Xavier Intel realsense从安装到使用

参考github上的SDK安装思路，在此做一下备份。
安装librealsense

1. Build and Patch Kernel Modules for Jetson L4T

• Navigate to the root of libreansense2 directory.
• Run the script (note the ending characters - L4T)

./scripts/patch-realsense-ubuntu-L4T.sh 

2. Build librealsense2 SDK

• Navigate to the SDK’s root directory

• Follow the Ubuntu installation guide to install the missing components and configuration items:

sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev -y
./scripts/setup_udev_rules.sh  
mkdir build && cd build  
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

安装SDK对应版本的ros参考官网即可。

绕过ros，直接使用opencv调用librealsense，启动相机

• 设置RGB和深度图的参数：

cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 60);
cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 60);

• 设置曝光度：