jetson nano 安装Intel RealSense SDK2.0

环境说明

• jetson nano: 4GB B01
• JetPack：4.6.1
• intel realsense SDK 2.5.1

一. jetson nano 更换ubuntu源

jetson nano系统自带的Ubuntu 18.04 LTS，镜像默认的是Ubuntu官方源，在国内使用该源下载程序速度较慢，所以需要更换。

1. 在终端输入命令打开sources.list文件

   sudo gedit /etc/apt/sources.list
   

   

2. 删除文件内所有内容，添加以下之一的镜像源即可：
   清华大学镜像源：

   # 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
   # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main restricted universe multiverse
   deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
   deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-proposed main restricted universe multiverse
   

   中国科学技术大学镜像源：

   # 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
   deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic main restricted universe multiverse
   # deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic main restricted universe multiverse
   deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates main restricted universe multiverse
   # deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-updates main restricted universe multiverse
   deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-backports main restricted universe multiverse
   # deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-backports main restricted universe multiverse
   deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-security main restricted universe multiverse
   # deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-security main restricted universe multiverse
   deb http://mirrors.ustc.edu.cn/ubuntu-ports bionic-proposed main restricted universe multiverse
   deb-src http://mirrors.ustc.edu.cn/ubuntu-ports bionic-proposed main restricted universe multiverse
   

   阿里巴巴镜像源：

   # 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
   deb https://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse
   # deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic main restricted universe multiverse
   deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse
   # deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic-updates main restricted universe multiverse
   deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
   # deb-src https://mirrors.aliyun.com/ubuntu-ports/s bionic-backports main restricted universe multiverse
   deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse
   # deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic-security main restricted universe multiverse
   deb https://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse
   deb-src https://mirrors.aliyun.com/ubuntu-ports/ bionic-proposed main restricted universe multiverse
   

   

3. 更换完镜像源后，使用以下命令进行软件的更新（需要较长的时间进行更新）：

   sudo apt update
   sudo apt upgrade -y
   

   

二. 编译安装Intel RealSense SDK

1. 克隆安装命令库（此github库里的文件是集成了intel realsense安装命令的可执行文件）

   git clone https://github.com/jetsonhacksnano/installLibrealsense
   

   

2. 进入installLibrealsense文件，打开命令行窗口，执行以下代码

   ./installLibrealsense.sh
   

   
   

3. 继续进行intel realsense sdk源代码的编译，执行以下代码，会出现提示要求将断开相机与nano的连接，切记一定要拔掉相机后再执行，后续等待编译完成（2~3小时）

   ./buildLibrealsense.sh
   

   
   
   

4. 运行c++例程与python例程
   c++例程使用如下代码：

   realsense-viewer
   

   
   python例程需要进入realsense源代码的python sample目录中，设置好python3，即可运行，运行成功可以看到命令行窗口用文字输出高度轮廓

   export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.6/pyrealsense2
   source ~/.bashrc
   python3 python-tutorial-1-depth.py