Configure Raspberry Pi 4B+Ubuntu-22.04.2+Intel Realsense T265

Prepare:

        Raspberry Pi 4b  

        Ubuntu 22.04.2

        T265

When I started playing with Raspberry Pi and T265, it took me a long time to configure the environment, and various errors were reported. If I want to configure a stable and error-free system without familiarity with these, I have to keep trying. After reinstalling the Ubuntu system 10 times, I have summed up a configuration method, you can see the 2D and 3D images of T265 in realsense-viewer

1. Install Ubuntu22.04.2

        Install Ubuntu on Raspberry Pi | Ubuntu

 After the system is installed and configured, if it is an external small screen, my suggestion is to set it to never turn off the screen, and then it is best to install some physical cooling on the Raspberry Pi, because the entire configuration will take several hours

2. Configuration environment

        Many blogs have mentioned the need for Swap partitions, but my Raspberry Pi 4b memory 4g is useless. If the configuration is higher than mine or like mine, it is not necessary to partition, at least when I configure it, there is no partition

Note : It is best to do it in an environment with a good network, or connect to a mobile phone hotspot throughout the process

step1：

        renew

sudo apt-get update

step2:

        install dependencies 

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

step3:

        Used to cancel the global (global) Git proxy settings

git config --global --unset http.proxy
git config --global --unset https.proxy

step4:

        Download Realsense SDK

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

step5:

        Compile preparation

cd librealsense
mkdir build && cd build

        Install the build-essential toolset, which contains the tools and libraries needed to compile and build software

sudo apt-get install -y build-essential

        Then

cmake ..

step6：

        Compile and install

make
sudo make install

Make compilation takes 1 or 2 hours, my suggestion is to play ball for a while

step7:

        Set udev rules

        Be careful not to plug in the T265

Back to parent file 

cd ..

sudo ./scripts/setup_udev_rules.sh

 step8:

        verify installation

Plug in the T265 at this time

rs-enumerate-devices

If there is information, it means success

Then you can use the visual interface to view the T265 screen:

realsense-viewer

After opening the visual interface, you may not be able to see the screen and there are two error reports. At this time, let’s not close the visual interface. We unplug the T265 from the Raspberry Pi and then plug it in. After a while, it will prompt that the T265 is detected. you can see the screen

At this point, even if the environment is configured, if you want to obtain T265 data later, you need to install other libraries, such as ROS, OpenCV

The following is the blog I mainly based on when configuring the environment:

https://blog.csdn.net/WHU_StudentZhong/article/details/120762608