{"id":551,"date":"2025-07-04T03:21:47","date_gmt":"2025-07-03T19:21:47","guid":{"rendered":"https:\/\/cennum.top\/?p=551"},"modified":"2025-08-07T02:32:55","modified_gmt":"2025-08-06T18:32:55","slug":"ubuntu22-04%ef%bc%88%e6%a0%91%e8%8e%93%e6%b4%be4b%ef%bc%89%e4%bd%bf%e7%94%a8t265%e8%b7%9f%e8%b8%aa%e6%91%84%e5%83%8f%e5%a4%b4","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/07\/04\/ubuntu22-04%ef%bc%88%e6%a0%91%e8%8e%93%e6%b4%be4b%ef%bc%89%e4%bd%bf%e7%94%a8t265%e8%b7%9f%e8%b8%aa%e6%91%84%e5%83%8f%e5%a4%b4\/","title":{"rendered":"ubuntu22.04\u4f7f\u7528t265\u8ddf\u8e2a\u6444\u50cf\u5934"},"content":{"rendered":"\n<p>\u56e0\u4e3aintel\u5df2\u7ecf\u4e0d\u518d\u5bf9realsense t265\u8ddf\u8e2a\u6444\u50cf\u5934\u652f\u6301\uff0c\u76f4\u63a5\u5728ubuntu\u4e0a\u4f7f\u7528apt install \u5b89\u88c5\u65b0\u7248\u7684<code>realsense2<\/code> SDK\u4e0d\u652f\u6301t265<\/p>\n\n\n\n<p>\u7ecf\u8fc7\u6211\u7684\u6d4b\u8bd5\u53d1\u73b0\u5b89\u88c5<code>realsense2<\/code> SDK 2.51.1\u7248\u672c\u53ef\u4ee5\u6b63\u5e38\u5728ubuntu22\u4e0a\u542f\u52a8t265\uff0c\u5e76\u4e14\u53ef\u4ee5\u914d\u5408realsense-ros2 4.51.1\u7248\u672c\u5728ros2\u4e2d\u4f7f\u7528<\/p>\n\n\n\n<p>\u4e0b\u9762\u8bb0\u5f55\u5728\u642d\u8f7dubuntu22.04\u7684\u6811\u8393\u6d3e4b\u4e0a\u6e90\u7801\u7f16\u8bd1\u5b89\u88c5<code>realsense2<\/code> SDK 2.51.1\u7248\u672c<\/p>\n\n\n\n<p>\u7ecf\u8fc7\u6d4b\u8bd5\u53d1\u73b0arm64\u7248\u548camd64\u90fd\u652f\u6301<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1.\u5b89\u88c5\u5de5\u5177\u4e0e\u4f9d\u8d56<\/h3>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev\nsudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">2.\u62c9\u53d6<code>realsense2<\/code> SDK 2.51.1\u6e90\u7801<\/h3>\n\n\n\n<p>\u4e00\u5b9a\u8981\u6307\u5b9a\u7248\u672cv2.51.1<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>git clone https:\/\/github.com\/IntelRealSense\/librealsense.git\ncd librealsense\ngit checkout v2.51.1<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">3.\u7f16\u8bd1\u5b89\u88c5<code>realsense2<\/code> SDK 2.51.1<\/h3>\n\n\n\n<p>\u5176\u4ed6\u6559\u7a0b\u90fd\u662f\u7ed9\u7cfb\u7edf\u5185\u6838\u6253\u8865\u4e01\u6765\u517c\u5bb9\u8001\u7248\u672c\uff08\u6211\u6ca1\u6709\u6210\u529f\uff09<\/p>\n\n\n\n<p>\u6211\u8fd9\u91cc\u4f7f\u7528\u7ed5\u8fc7\u5185\u6838\u9a71\u52a8 (RSUSB Backend)\u7684\u65b9\u6cd5\uff0c\u8fd9\u662f<code>librealsense<\/code> SDK \u63d0\u4f9b\u4e86\u4e00\u79cd\u73b0\u4ee3\u5316\u7684\u7f16\u8bd1\u9009\u9879\uff0c\u53ef\u4ee5\u5b8c\u5168\u7ed5\u8fc7 Linux \u5185\u6838\u7684V4L2\u9a71\u52a8\uff0c\u5b8c\u5168\u4e0d\u9700\u8981\u4efb\u4f55\u5185\u6838\u8865\u4e01\uff0c\u76f4\u63a5\u901a\u8fc7 <code>libusb<\/code> \u4e0e\u6444\u50cf\u5934\u901a\u4fe1\uff0c\u7ecf\u9a8c\u8bc1\u53ef\u4ee5\u6210\u529f\u7f16\u8bd1\u5b89\u88c5\u4e0a\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>cd librealsense\nmkdir build &amp;&amp; cd build\n#\u8fd9\u91cc\u4f7f\u7528 -DFORCE_RSUSB_BACKEND=ON \u9009\u9879\u8fd0\u884c cmake\ncmake ..