Intel Realsense D435i SDK Install

0.引言

自己买的还没到，借的同学，生怕给他搞坏了。

1.参考

• ref0.官方giahub
• ref1.官方Install
• ref2.官方Install
• ref3.土味Install
• ref4.官方例程

2.Install

安装过程就按照ref3进行。记录一下踩的坑。坑的顺序为安装过程的顺序。

err1:

• catkin_make报错：missing dependency with ddynamic_reconfigure
• solve ref: apt-get update && apt-get install ros-kinetic-ddynamic-reconfigure

err2:

• roslaunch报错：ResourceNotFound: rgbd_launch
• solve ref：sudo apt-get install ros-kinetic-rgbd-launch

err3:

• error: ‘usleep’ was not declared in this scope usleep(5000);
• solve ref.

err4:

• rospack found package “ORB_SLAM2” at “”, but the current
  directory is “/home/fb/D453I/ORB_SLAM2/Examples/ROS/ORB_SLAM2”.
• 环境变量要添加在最后一行，脑补程序，按照顺序扫描的：export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/fb/D453I/ORB_SLAM2/Examples/ROS/ORB_SLAM2

err5：

• /usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status
• solve ref:
  in CMakeList.txt, add lines like below (replace {{target_name}} to your own):
  find_package(Boost COMPONENTS system filesystem REQUIRED) target_link_libraries({{target_name}} ${Boost_FILESYSTEM_LIBRARY}) target_link_libraries({{target_name}} ${Boost_SYSTEM_LIBRARY})
  具体在ORB_SLAM2的CMakeLists.txt中：

find_package(Eigen3  REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Boost COMPONENTS system filesystem REQUIRED)#添加
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)
set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
${Boost_FILESYSTEM_LIBRARY}#添加
${Boost_SYSTEM_LIBRARY}#添加
)

err6:

• 相机打开报错：ERROR [140171878061824] (types.h:304) get_xu(...). xioctl(UVCIOC_CTRL_QUERY) failed Last Error: No such file or directory
• solve ref1
• solve ref2
  依然没有解决，但是不影响使用，只是每次关掉相机后就得将数据线两头拔掉重新连接，很是恼火，不知道是不是这个权限的原因。

结果：

3.Other

• Realsense SDK 2.0 Ubuntu 16.04 安装指导网址

• Realsense SDK 2.0 Win10 安装程序网址

• Realsense D415/D435 SDK示例程序

• Ros官网给出的Realsense D400系列示例程序

• 相机校准API和Tools（Win10）

• Realsense 官方文档集合（包含了许多API说明文档，但很多是针对SDK1.0的，请注意区分）

• Realsense D415/D435 相关下载页面（包含了许多文档、固件、SDK软件）

• Realsense D400系列最新固件下载（含固件升级程序）

• github上关于Realsense的Troubleshooting Q&A

• Realsense交流社区

• Realsense在移动机器人上的应用（官网实例）

• Realsense SDK 2.0 API编程示例（很实用的API讲解）

只是做了安装，后面再玩儿，还了还了。同时发现相机畸变有点大需要自己标定一下。