Installation and configuration of interrealsense d435i camera driver

brief introduction

​ InterRealSense D435i yes Inter company RealSense One of the series cameras , This series adopts Intel's latest deep sensing hardware and software , Packaged into products that are easy to integrate . Compared with D435, It adds IMU（ Inertial measurement unit ）, Basic SLAM And the tracking application opens the door , Make it easier to register and calibrate the use cases of handheld scanning system , And in virtual / Areas such as augmented reality and unmanned aerial vehicles are also important .

​ Inertial measurement unit (IMU) Used to detect 6 A degree of freedom (6DoF) Motion and rotation of , Combine various sensors with gyroscopes , To detect 3 Rotation and movement of the shaft , And pitch 、 Yaw and roll . It is often used in games, pointing devices, image stabilization and other applications .

SDK2.0 install

Software source installation

​ Through public key registration on its server , You can obtain the software source of the corresponding driver . But registering on the server is easy to fail , The specific reason is unknown , Even using a ladder will not solve . So the second method is recommended .

Installation steps ：

• Register the public key of the server ：

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 server to repository list ：

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

• Refresh the local package cache by calling , Upgrade all installed packages

sudo apt-get update
sudo apt-get upgrade

• Install build dependency

sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

• Installation Library

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

• Update the local package cache again

sudo apt-get update
sudo apt-get upgrade

• Test the installation for success

realsense-viewer

Manual installation （ recommend ）

Installation steps ：

1. Local update

• Update local package cache

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

• Upgrade kernel distribution （ This step only Ubuntu14.04 You need to perform ）

sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial
#  Upgrade kernel distribution 
sudo update-grub && sudo reboot

​ stay Grub2 Boot Menu -> "Advanced Options for Ubuntu" Interrupt the boot process and select the kernel version installed in the previous step . If the Startup menu is not displayed , Please hold SHIFT.

​ Complete the guidance 、 Log in and verify the supported kernel version (4. [4,8,10,13,15,16] ]) uname -r

2. Get ready Linux Back end and development environment ：

• download / clone librealsense github The repository

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

• Move the directory where the terminal is located to librealsense root directory , Unplug any connected Intel realistic cameras .
• Install build Required core packages librealsense Binaries and affected kernel modules ：

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

• Install package
  • Ubuntu 14 Or run Ubuntu 16.04 live-disk：

    ./scripts/install_glfw3.sh

• Ubuntu 16：

    sudo apt-get install libglfw3-dev

• Ubuntu 18

    sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

• Build and apply patched kernel modules （ This step may take a long time ）：
  • with LTS Kernel Ubuntu 14/16/18

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

• With kernel 4.16 Of Ubuntu

    ./scripts/patch-ubuntu-kernel-4.16.sh

• with Ubuntu Intel Joule be based on Canonical Ltd Provides a custom kernel

    /scripts/patch-realsense-ubuntu-xenial-joule.sh

​ The above script will download 、 Patching and building affected realsense Kernel modules affected （ The driver ）. Then it will try to insert the patch module instead of the active module . If you fail The original uvc The module will be restored .

3. structure librealsense2 SDK

• stay Ubuntu 14.04 On , Update the build tool chain to gcc-5 ：
  • sudo add-apt-repository ppa:ubuntu-toolchain-r/test
  • sudo apt-get update
  • sudo apt-get install gcc-5 g++-5
  • sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5
  • sudo update-alternatives --set gcc "/usr/bin/gcc-5"
• stay librealsense Under the table of contents , perform ：

  mkdir build && cd build
  cmake ..  -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true

• compile ：

  make -j6 && sudo make install

• Verify the installation is successful

  realsense-viewer

matters needing attention

​ In the open realsense-viewer when , The camera may not be connected . This is because D435i Be sure to connect USB3.0 jack , At this point, you should check the connection to the computer USB Whether the port is USB3.0.