Intel RealSense D435i Installation on Linux (Ubuntu 16.04 and Ubuntu 18.04)

1. Install 3rd-party dependencies

1.1 apt-get update

sudo apt-get update

1.2 install libusb-1.0, libglfw, freeglut,

sudo apt-get install libusb-dev libusb-1.0-0-dev libglfw3 libglfw3-dev freeglut3 freeglut3-dev

1.3 Install libpng12-dev

1.3.1 On Ubuntu 16.04, run the following command:

sudo apt-get install libpng12-dev

1.3.2 On Ubuntu 18.04, run the following command:

wget -q -O /tmp/libpng12.deb http://security.ubuntu.com/ubuntu/pool/main/libp/libpng/libpng12-0_1.2.54-1ubuntu1.1_amd64.deb

sudo dpkg -i /tmp/libpng12.deb

2. Debian Package Installation

2.1 Add Intel server to the list of repositories :

echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list

It is recommended to backup /etc/apt/sources.list.d/realsense-public.list file in case of an upgrade.

2.2 Register the server’s public key :

sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv -- keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE

Refresh the list of repositories and packages available :

sudo apt-get update

2.3 Install the librscalibrationtool package which includes Intel® RealSense™ Dynamic Calibrator:

sudo apt-get install librscalibrationtool

说明:

librscalibrationtool适用设备为 Intel RealSense D400, D410, D415, D420, D430, D435.
安装后的使用说明见: /usr/share/doc/librscalibrationtool/README.md

2.4 Failure – (Optional) Developers shall also install librscalibrationapi package:

sudo apt-get install librscalibrationapi

Problem:

librscalibrationapi : Depends: libpng12-dev but it is not installable
分析: 自Ubuntu18.04以后，libpng12-dev已经被弃用

3. Checking Package Installation

After the debian package install finishes, check for files installed. Under debian convention, the executables are installed under /usr/bin, library files under /usr/lib, and other files including sample code under /usr/share/doc.
For example, for Calibration Tool, librscalibrationtool, the files are installed as below:

sudo dpkg -L librscalibrationtool

4. Video4Linux backend

1. In order to run demos install:

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils

The above two lines will deploy librealsense2 udev rules, kernel drivers, runtime library and executable demos and tools.
Reconnect the Intel RealSense depth camera and run: realsense-viewer

2. Developers shall install additional packages:

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice.

3. Verify that the kernel is updated :

modinfo uvcvideo | grep "version:" 

should include realsense string

5. Test Installation

1. Print the tool version to screen:

/usr/bin/Intel.Realsense.DynamicCalibrator -v

2. To print device information to screen, connect a camera device to the system and execute the following command:

/usr/bin/Intel.Realsense.DynamicCalibrator -list

6. Perform Calibration for Camera

/usr/bin/Intel.Realsense.DynamicCalibrator

* Problem (not fixed):

I can see the RGB, Depth and Gyro information without problems when I run realsense-vieweror subscribe to the realsense-ros topics. But when I run/usr/bin/Intel.Realsense.DynamicCalibrator
And click on Start Calibration I get the Failed to start Calibration Error as seen:

PS: relative issue discussion on github:
https://github.com/IntelRealSense/librealsense/issues/3990