安装配置Intel Realsense D435i并在D435i上跑ORB-SLAM2

最新推荐文章于 2024-07-31 13:53:36 发布

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最新推荐文章于 2024-07-31 13:53:36 发布

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文章标签： D435i ORB_SLAM2

本文链接：https://blog.csdn.net/jiangchuanhu/article/details/92795791

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本文档详细介绍了如何安装Intel Realsense SDK，ROS Wrapper，以及如何配置和测试ORB-SLAM2在D435i设备上的运行。在安装过程中可能遇到boost库的错误，需要对文件进行修改。通过获取相机参数并创建D435i.yaml文件，调整ORB-SLAM2的topic订阅以匹配摄像头发布的话题名。

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文章目录

配置安装环境：Ubuntu16.04LTS, Linux Kernel 4.15

一、安装Intel Realsense SDK

方式一 —— 直接安装官方已经编译好的包，可参考教程

# 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
# Add the server to the list of repositories
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
# Install the libraries
sudo apt install librealsense2-dkms
sudo apt install librealsense2-utils
# Optionally install the developer and debug packages
sudo apt install librealsense2-dev
sudo apt install librealsense2-dbg
# Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

方式二 —— 下载源代码自行编译安装，可参考教程

# ***************************Prerequisites***************************** #
# Update Ubuntu distribution, including getting the latest stable kernel
sudo apt update && sudo apt upgrade && sudo apt dist-upgrade
# Download the complete source tree with git
git clone https://github.com/IntelRealSense/librealsense.git
# Navigate to librealsense root directory and Unplug any connected Intel RealSense camera
# Install the core packages required to build librealsense binaries and the affected kernel modules
sudo apt install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
# certain librealsense CMAKE flags (e.g. CUDA) require version 3.8+(check: cmake --version)
# Run Intel Realsense permissions script located from librealsense root directory
./scripts/setup_udev_rules.sh
# Build and apply patched kernel modules
./scripts/patch-realsense-ubuntu-lts.sh
# Tracking Module requires hid_sensor_custom kernel module to operate properly.
echo 'hid_sensor_custom' | sudo tee -a /etc/modules

# ***************************Building and Installing librealsense2 SDK**************************