Inter RealSense D435安装和使用教程（ubuntu 16.04）

参考链接：https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md

该博客只针对于ubuntu16.04-LTS，14.*或者18.*的系统请参考上面的链接。

Prerequisites：

1.更新ubuntu系统和稳定版本的内核

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

2.下载或者克隆librealsense的源码 (以下二者方式选择其一)

• Download the complete source tree with git

git clone https://github.com/IntelRealSense/librealsense.git

• Download and unzip the latest stable version from master branch:

https://github.com/IntelRealSense/librealsense/archive/master.zip

3.准备Linux后端和开发环境：

• 导航到librealsense根目录以运行以下脚本。拔下所有连接的Intel RealSense摄像头。

• 安装依赖的package

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev

sudo apt-get install libglfw3-dev

• 安装CMake版本大于3.8.可以从https://cmake.org/download/下载安装。

4.运行位于librealsense根目录的英特尔realsense权限脚本：

./scripts/setup_udev_rules.sh

5.构建并应用修补的内核模块（ Ubuntu 14/16/18 with LTS kernel）：(这一步最好不要执行)

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

Building librealsense2 SDK：

1.进入到 librealsense 根目录，运行如下： 

mkdir build && cd build

2.运行cmake

cmake ../

The default build is set to produce the core shared object and unit-tests binaries in Debug mode. 

Use -DCMAKE_BUILD_TYPE=Release to build with optimizations. 

Use-DBUILD_EXAMPLES=true - Builds librealsense along with the demos and tutorials

Use -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false For systems without OpenGL or X11 build only textual examples

3.重新编译和安装 librealsense 二进制文件

sudo make uninstall && make clean && make && sudo make install

The shared object will be installed in /usr/local/lib, header files in /usr/local/include. The binary demos, tutorials and test files will be copied into /usr/local/bin