【三维重建】Ubuntu20.04进行RealSenseD435环境配置及初步使用

一、环境配置

github上面的教程：https://github.com/IntelRealSense/librealsense/blob/master/doc/distribution_linux.md

比较完整的配置博客：

https://blog.csdn.net/wanghq2013/article/details/123325671

https://blog.csdn.net/jiexijihe945/article/details/126163341

1、首先按照Installing the packages进行环境配置

• 注册服务器的公钥：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

• 将服务器添加到存储库列表：

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

• 安装库（如果升级包，请参阅下面的部分）：

sudo apt-get install librealsense2-dkms

sudo apt-get install librealsense2-utils

以上两行将部署 librealsense2 udev 规则，构建和激活内核模块、运行时库和可执行的演示和工具。

• 可选择安装开发人员和调试包：

sudo apt-get install librealsense2-dev

sudo apt-get install librealsense2-dbg

由于dev包已经安装，你可以编译一个应用使用librealsense，通过命令g++ -std=c++11 filename.cpp -lrealsense2或别的IDE来编译具有librealsense的应用

重新连接英特尔实感深度摄像头并运行：realsense-viewer 以验证安装。

验证内核是否已更新：

modinfo uvcvideo | grep "version:" 应包括realsense字符。

2、卸载库文件

重要仅当没有其他已安装的软件包直接引用它时才允许删除 Debian 软件包。

例如删除 librealsense2-udev-rules 需要先删除 librealsense2

卸载一个单独的包使用命令：

sudo apt-get purge <package-name>

移除所有Realense 相关的SDK包使用：

dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge

3、报错

使用realsense-viewer命令打开界面出现cannot access /sys/access/video4linux

这边出现的问题是刚才安装dkms需要编译linux的内核相关，而重启之后没有选择更改内核的选项，所有出现了问题。

正确的做法是安装dkms之后重启以下，重启的时候会出现爱你UEFI Secure Boot的要求，

UEFI Secure boot是一种验证机制，确保固件启动的代码是可信的

要输入secure boot密码的情况：

重启电脑时perfrom mok management，出现蓝屏的MOK management，具体的解决办法如下：

1. 当进入蓝色背景的界面perform mok management后，选择 enroll mok，
2. 进入enroll mok界面，选择 continue，
3. 进入enroll the key界面，选择yes，
4. 接下来输入你在安装驱动时输入的密码
5. 之后会跳到蓝色背景的界面perform mok management选择第一个reboot

https://www.cnblogs.com/yutian-blogs/p/13019226.html

4、ROS下使用

https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy

在ubuntu下使用

第一步就是刚才写的安装sdk

第二步从源码安装

• 在ubuntu下创建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/

• 拷贝最新的realsense包到这个空间

git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..

• 确保已经安装了ddynamic_reconfigure，没有安装的话从https://github.com/pal-robotics/ddynamic_reconfigure/tree/kinetic-devel此处git到src目录下。

• 接着运行

catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

• 在ubuntu下添加启动

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

• 启动节点测试
  
  开启摄像头节点：

roslaunch realsense2_camera rs_camera.launch

然后打开rviz选择摄像头以及DepthCloud就能进行显示了。

• 还可以直接使用rgbd-launch进行测试
  
  rgbd_launch是一组打开RGBD设备，并load 所有nodelets转化 raw depth/RGB/IR 流到深度图(depth image), 视差图(disparity image)和点云(point clouds)的launch文件集。

  sudo apt-get install ros-noetic-rgbd-launch
  

  测试

  roslaunch realsense2_camera demo_pointcloud.launch
  

二、使用

useage1

https://blog.csdn.net/wanghq2013/article/details/123325671

上面博客中自己的使用是将img_viewer.cpp中的节点改成realsense的RGB图片或者深度图片，如果是深度图片，需要将cv::imshow("view", cv_bridge::toCvShare(msg, "bgr8")->image);中的rgb8改成16UC1。

也就是调用realsense发布的节点用的是realsense自己的，

roslaunch realsense2_camera rs_camera.launch

订阅节点用的是上面的img_viewer.cpp

另外自己使用的时候用的是rosOpenCV。

以下是自己的package.xml

点击查看代码

<?xml version="1.0"?>
<package format="2">
  <name>myRealSenseTest</name>
  <version>0.0.0</version>
  <description>The myRealSenseTest package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="bck20@todo.todo">bck20</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>

  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/myRealSenseTest</url> -->

  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->

  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>cv_bridge</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>rosOpenCV</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>cv_bridge</build_export_depend>
  <build_export_depend>image_transport</build_export_depend>
  <build_export_depend>rosOpenCV</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>sensor_msgs</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>cv_bridge</exec_depend>
  <exec_depend>image_transport</exec_depend>
  <exec_depend>rosOpenCV</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>std_msgs</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

img_viewer.cpp

点击查看代码

//接收并查看图像消息的节点img_viewer.cpp
#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <opencv2/highgui/highgui.hpp>
#include <cv_bridge/cv_bridge.h>

 //依赖包有std_msgs（消息传递），roscpp（c++），cv_bridge（ros和opencv图像消息转换），sensor_msgs（传感器消息），image_transport（图像编码传输）
void imageCallback(const sensor_msgs::ImageConstPtr& msg)
{
  try
  {
    cv::imshow("view", cv_bridge::toCvShare(msg, "16UC1")->image);
  }
  catch (cv_bridge::Exception& e)
  {
    ROS_ERROR("Could not convert from '%s' to '16UC1'.", msg->encoding.c_str());
  }
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "img_viewer");
  ros::NodeHandle nh;
  cv::namedWindow("view");
  cv::startWindowThread();
  image_transport::ImageTransport it(nh);
  image_transport::Subscriber sub = it.subscribe("camera/depth/image_rect_raw", 0, imageCallback);
  ros::spin();
  cv::destroyWindow("view");
  return 0;
}

CMakeLists.txt

点击查看代码

cmake_minimum_required(VERSION 3.0.2)
project(myRealSenseTest)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  sensor_msgs
  std_msgs
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

# find_package(OpenCV REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES myRealSenseTest
#  CATKIN_DEPENDS cv_bridge image_transport opencv2 roscpp sensor_msgs std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/myRealSenseTest.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/myRealSenseTest_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

add_executable(img_publisher src/img_publisher.cpp)
target_link_libraries(img_publisher ${catkin_LIBRARIES} )

add_executable(img_viewer src/img_viewer.cpp)
target_link_libraries(img_viewer ${catkin_LIBRARIES})

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_myRealSenseTest.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

usage2

https://blog.csdn.net/zkk9527/article/details/108224128

usage3

从深度相机生成pcl点云：https://dontla.blog.csdn.net/article/details/102608417