Ubuntu16.04在线安装RealSense SDK与使用

2019年5月左右，拿到了两个Intel RealSense设备(D425和D435i)，感觉不错就拿过来研究研究，刚开始真是一窍不通，后面在网上查了相关资料后才渐渐熟悉，因此为了便于以后的研究开发，在此就将自己相关经历作下记录

1.介绍

2018年1月19日，英特尔宣布更新RealSense深度摄像头产品线，带来两款全新的产品：D415和D435，现在已经开始接受预定。按照英特尔的说法，新型深度摄像头非常适合硬件原型设计者和软件开发者，设备采用了即用型USB供电形式，并且搭载了D400系列深度模块，具备完整光学深度解决方案。
RealSense D415提供卷帘快门感应器和窄视野的小镜头。英特尔表示，D415搭载D410深度传感器，狭窄视野提供了高深度分辨率，这是“精确测量的理想选择”。
RealSense D435提供全局快门感应器和更大的镜头，以获得比便宜的D415相机更好的低光照性能。D435还具有更强大的RealSense模块D430。
英特尔表示，D435相机是“机器人导航和物体识别等应用的首选解决方案”。这两款RealSense D400系列摄像机的捕捉最远距离可以达到10米，而且新款在户外阳光下也可以使用，均支持输出1280x720分辨率的深度画面，更普通的视频传输方面可以达到90fps。

D415实物图
D435实物图
D435

2.安装使用

在线安装RealSense SDK

Installing the packages:

• Register the server’s public key:

 sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

• Add the server to the list of repositories:
  Ubuntu 16 LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u

Ubuntu 18 LTS:

sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

• Install the libraries (see section below if upgrading packages):

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

  The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools.

• Optionally install the developer and debug 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.

Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

Verify that the kernel is updated :
modinfo uvcvideo | grep “version:” should include realsense string

官网参考地址：https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md#installing-the-packages

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固件升级Device Firmware Update (DFU)

1. Open terminal, press Ctrl + Alt + T

2. Add Intel server to list of repositories:

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

3. Register the servers public key:

    >i.sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE

4. Refresh the list of repositories and packages available:

    >i.sudo apt-get update

5. Install the intel-realsense-dfu package:

    >i.sudo apt-get install intel-realsense-dfu* 

6. Download latest D400 series firmware .bin file (Signed Binary):

   i.Click on this link:
   https://downloadcenter.intel.com/download/27522/Latest-Firmware-for-Intel-RealSense-D400-Product-Family?v=t

7. Plug in D400 Series camera to host USB3.1 port. Check serial # and bus#. type:

   i.Type: lsusb
   ii.Notice “Intel Corp.” bus and device numbers; DFU tool uses these values to identify Intel® RealSense™ D400 series camera.

8. Upgrade D400 Series Camera Firmware with Linux DFU
   Tool:

   i. Type command:
   (This command specifies bus #, device #, -f flag to force
   upgrade, and –i flag for complete system path to
   downloaded FW.bin file.)
   intel-realsense-dfu –b 002 –d 002 –f –i
   /home/intel/downloads/Signed_Image_UVC_5_9_2_0.b
   in

9. Tool will begin upgrade process, and notify when
   upgrade is complete.
10. Firmware Check:

    i. Check firmware with command:
    intel-realsense-dfu –p(或者intel-realsense-dfu -p -b 002 -d 002)

下面是PDF文档的相关截图：

参考地址：
Latest Firmware for Intel® RealSense™ D400 Product Family（下载地址）

Linux* Firmware Update User Guide.

Linux* Device Firmware Update (DFU) Tool Install and User Guide (PDF)

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使用工具进行固件升级

具体参考：
Firmware Update Tool (rs-fw-update)

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使用
安装好RealSense SDK与固件升级后，将RealSense设备插入到已升级的USB口上

随后打开终端，输入realsense-viewer即可