ubutnu16.04下Intel Realsense D435驅動的安裝和python環境的配置

一、 Intel Realsense D435驅動的安裝

普遍操作：這里就復制別人的：

1、Register the server's public key: sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE (In case the public key still cannot be retrieved, check and specify proxy settings: export http_proxy="http://<proxy>:<port>" , and rerun the command. See additional methods in the following link.)2、Add the server to the list of repositories: Ubuntu 16 LTS: sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u Ubuntu 18 LTS: sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u3、Install the libraries (see section below if upgrading packages): sudo apt-get install librealsense2-dkms sudo apt-get install librealsense2-utils The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools.Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

配置好之后，在命令行中輸入：

realSense-viewer

出現以下界面就是驅動安裝成功

二、SDK安裝+python環境配置

首先下載SDK包：https://github.com/IntelRealSense/librealsense

Building From Source Ubuntu 14.04/16.04 LTS Ensure apt-get is up to date 1、sudo apt-get update && sudo apt-get upgrade Note: Use sudo apt-get dist-upgrade, instead of sudo apt-get upgrade, in case you have an older Ubuntu 14.04 version Install Python and its development files via apt-get (Python 2 and 3 both work)2、sudo apt-get install python python-dev or sudo apt-get install python3 python3-dev Note: The project will only use Python 2 if it can't use Python 3 Run the top level CMake command with the following additional flag -DBUILD_PYTHON_BINDINGS=bool:true:3、mkdir buildcd buildcmake ../ -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=python的執行路徑 Note: To force compilation with a specific version on a system with both Python 2 and Python 3 installed, add the following flag to CMake command: -DPYTHON_EXECUTABLE=[full path to the exact python executable] （cmake常用套路了）make -j4sudo make install 4、update your PYTHONPATH environment variable to add the path to the pyrealsense library export PYTHONPATH=$PYTHONPATH:/usr/local/lib

安裝成功后，打開python輸入 import pyrealsense2，發現還是沒有該模塊。
接下來需要自己安裝：

pip3 install pyrealsense2

安裝完成后，再打開python，輸入可以
可以使用下面的代碼進行測試：

import pyrealsense2 as rs import cv2 import numpy as npdef show(img,res='res'):cv2.imshow(res,img)cv2.waitKey(0)cv2.destroyAllWindows()pipeline = rs.pipeline() pipeline.start()while True:frames = pipeline.wait_for_frames()depth = frames.get_depth_frame()img = frames.get_color_frame()img = np.asanyarray(img.get_data())img1 = cv2.cvtColor(img,cv2.COLOR_RGB2BGR)dst = np.hstack((img,img1))cv2.imshow('res',dst)if cv2.waitKey(10) &0xff == ord('q'):break

總結

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