Download/Clone librealsense github repository: Navigate to librealsense root directory to run the following scripts. Unplug any connected Intel RealSense camera.
运行 ./scripts/patch-realsense-ubuntu-lts.sh 时出现这个错误could not insert 'videodev': Required key not available #3354
按上述网页解决以后,
Navigate to librealsense root directory and run: 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
Recompile and install librealsense binaries: sudo make uninstall && make clean && make && sudo make install
至此,SDK安装完毕。
二.ORB-SLAM2编译,参考官方文档 官方安装文档
问题1:运行
./build.sh
出现错误(具体忘记了)。办法:将build.sh 文档打开,将make -j 修改为 make -j4 成功运行。