一、实验环境
Camera Type
D435
Firmware Version
05.09.02.00 or 05.10.06.00
Operating System & Kernel Version
Ubuntu16.04.5 LTS 4.15.0-38-generic
SDK Version
v2.16.4
二、dpkg方式安装librealsense
参照文献3给出的预编译的dpkg安装方式：
Using username "vslyu".
[email protected]'s password:
Welcome to Ubuntu 16.04.5 LTS (GNU/Linux 4.15.0-38-generic x86_64)
* Documentation: https://help.ubuntu.com
* Management: https://landscape.canonical.com
* Support: https://ubuntu.com/advantage
37 packages can be updated.
0 updates are security updates.
New release '18.04.1 LTS' available.
Run 'do-release-upgrade' to upgrade to it.
*** System restart required ***
Last login: Thu Nov 8 20:33:47 2018 from 115.156.207.38
vslyu@vslyu-SYS-7048GR-TR:~$ sudo apt-key adv --keyserver keys.gnupg.net --recv- key C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com: 80 --recv-key C8B3A55A6F3EFCDE
[sudo] password for vslyu:
Executing: /tmp/tmp.Jx7OW4NdBW/gpg.1.sh --keyserver
keys.gnupg.net
--recv-key
C8B3A55A6F3EFCDE
gpg: requesting key 6F3EFCDE from hkp server keys.gnupg.net
gpg: key 6F3EFCDE: public key ""CN = Intel(R) Intel(R) Realsense", O=Intel Corpo ration" imported
gpg: Total number processed: 1
gpg: imported: 1 (RSA: 1)
vslyu@vslyu-SYS-7048GR-TR:~$
add ppa:
sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
Note:if there exists old records ,please remove it before update source:
sudo rm -f /etc/apt/sources.list.d/realsense-public.list
sudo apt-get update
update时候可能会遇到Hash sum mismatch的问题，参照文献4
输入modinfo uvcvideo | grep "version:"命令查看未安装librealsense-dkms的uvcvideo的版本：
vslyu@vslyu-Lenovo-G510:~$ modinfo uvcvideo | grep "version:"
version: 1.1.1
srcversion: DBA8F055BDC0120170B3498
install package about DKMS and tools/demos:
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
输入modinfo uvcvideo | grep "version:"命令查看安装librealsense-dkms的uvcvideo的版本：
vslyu@vslyu-Lenovo-G510:~$ modinfo uvcvideo | grep "version:"
version: 1.1.2.realsense-1.3.3
srcversion: C4FB5E9B212E9C39ED6CD7C
this shows uvcvideo driver contains realsense.
三.更新固件并且验证安装
参照文献5：
vslyu@vslyu-Lenovo-G510:~$ intel-realsense-dfu -b 004 -d 005 -f -i /home/vslyu/Downloads/
cmake-3.8.2/
cmake-3.8.2.tar.gz
Intel® RealSense™D400 Series Signed Production Firmware v5_10_6.zip
Signed_Image_UVC_5_10_6_0.bin
target-0.0.18.3452.mvcmd
vslyu@vslyu-Lenovo-G510:~$ intel-realsense-dfu -b 004 -d 005 -f -i /home/vslyu/Downloads/Signed_Image_UVC_5_10_6_0.bin
D400 busnum = 4
D400 devnum = 5
D400 FW file path = /home/vslyu/Downloads/Signed_Image_UVC_5_10_6_0.bin
FW Version of .bin File = 5.10.6.0
FW version on device = 5.9.2.0
MM FW Version = 255.255.255.255
FW update required...
Updating FW...
DFU FW version in file = 5.10.6.0
DFU_version = 60
DFU_isLocked = 0
FW_highestVersion = 0.0.0.0
FW_lastVersion = 0.0.0.0
SerialNumber = 823313022454
Percentage done: 99
Running post download processes...
.
Post download processes done.
Done!
vslyu@vslyu-Lenovo-G510:~$ intel-realsense-dfu -p
FW version on device = 5.10.6.0
MM FW Version = 255.255.255.255
以下是rs-capture的输出：
realsense-viewer的输出：
注意坑的地方：
librealsense SDK的最低固件的要求：
以下是默认firmware的版本为05.09.20时候的输出
errors of realsense-viewer:
this is output of realsense-viewer:
vslyu@vslyu-Lenovo-G510:~$ realsense-viewer
10/11 01:04:11,371 WARNING [140415003375360] (sensor.cpp:338) Unregistered Media formats : [ UYVY ]; Supported: [ ]
10/11 01:04:11,602 ERROR [140415323785792] (tm-context.cpp:34) Failed to create TrackingManager
10/11 01:04:16,408 WARNING [140415003375360] (types.cpp:57) set_pu(id=9) failed! Last Error: Input/output error
10/11 01:04:16,408 WARNING [140415003375360] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor
10/11 01:04:16,408 ERROR [140415003375360] (types.h:180) xioctl(VIDIOC_G_CTRL) failed Last Error: Invalid argument
10/11 01:04:16,408 WARNING [140415003375360] (sensor.cpp:722) Exception was thrown when inspecting properties of a sensor
Turn on camera :
10/11 01:05:40,339 WARNING [140414879258368] (backend-v4l2.cpp:1013) Frames didn't arrived within 5 seconds
10/11 01:05:41,304 WARNING [140414862472960] (backend-v4l2.cpp:1013) Frames didn't arrived within 5 seconds
outputs of rs-capture
vslyu@vslyu-Lenovo-G510:~$ rs-capture
10/11 01:06:54,213 ERROR [140440987621184] (types.h:180) xioctl(VIDIOC_S_FMT) failed Last Error: Device or resource busy
RealSense error calling rs2_pipeline_start(pipe:0x247c6c0):
xioctl(VIDIOC_S_FMT) failed Last Error: Device or resource busy
因为之前在Win10系统下同样版本的05.09.20固件与SDK也能够运行，所以一直在纠结是不是安装出了问题，参看issues/2639更新固件即可，另外固件更新时候需要查看设备的USB总线上的编号，附上参考7的方法。
参考文献与资料：
https://software.intel.com/en-us/realsense/d400/get-started
https://github.com/IntelRealSense/librealsense/releases/latest
https://github.com/IntelRealSense/librealsense/blob/development/doc/distribution_linux.md
Ubuntu16.04下APT Hash sum mismatch错误的常见解决方法总结
https://downloadcenter.intel.com/download/28237/Latest-Firmware-for-Intel-RealSense-D400-Product-Family
https://github.com/IntelRealSense/librealsense/issues/2639
linux查看设备usb版本号
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作者：vslyu
来源：CSDN
原文：https://blog.csdn.net/vslyu/article/details/83871018
版权声明：本文为博主原创文章，转载请附上博文链接！