{"id":505,"date":"2025-06-04T18:32:54","date_gmt":"2025-06-04T10:32:54","guid":{"rendered":"https:\/\/cennum.top\/?p=505"},"modified":"2025-06-04T22:28:04","modified_gmt":"2025-06-04T14:28:04","slug":"%e5%a5%a5%e6%af%94%e4%b8%ad%e5%85%89astra-pro%e5%9c%a8ubuntu22%e4%b8%8b%e8%bf%90%e8%a1%8castra-sdk%e4%be%8b%e7%a8%8b","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/06\/04\/%e5%a5%a5%e6%af%94%e4%b8%ad%e5%85%89astra-pro%e5%9c%a8ubuntu22%e4%b8%8b%e8%bf%90%e8%a1%8castra-sdk%e4%be%8b%e7%a8%8b\/","title":{"rendered":"\u5965\u6bd4\u4e2d\u5149Astra Pro\u5728ubuntu22\u4e0b\u8fd0\u884cAstra SDK\u4f8b\u7a0b"},"content":{"rendered":"\n<p>\u95f2\u9c7c\u4e0a60\u5757\u94b1\u6536\u7684Astra Pro\u4e00\u76f4\u5403\u7070\uff0c\u7ec8\u4e8e\u6709\u65f6\u95f4\u73a9\u4e00\u4e0b\uff0c\u628aopenNI\u7684\u4f8b\u7a0b\u548cAstra SDK\u7684\u4f8b\u7a0b\u8dd1\u4e86\u51fa\u6765\uff0cx86\u548carm\u90fd\u53ef\u4ee5\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1.Linux Astra SDK \u7684\u5b89\u88c5<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">1.1\u4e0b\u8f7dAstra SDK<\/h4>\n\n\n\n<p>\u767e\u5ea6\u7f51\u76d8\u94fe\u63a5: https:\/\/pan.baidu.com\/s\/1T4PNDEn9XaCA4OjH2jFy_A?pwd=2874 \u63d0\u53d6\u7801: 2874<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">1.2\u5b89\u88c5Astra SDK<\/h4>\n\n\n\n<p>\u5c06\u4e0b\u8f7d\u5230\u7684Astra Pro\u6df1\u5ea6\u76f8\u673a\/Linux_SDK\/AstraSDK\/AstraSDK-v2.1.3-x86_64.tar.gz\u590d\u5236\u5230\u4f60\u7684\uff5e\u76ee\u5f55\u4e0b\u5e76\u4e14\u89e3\u538b\uff08AstraSDK\/\u9009\u62e9\u4f60\u5bf9\u5e94\u7cfb\u7edf\u67b6\u6784\u7248\u672c\uff09<\/p>\n\n\n\n<p>\u6b64\u65f6\u4f60\u7684\uff5e\u76ee\u5f55\u4e0b\u5e94\u8be5\u6709AstraSDK-v2.1.3-x86_64\u7c7b\u4f3c\u7684\u6587\u4ef6\u5939<\/p>\n\n\n\n<p>\u8fdb\u5165\u8be5\u6587\u4ef6\u5939\uff0c\u7ed9\u5b89\u88c5\u811a\u672c\u6267\u884c\u6743\u9650\u5e76\u542f\u52a8\u811a\u672c<\/p>\n\n\n\n<pre class=\"wp-block-code has-vivid-green-cyan-color has-ast-global-color-8-background-color has-text-color has-background has-link-color wp-elements-b0f04e5fc414aa1afa0ac20a0ce3a7c1\"><code>cd AstraSDK\nchmod a+x install\/install.sh\n.\/install\/install.sh<\/code><\/pre>\n\n\n\n<h4 class=\"wp-block-heading\">1.3\u8bbe\u7f6e\u73af\u5883\u53d8\u91cf<\/h4>\n\n\n\n<p>\u5728\uff5e\/.bashrc\u6700\u540e\u4e00\u884c\u52a0\u5165\u4ee5\u4e0b<\/p>\n\n\n\n<pre class=\"wp-block-code has-vivid-green-cyan-color has-ast-global-color-8-background-color has-text-color has-background has-link-color wp-elements-c4a5511329448529bcd2713852d2882f\"><code>export ASTRA_SDK_INCLUDE=\/home\/user\/AstraSDK-v2.1.3-94bca0f52e-20210608T062039Z-Ubuntu18.04-x86_64\/lib\nexport