Jetson Nano配置IntelRealsense D435i(亲测可用)

1. 系统环境

• Jetson Nano
• Ubuntu 18.04（Jetson Nano的系统）
• IntelRealsense D435i

2. 下载jetsonhacksnano的安装脚本与Librealsense v2.31.0

2.1 下载jetsonhacksnano脚本

# 进入当前用户根目录，不在根目录安装就需要修改脚本Librealsense的安装位置
cd ~
# 克隆仓库到本地
git clone https://github.com/jetsonhacksnano/installLibrealsense
# 码云的镜像，github连不上用这个
git clone https://gitee.com/PPPPLeung/installLibrealsense.git
           

2.2 下载Librealsense v2.31.0源码

下载地址: https://github.com/IntelRealSense/librealsense/releases/tag/v2.31.0

在Assets选择下载Source code(tar.gz)

打不开github可以使用我gitee的备份

https://gitee.com/PPPPLeung/installLibrealsense/releases/release

2.3 开始安装

先安装依赖

cd installLibrealsense
./installLibrealsense.sh
           

修改buildLibrealsense.sh的部分参数为本地路径

#!/bin/bash
# Builds the Intel Realsense library librealsense on a Jetson Nano Development Kit
# Copyright (c) 2016-19 Jetsonhacks 
# MIT License

# Jetson Nano; L4T 32.2.3
# 修改为你第二点下载的librealsense源码
LIBREALSENSE_DIRECTORY=${HOME}/librealsense-2.31.0
LIBREALSENSE_VERSION=v2.31.0
INSTALL_DIR=$PWD
# 修改为本地的cuda路径
NVCC_PATH=/usr/local/cuda-10.2/bin/nvcc

USE_CUDA=true

function usage
{
    echo "usage: ./buildLibrealsense.sh [[-c ] | [-h]]"
    echo "-nc | --build_with_cuda  Build no CUDA (Defaults to with CUDA)"
    echo "-h | --help  This message"
}
           

修改后再执行脚本

./buildLibrealsense.sh
           

3. 使用IntelRealsense Viewer查看驱动是否安装成功

# terminal输入启动viewer
realsense-viewer
           

如果没检测出摄像头说明驱动有问题，或者Librealsense没有安装好

其他问题

1. 安装依赖

sudo apt-get install libcanberra-gtk-module libcanberra-gtk3-module
           

2. 使用buildLibrealsense.sh报错版本问题

将59~71行以下内容注释掉，不用检查版本

VERSION_TAG=$(git tag -l $LIBREALSENSE_VERSION)
if [ ! $VERSION_TAG  ] ; then
   echo ""
  tput setaf 1
  echo "==== librealsense Version Mismatch! ============="
  tput sgr0
  echo ""
  echo "The installed version of librealsense is not current enough for these scripts."
  echo "This script needs librealsense tag version: "$LIBREALSENSE_VERSION "but it is not available."
  echo "Please upgrade librealsense or remove the librealsense folder before attempting to install again."
  echo ""
  exit 1
fi
           

3. 安装Swapfile

# 克隆仓库
git clone https://github.com/jetsonhacksnano/installSwapfile
# 安装
cd installSwapfile
./installSwapfile.sh
# 重启
reboot
           

4. pyrealsense2测试

该python3是编译了pyrealsense2的运行环境

python3 your_python_script.py