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Nano入门教程硬件篇-使用realsense D435相机

Nano入门教程硬件篇-使用realsense D435相机

说明:

  • 介绍如何在nano上安装realsense D435

环境:

  • 系统:ubuntu18.04
  • Nano 官方镜像
  • Jetpack4.2版本

步骤:

  • 下载SDK源码:
mkdir -p  ~/tools/
cd ~/tools/
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
  • 安装依赖:
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
  • 先拔掉相机的USB线
  • 执行权限设置,建立别名
./scripts/setup_udev_rules.sh
  • 增加模块
echo 'hid_sensor_custom' | sudo tee -a /etc/modules
  • 添加变量到环境
export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
  • 编译
  • 增加cuda支持
mkdir build 
cd build
cmake ../ -DBUILD_EXAMPLES=true -DBUILD_WITH_CUDA=true
sudo make uninstall && make clean && make && sudo make install
  • 安装完成后,相应目录位于:
The shared object will be installed in /usr/local/lib
header files in /usr/local/include.
The binary demos, tutorials and test files will be copied into /usr/local/bin

测试:

  • 测试例子:
cd ~/tools/librealsense/build/examples/capture
./rs-capture 
  • 效果如下:

请输入图片描述

参考:

  • https://github.com/IntelRealSense/librealsense/blob/development/doc/installation.md
  • https://github.com/jetsonhacks/buildLibrealsense2Xavier
  • https://devtalk.nvidia.com/default/topic/1051016/jetson-nano/use-intel-reg-realsense-trade-d435-series-depth-camera-on-nano/post/5335681/#5335681

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