ASTRA_SDK_INCLUDE=\/home\/user\/AstraSDK-v2.1.3-94bca0f52e-20210608T062039Z-Ubuntu18.04-x86_64\/includ<\/code><\/pre>\n\n\n\n<p>\u8fd9\u4e2a\u5730\u5740\u9700\u8981\u6839\u636e\u4f60\u7684\u60c5\u51b5\u4fee\u6539<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">1.4 Astra SDK \u793a\u4f8b\u7f16\u8bd1<\/h4>\n\n\n\n<p>Linux Astra SDK \u63d0\u4f9b\u4e86\u4e00\u4e9b\u793a\u4f8b\u7a0b\u5e8f\uff0c\u6211\u4eec\u53ef\u4ee5\u7528\u8fd9\u4e9b\u793a\u4f8b\u7a0b\u5e8f\u6765\u6d4b\u8bd5\u6211\u4eec\u7684 SDK \u5b89\u88c5\u662f\u5426\u6b63\u786e\u53ca\u76f8\u673a\u5de5\u4f5c\u662f\u5426\u6b63\u5e38\u3002\u6211\u4eec\u9700\u8981\u5148\u7f16\u8bd1\u8fd9\u4e9b\u793a\u4f8b\u3002<\/p>\n\n\n\n<p>1.4.1\u5b89\u88c5\u4f9d\u8d56<\/p>\n\n\n\n<pre class=\"wp-block-code has-vivid-green-cyan-color has-ast-global-color-8-background-color has-text-color has-background has-link-color wp-elements-162432c75a6c8f12e278e6dd9c545894\"><code>sudo apt install build-essential libsfml-dev<\/code><\/pre>\n\n\n\n<p>1.4.2 \u6267\u884c\u4e0b\u9762\u547d\u4ee4\u5efa\u7acb\u5e76\u8fdb\u5165\u7f16\u8bd1\u76ee\u5f55<\/p>\n\n\n\n<pre class=\"wp-block-code has-vivid-green-cyan-color has-ast-global-color-8-background-color has-text-color has-background has-link-color wp-elements-5f5e0ab4b1c07f5d41d3af1af43c340b\"><code>mkdir ~\/AstraSDK\/samples\/build\ncd ~\/AstraSDK\/samples\/build<\/code><\/pre>\n\n\n\n<p>1.4.3 \u6267\u884c\u4e0b\u9762\u547d\u4ee4\u5efa\u7acbtools\u76ee\u5f55<\/p>\n\n\n\n<pre class=\"wp-block-code has-vivid-green-cyan-color has-ast-global-color-8-background-color has-text-color has-background has-link-color wp-elements-2b3148376120d7a87ff17382098d803a\"><code>mkdir ~\/AstraSDK\/samples\/tools\ntouch ~\/AstraSDK\/samples\/CMakeLists.txt<\/code><\/pre>\n\n\n\n<p>\u8fd9\u4e00\u6b65\u5176\u5b9e\u6ca1\u6709\u5b9e\u9645\u6240\u7528\uff0c\u4f46\u662f\u6ca1\u6709\u8fd9\u4e2a\u76ee\u5f55 cmake \u4f1a\u62a5\u9519\u3002\u5982\u679c\u4f60\u662f\u65b0\u624b\u8bf7\u76f4\u63a5\u7167\u505a\u5373\u53ef\u3002\u4f60\u4e5f\u53ef\u4ee5\u5220\u9664 ~\/AstraSDK\/samples\/CMakeLists.txt \u7b2c140\u884c\u8fbe\u5230\u540c\u6837\u6548\u679c\u3002<\/p>\n\n\n\n<p>1.4.4 \u6267\u884c\u4e0b\u9762\u547d\u4ee4\u8fdb\u884c\u7f16\u8bd1<\/p>\n\n\n\n<pre class=\"wp-block-code has-vivid-green-cyan-color has-ast-global-color-8-background-color has-text-color has-background has-link-color wp-elements-eace6e5d1f0de4f20972eab6127148e6\"><code>cmake .. -DASTRA_UNIX=TRUE # -DASTRA_UNIX=TRUE \u662f\u544a\u8bc9 cmake \u7f16\u8bd1\u7c7b unix \u5e73\u53f0\u7684\u793a\u4f8b\nmake -j5 # j \u662f\u7f16\u8bd1\u7684\u65f6\u5019\u4f7f\u7528\u7684\u7ebf\u7a0b\u6570\uff0c\u53ef\u4ee5\u662f\u4f60\u7684 cpu \u6838\u5fc3\u6570\u91cf +1<\/code><\/pre>\n\n\n\n<p>1.4.5\u68c0\u67e5\u7f16\u8bd1\u7ed3\u679c<\/p>\n\n\n\n<p>\u7f16\u8bd1\u5b8c\u6210\u540e\u53ef\u4ee5\u7528 ls \u547d\u4ee4\u67e5\u770b build \u76ee\u5f55\u548c build\/bin \u76ee\u5f55\u3002\u53ef\u4ee5\u770b\u5230 build\/bin \u76ee\u5f55\u4e0b\u6709\u4e00\u4e9b\u53ef\u6267\u884c\u6587\u4ef6\uff0c\u8fd9\u4e9b\u53ef\u6267\u884c\u6587\u4ef6\u5c31\u662f\u7f16\u8bd1\u540e\u7684\u793a\u4f8b\u7a0b\u5e8f\u3002<br>\u53ef\u4ee5\u6267\u884c\u8fd9\u4e9b\u7a0b\u5e8f\u6765\u6d4b\u8bd5\u6211\u4eec\u7684\u76f8\u673a\u6548\u679c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">2.Linux Astra SDK \u793a\u4f8b\u4f7f\u7528<\/h3>\n\n\n\n<p>\u53ef\u4ee5\u8fd0\u884c ~\/AstraSDK\/sample\/build\/bin \u4e0b\u7684\u53ef\u6267\u884c\u6587\u4ef6\u6765\u6d4b\u8bd5\u76f8\u673a\u7684\u4f7f\u7528\u53ef\u4ee5 cd \u5230 bin \u76ee\u5f55\u540e\u7136\u540e\u6267\u884c\u5404\u4e2a\u53ef\u6267\u884c\u6587\u4ef6\uff0c\u6d4b\u8bd5\u6548\u679c\u3002\u8fd0\u884c\u524d\u8bb0\u5f97\u5c06\u76f8\u673a\u8fde\u63a5\u5230\u673a\u5668\u4e0a\u8fd0\u884c\u3002<\/p>\n\n\n\n<p>\u4f60\u53ef\u4ee5\u7528<strong> lsusb <\/strong>\u547d\u4ee4\u67e5\u770b usb \u8bbe\u5907\u8fde\u63a5\u60c5\u51b5\u3002<\/p>\n\n\n\n<p>\u8fd9\u91cc\u5217\u51fa\u5176\u4e2d\u51e0\u4e2a\u4f8b\u7a0b\u7684\u6548\u679c<br>\u2013 SimpleColorViewer-SFML \u67e5\u770bRGB\u753b\u9762<br>\u2013 SimpleDepthViewer-SFML \u67e5\u770b\u6df1\u5ea6\u753b\u9762<br>\u2013 SimpleStreamViewer-SFML \u540c\u65f6\u67e5\u770b\u591a\u4e2a\u753b\u9762<br>\u2013 SimpleBodyViewer-SFML \u67e5\u770b\u4eba\u4f53\u9aa8\u67b6\u8bc6\u522b\u753b\u9762<\/p>\n\n\n\n<p>\u8fd0\u884c\u4f8b\u7a0b\u62a5\u8d85\u65f6\u7684\u9519\u8bef\u7684\uff0c\u68c0\u67e5lsusb\u91cc\u9762\u6709\u6ca1\u6709\u8bbe\u5907\uff0c\u91cd\u65b0\u63d2\u62d4\u6444\u50cf\u5934<\/p>\n\n\n\n<p>\u4e0b\u4e00\u6b65\u53ef\u4ee5\u5c1d\u8bd5openNi2 SDK\u4f8b\u7a0b<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u95f2\u9c7c\u4e0a60\u5757\u94b1\u6536\u7684Astra Pro\u4e00\u76f4\u5403\u7070\uff0c\u7ec8\u4e8e &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2],"tags":[],"class_list":["post-505","post","type-post","status-publish","format-standard","hentry","category-linux"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/505","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=505"}],"version-history":[{"count":2,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/505\/revisions"}],"predecessor-version":[{"id":509,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/505\/revisions\/509"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=505"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=505"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=505"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}