Ubuntu 18安装librealsense

散中仙 發表於 2020-8-4 16:45:00

写在前面
　　　　今天看到QQ“那年今日”提醒，三年前的今天我给自己写了一句话：等待机遇的同时不忘继续努力，走太远，别忘了为什么出发。
　　对于记录个人生活而言，QQ比微信优秀太多了。可惜膨胀了，加了一大堆小众的功能，用户体验直线下降……额，扯远了。言归正传。
 
　　　　因为项目是C++代码写的，之前装的Python版本的realsense库用不上了，只能build一个librealsense。
　　　　由于前些天安装opencv安装怕了,怎么make怎么不行,所以听到partner说安装librealsense和opencv一样难搞时，我怯了。
　　　　可事情总得去做，才有可能做成，对吧？
 
　　　　安装之前，确保电脑没有接realsense设备。
　　　　电脑系统:Ubuntu 18.04.4 LTS
　　　　安装方法参考https://github.com/IntelRealSense/librealsense
　　　　command:
<div class="cnblogs_code">
<pre>git clone https://github.com/Microsoft/vcpkg.git

cd vcpkg

./bootstrap-vcpkg.sh

./vcpkg integrate install

./vcpkg install realsense2</pre>
</div>
　　　　执行命令　./bootstrap-vcpkg.sh 的时候会下载3个包：cmake、librealsense、ninja。
　　下载过程比较慢，也许会失败，报错“过早的文件结束符（EOF）”之类的，此命令多执行几次，就可以下载好了。个中缘由，我归结为网络不好？
 
<div class="cnblogs_code">
<pre>ljx@ljx-Lenovo:~/soft/vcpkg$ ./bootstrap-vcpkg.sh
Extracting cmake...
Extracting cmake... done.
Downloading ninja...
% Total % Received % XferdAverage Speed Time Time TimeCurrent
 DloadUpload Total Spent LeftSpeed
100 624100 624 0 0 181 00:00:030:00:03 --:--:-- 181
100 99857100 99857 0 0 4844 00:00:200:00:20 --:--:-- 10906
Downloading ninja... done.
Extracting ninja...
Extracting ninja... done.
-- The CXX compiler identification is GNU 7.5.0
-- Check for working CXX compiler: /usr/bin/g++-7
-- Check for working CXX compiler: /usr/bin/g++-7 - works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detecting the C++ compiler in use
-- Detecting the C++ compiler in use - gcc
-- Detecting the C++ standard library
-- Detecting the C++ standard library - libstdc++
-- Detecting how to use the C++ filesystem library
-- Detecting how to use the C++ filesystem library - <experimental/filesystem> with -lc++fs
-- Looking for C++ include pthread.h
-- Looking for C++ include pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Check if compiler accepts -pthread
-- Check if compiler accepts -pthread - yes
-- Found Threads: TRUE
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ljx/soft/vcpkg/toolsrc/build.rel
[0/2] Re-checking globbed directories...
[79/79] Linking CXX executable vcpkg
Telemetry
---------
vcpkg collects usage data in order to help us improve your experience.
The data collected by Microsoft is anonymous.
You can opt-out of telemetry by re-running the bootstrap-vcpkg script with -disableMetrics,
passing --disable-metrics to vcpkg on the command line,
or by setting the VCPKG_DISABLE_METRICS environment variable.

Read more about vcpkg telemetry at docs/about/privacy.md
ljx@ljx-Lenovo:~/soft/vcpkg$ ./vcpkg integrate install
Applied user-wide integration for this vcpkg root.

