用到opencv,你還需安裝cv2,線上安裝即可,不必編譯,太費時間
全都完成後就可以用python開發了