Ubuntu realsense sdk最速安装法

此为最快安装法不是源码编译安装，同时实例只有c++，python没写

直接点开官方github的指导。

https://github.com/IntelRealSense/librealsense/blob/v2.50.0/doc/distribution_linux.md

 执行红色命令，及得C++得先支持一下11 如何升级g ++ 看链接

Ubuntu下升级gcc/g++_grllery的博客-CSDN博客_ubuntu升级g++

中间如果链接不成功 来个vpn 

完成之后测试一下

c++ 代码如下

#include<iostream>
#include<string>
#include <opencv2/opencv.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include <librealsense2/rs.hpp>

using namespace std;
using namespace cv;

int main(int argc, char** argv)
{
    rs2::config cfg;


    cfg.enable_stream(RS2_STREAM_FISHEYE, 1, RS2_FORMAT_Y8);
    cfg.enable_stream(RS2_STREAM_FISHEYE, 2, RS2_FORMAT_Y8);


    cfg.enable_stream(RS2_STREAM_POSE, RS2_FORMAT_6DOF);

    rs2::pipeline pipe;
    pipe.start(cfg);

    rs2::frameset data;

    while (1)
    {
        data = pipe.wait_for_frames();
        // Get a frame from the pose stream
        auto f = data.first_or_default(RS2_STREAM_POSE);
        auto pose = f.as<rs2::pose_frame>().get_pose_data();

        cout << "px: " << pose.translation.x << "   py: " << pose.translation.y << "   pz: " << pose.translation.z <<
            "vx: " << pose.velocity.x << "   vy: " << pose.velocity.y << "   vz: " << pose.velocity.z << endl;
        cout << "ax: " << pose.acceleration.x << "   ay: " << pose.acceleration.y << "   az: " << pose.acceleration.z <<
            "gx: " << pose.angular_velocity.x << "   gy: " << pose.angular_velocity.y << "   gz: " << pose.angular_velocity.z << endl;

        rs2::frame image_left = data.get_fisheye_frame(1);
        rs2::frame image_right = data.get_fisheye_frame(2);

        if (!image_left || !image_right)
            break;

        cv::Mat cv_image_left(cv::Size(848, 800), CV_8U, (void*)image_left.get_data(), cv::Mat::AUTO_STEP);
        cv::Mat cv_image_right(cv::Size(848, 800), CV_8U, (void*)image_right.get_data(), cv::Mat::AUTO_STEP);

        cv::imshow("left", cv_image_left);
        cv::imshow("right", cv_image_right);
        cv::waitKey(1);
    }

    return 0;
}

编写 cmakelist.txt 如下

cmake_minimum_required(VERSION 2.8)
project(realsense)

IF(NOT CMAKE_BUILD_TYPE)                        # 判断是否有默认的CMAKE_BUILD_TYPE类型
  SET(CMAKE_BUILD_TYPE Release)                   # 如果没有set设置CMAKE_BUILD_TYPE类型为debug
ENDIF()                    


MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})     # message是输出的信息的意思,获取索引变量CMAKE_BUILD_TYPE

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=native ")          # 添加C的编译选项
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")       # 添加C++编译选项


include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

find_package(OpenCV 3.0 REQUIRED)
find_package(realsense2 REQUIRED)


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR})

file(GLOB SRC_LIST "src.cpp")

add_executable(main ${SRC_LIST})

target_link_libraries(main
${OpenCV_LIBS}
${realsense2_LIBRARY}
)

运行

得到结果成功，同时拿到左右目摄像头数据和实时imu数据