双目相机---realsense_d435 与astra(奥比中光)性能测试

realsense-d435

1. install ros

2. Install dependences
   首先添加ros的官方源，最好添加ros的安装界面上的那个

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

然后： 
    sudo apt-get install ros-$ROS_DISTRO-rgbd-launch

    sudo apt-get install ros-$ROS_DISTRO-libuvc

    sudo apt-get install ros-$ROS_DISTRO-libuvc-camera

    sudo apt-get install ros-$ROS_DISTRO-libuvc-ros
   

3. 下载源码
    ```sh
    cd ~/catkin_ws/src
    git clone https://github.com/orbbec/ros_astra_camera
    ```

4. 在系统中添加udev rule文件

 
    roscd astra_camera
    ./scripts/create_udev_rules（打开create_udev_rules，执行语句即可）

6. 编译代码

Prepare Linux Backend and the Dev. Environment:

1. 首先拔下所有的realsnese连接

2. 安装依赖
   sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev

   • Ubuntu 16:
     sudo apt-get install libglfw3-dev

   • Ubuntu 18:
     sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
     
     

3. Run Intel Realsense permissions script from librealsense root directory:
   ./scripts/setup_udev_rules.sh
   

Building librealsense2 SDK

• 在librealsense文件夹内：  mkdir build && cd build

• Run CMake:

  • cmake ../ - The default build is set to produce the core shared object and unit-tests binaries in Debug mode. Use -DCMAKE_BUILD_TYPE=Release to build with optimizations.
  • cmake ../ -DBUILD_EXAMPLES=true - Builds librealsense along with the demos and tutorials
  • cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false - For systems without OpenGL or X11 build only textual examples
    
    

• 编译并安装
  
  sudo make uninstall && make clean && make && sudo make install