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 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" -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~
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 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 build cd build cmake ../ -DBUILD_PYTHON_BINDINGS=bool:true 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 -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 3 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 = [0]*64 for y in xrange(480): for x in xrange(640): dist = depth.get_distance(x, y) if 0 < dist and dist < 1: coverage[x/10] += 1 if y%20 is 19: line = "" for c in coverage: line += " .:nhBXWW"[c/25] coverage = [0]*64 print(line)