\/ -DFORCE_RSUSB_BACKEND=ON -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true -DBUILD_WITH_CUDA=false\nmake -j4\nsudo make install\n# \u66f4\u65b0\u7cfb\u7edf\u7684\u52a8\u6001\u94fe\u63a5\u5e93\u7f13\u5b58\nsudo ldconfig<\/code><\/pre>\n\n\n\n<p>\u6211\u7684\u6811\u8393\u6d3e4b\u662f\u7f16\u8bd1\u4e86\u534a\u4e2a\u5c0f\u65f6\u7684\uff0c\u8010\u5fc3\u7b49\u5f85\u3002\u3002\u3002<\/p>\n\n\n\n<p>\u5b8c\u6210\u540e\u4e3a\u4e86\u80fd\u8bc6\u522b\u6444\u50cf\u5934\u578b\u53f7\uff0c\u8981\u8bbe\u7f6eudev\u89c4\u5219<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>sudo cp ..\/config\/99-realsense-libusb.rules \/etc\/udev\/rules.d\/\nsudo udevadm control --reload-rules &amp;&amp; sudo udevadm trigger<\/code><\/pre>\n\n\n\n<h3 class=\"wp-block-heading\">4.\u7f16\u8bd1\u8fc7\u7a0b\u53ef\u80fd\u9047\u5230\u95ee\u9898<\/h3>\n\n\n\n<p>\u6211\u9047\u5230\u4e0b\u9762\u8fd9\u6837\u7684\u62a5\u9519<\/p>\n\n\n\n<pre class=\"wp-block-code has-ast-global-color-8-background-color has-background\"><code>&#91; 36%] Building CXX object CMakeFiles\/realsense2.dir\/src\/libusb\/context-libusb.cpp.o\nIn file included from \/home\/cennum\/librealsense\/src\/libusb\/context-libusb.h:10,\nfrom \/home\/cennum\/librealsense\/src\/libusb\/context-libusb.cpp:4:\n\/home\/cennum\/librealsense\/src\/libusb\/libusb.h:10:82: error: extended character \u2018 is not valid in an identifier\n10 | \/usr\/include\/libusb-1.0\/libusb.h:736:4: warning: ISO C++ forbids zero-size array \u2018dev_capability_data\u2019 &#91;-Wpedantic]\n| ^<\/code><\/pre>\n\n\n\n<p>\u95ee\u9898\u662f\u8bf4\/home\/cennum\/librealsense\/src\/libusb\/context-libusb.h\u4e2d\u6709\u4e2d\u6587\u5f15\u53f7\uff0c\u53ef\u80fd\u662f\u7f16\u8bd1\u5668\u6ca1\u6709\u8bc6\u522b\u5230\u6ce8\u91ca\u90e8\u5206\u5bfc\u81f4\u7684<\/p>\n\n\n\n<p>\u76f4\u63a5\u5220\u9664\/librealsense\/src\/libusb\/context-libusb.h\u62a5\u9519\u7684\u90a3\u4e00\u5757\uff0c\u6211\u662f\u8fd9\u6837\u89e3\u51b3\u7684\uff0c\u4e0d\u5f71\u54cd<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">5.\u542f\u52a8realsense-viewer<\/h3>\n\n\n\n<p>\u63d2\u4e0a\u4f60\u7684realsense \u76f8\u673a\uff0c\u542f\u52a8realsense-viewer\uff0c\u53ef\u4ee5\u770b\u5230\u7248\u672c\u53f7\u662fv2.51.1<\/p>\n\n\n\n<p>\u5982\u679c\u4f60\u60f3\u5728ros2 \u4e2d\u4f7f\u7528t265\u6216\u8005d435,\u5fc5\u987b\u914d\u5408realsense SDK v2.51.1\u4f7f\u7528realsense-ros 4.51.1\u7248\u672c<\/p>\n\n\n\n<p>\u4e0b\u4e00\u6761\u66f4\u65b0\u5728ros2 \u4e2d\u5b89\u88c5realsense-ros 4.51.1\u5e76\u4e14\u542f\u52a8\u76f8\u673a\u7684ros2\u8282\u70b9<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u56e0\u4e3aintel\u5df2\u7ecf\u4e0d\u518d\u5bf9realsense t26 &hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-551","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/551","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=551"}],"version-history":[{"count":4,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/551\/revisions"}],"predecessor-version":[{"id":580,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/551\/revisions\/580"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=551"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=551"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=551"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}