#Intel RealSense SDK 2.0
しばらくぶりにIntelRealSenseのgithubを覗いたらaptでインストールできるようになっていた。
##Package Details:
The packages and their respective content are listed below:
| Name | Content | Depends on |
|---|---|---|
| librealsense2-udev-rules | Configures RealSense device permissions on kernel level | - |
| librealsense2-dkms | DKMS package for Depth cameras-specific kernel extensions | librealsense2-udev-rules |
| librealsense2 | RealSense™ SDK runtime (.so) and configuration files | librealsense2-udev-rules |
| librealsense2-utils | Demos and tools available as a part of RealSense™ SDK | librealsense2 |
| librealsense2-dev | Header files and symbolic link for developers | librealsense2 |
| librealsense2-dbg | Debug symbols for developers librealsense2 |
Note The packages include binaries and configuration files only. Use the github repository to obtain the source code.
###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
Executing: /tmp/apt-key-gpghome.7zEfTLFBBA/gpg.1.sh --keyserver keys.gnupg.net --recv-key
F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
gpg: key C8B3A55A6F3EFCDE: public key ""CN = Intel(R) Intel(R) Realsense", O=Intel Corporation" imported
gpg: Total number processed: 1
gpg: imported: 1
In case the public key still cannot be retrieved, check and specify proxy settings: export http_proxy="http://:"
, and rerun the command. See additional methods in the following link.
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:
ROS Wrapperを使う場合はこれらもインストールしないとだめ。
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
Upgrading the Packages:
Refresh the local packages cache by invoking:
sudo apt-get update
Upgrade all the installed packages, including librealsense with:
sudo apt-get upgrade
To upgrade selected packages only a more granular approach can be applied:
sudo apt-get --only-upgrade install <package1 package2 ...>
E.g:
sudo apt-get --only-upgrade install librealsense2-utils librealsense2-dkms
###Uninstalling the Packages:
Important Removing Debian package is allowed only when no other installed packages directly refer to it. For example removing librealsense2-udev-rules requires librealsense2 to be removed first.
Remove a single package with:
sudo apt-get purge <package-name>
Remove all RealSense™ SDK-related packages with:
dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge