启动realsense相机

平台及系统

jetson nano
Ubuntu18.04
参考教程：https://github.com/IntelRealSense/librealsense/tree/master/wrappers/python#examples
尝试过pip安装但是失败了，读友可以试试看
需要之前下载过librealsense
主要步骤：

sudo apt-get update && sudo apt-get upgrade

sudo apt-get install python python-dev

或者

sudo apt-get install python3 python3-dev

3. 进入librealsense目录，之前应该创建过build目录，直接进去就好

    mkdir build
    cd build
    cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true

    make -j4
    sudo make install

5. 注意上一步编译的过程中，librealsense2.so和pyrealsense2.so两个文件的安装位置，不过应该是因为我的是python3的缘故，pyrealsense2.so没有而是出现了pyrealsense2.cpython-35m-arm-linux-gnueabihf.so文件你可以把它改名成pyrealsense2.so
   然后把这两个文件拷贝到你的python文件工程夹下就可以在代码里使用了

6. 检测是否能启动realsense相机，我用的是sr300，然后成功启动了
   以下是实例代码，参考自https://github.com/IntelRealSense/librealsense/blob/development/wrappers/python/examples/opencv_viewer_example.py
   注意点：
   需要把pyrealsense2.cpython-35m-arm-linux-gnueabihf.so文件改名成pyrealsense2.so不然会报错
   numpy事先安装好就行
   opencv 是jetson nano的系统自带的，无需安装

## License: Apache 2.0. See LICENSE file in root directory.
## Copyright(c) 2015-2017 Intel Corporation. All Rights Reserved.

###############################################
##      Open CV and Numpy integration        ##
###############################################

import pyrealsense2 as rs
import numpy as np
import cv2

# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()

# Get device product line for setting a supporting resolution
pipeline_wrapper = rs.pipeline_wrapper(pipeline)
pipeline_profile = config.resolve(pipeline_wrapper)
device = pipeline_profile.get_device()
device_product_line = str(device.get_info(rs.camera_info.product_line))

found_rgb = False
for s in device.sensors:
    if s.get_info(rs.camera_info.name) == 'RGB Camera':
        found_rgb = True
        break
if not found_rgb:
    print("The demo requires Depth camera with Color sensor")
    exit(0)

config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)

if device_product_line == 'L500':
    config.enable_stream(rs.stream.color, 960, 540, rs.format.bgr8, 30)
else:
    config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)

# Start streaming
pipeline.start(config)

try:
    while True:

        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        color_frame = frames.get_color_frame()
        if not depth_frame or not color_frame:
            continue

        # Convert images to numpy arrays
        depth_image = np.asanyarray(depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())

        # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
        depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)

        depth_colormap_dim = depth_colormap.shape
        color_colormap_dim = color_image.shape

        # If depth and color resolutions are different, resize color image to match depth image for display
        if depth_colormap_dim != color_colormap_dim:
            resized_color_image = cv2.resize(color_image, dsize=(depth_colormap_dim[1], depth_colormap_dim[0]), interpolation=cv2.INTER_AREA)
            images = np.hstack((resized_color_image, depth_colormap))
        else:
            images = np.hstack((color_image, depth_colormap))

        # Show images
        cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
        cv2.imshow('RealSense', images)
        cv2.waitKey(1)

finally:

    # Stop streaming
    pipeline.stop()