Intel realSense ubuntu 16.04+python 环境配置指南

时间：2023-03-09 04:16:27
Intel realSense ubuntu 16.04+python 环境配置指南

1. 安装librealsense2-dkms 以及librealsense2-utils

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  LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

Ubuntu  LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

3、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.

配置好了之后 输入realSense-viewer是这个样子～

Intel realSense ubuntu 16.04+python 环境配置指南

2. 配置warpper----python环境

下载https://github.com/IntelRealSense/librealsense项目到本地

　　

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  and  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  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 build

  cd build

  cmake ../ -DBUILD_PYTHON_BINDINGS=bool:true

Note: To force compilation with a specific version on a system with both Python  and Python  installed, add the following flag to CMake command: -DPYTHON_EXECUTABLE=[full path to the exact python executable]

（cmake常用套路了）

 make -j4

 sudo make install

4、update your PYTHONPATH environment variable to add the path to the pyrealsense library

export PYTHONPATH=$PYTHONPATH:/usr/local/lib

Alternatively, copy the build output (librealsense2.so and pyrealsense2.so) next to your script.

Note: Python  module filenames may contain additional information, e.g. pyrealsense2.cpython-35m-arm-linux-gnueabihf.so)

Python 接口使用的例子：

# First import the library

import pyrealsense2 as rs

try:

    # Create a context object. This object owns the handles to all connected realsense devices

    pipeline = rs.pipeline()

    pipeline.start()

    while True:

        # Create a pipeline object. This object configures the streaming camera and owns it's handle

        frames = pipeline.wait_for_frames()

        depth = frames.get_depth_frame()

        if not depth: continue

        # Print a simple text-based representation of the image, by breaking it into 10x20 pixel regions and approximating the coverage of pixels within one meter

        coverage = []*

        for y in xrange():

            for x in xrange():

                dist = depth.get_distance(x, y)

                if  < dist and dist < :

                    coverage[x/] += 

            if y% is :

                line = ""

                for c in coverage:

                    line += " .:nhBXWW"[c/]

                coverage = []*

                print(line)

　

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