CMake projects should use: "-DCMAKE_TOOLCHAIN_FILE=/home/ljx/soft/vcpkg/scripts/buildsystems/vcpkg.cmake"</pre>
</div>
 
　　命令执行过程如上图，应该是没问题的。
　　但我在执行./vcpkg install realsense2的时候报错：
<div class="cnblogs_code">
<pre>-- Configuring x64-linux-dbg -- Configuring x64-linux-rel CMake Error at scripts/cmake/vcpkg_execute_required_process.cmake:72 (message):     Command failed: /home/ljx/soft/vcpkg/downloads/tools/cmake-3.17.2-linux/cmake-3.17.2-Linux-x86_64/bin/cmake /home/ljx/soft/vcpkg/buildtrees/realsense2/src/93b7ff8597-4347a45ee5.clean -DBUILD_WITH_TM2=OFF -DENFORCE_METADATA=ON -DBUILD_WITH_OPENMP=OFF -DBUILD_UNIT_TESTS=OFF -DBUILD_WITH_STATIC_CRT=0 -DBUILD_OPENNI2_BINDINGS=OFF -DOPENNI2_DIR=/home/ljx/soft/vcpkg/installed/x64-linux/include/openni2 -DCMAKE_MAKE_PROGRAM=/home/ljx/soft/vcpkg/downloads/tools/ninja-1.10.0-linux/ninja -DCMAKE_SYSTEM_NAME=Linux -DBUILD_SHARED_LIBS=OFF -DVCPKG_CHAINLOAD_TOOLCHAIN_FILE=/home/ljx/soft/vcpkg/scripts/toolchains/linux.cmake -DVCPKG_TARGET_TRIPLET=x64-linux -DVCPKG_SET_CHARSET_FLAG=ON -DVCPKG_PLATFORM_TOOLSET=external -DCMAKE_EXPORT_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_PACKAGE_NO_PACKAGE_REGISTRY=ON -DCMAKE_FIND_PACKAGE_NO_SYSTEM_PACKAGE_REGISTRY=ON -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=TRUE -DCMAKE_VERBOSE_MAKEFILE=ON -DVCPKG_APPLOCAL_DEPS=OFF -DCMAKE_TOOLCHAIN_FILE=/home/ljx/soft/vcpkg/scripts/buildsystems/vcpkg.cmake -DCMAKE_ERROR_ON_ABSOLUTE_INSTALL_DESTINATION=ON -DVCPKG_CXX_FLAGS= -DVCPKG_CXX_FLAGS_RELEASE= -DVCPKG_CXX_FLAGS_DEBUG= -DVCPKG_C_FLAGS= -DVCPKG_C_FLAGS_RELEASE= -DVCPKG_C_FLAGS_DEBUG= -DVCPKG_CRT_LINKAGE=dynamic -DVCPKG_LINKER_FLAGS= -DVCPKG_TARGET_ARCHITECTURE=x64 -DCMAKE_INSTALL_LIBDIR:STRING=lib -DCMAKE_INSTALL_BINDIR:STRING=bin -D_VCPKG_ROOT_DIR=/home/ljx/soft/vcpkg -D_VCPKG_INSTALLED_DIR=/home/ljx/soft/vcpkg/installed -DVCPKG_MANIFEST_INSTALL=OFF -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF -G Ninja -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/home/ljx/soft/vcpkg/packages/realsense2_x64-linux     Working Directory: /home/ljx/soft/vcpkg/buildtrees/realsense2/x64-linux-rel /home/ljx/soft/vcpkg/buildtrees/realsense2/x64-linux-rel
Error code: 1
See logs for more information:
 /home/ljx/soft/vcpkg/buildtrees/realsense2/config-x64-linux-rel-out.log
 /home/ljx/soft/vcpkg/buildtrees/realsense2/config-x64-linux-rel-err.log

Call Stack (most recent call first):
scripts/cmake/vcpkg_configure_cmake.cmake:319 (vcpkg_execute_required_process)
ports/realsense2/portfile.cmake:29 (vcpkg_configure_cmake)
scripts/ports.cmake:79 (include)

Error: Building package realsense2:x64-linux failed with: BUILD_FAILED
Please ensure you're using the latest portfiles with `.\vcpkg update`, then
submit an issue at https://github.com/Microsoft/vcpkg/issues including:
Package: realsense2:x64-linux
Vcpkg version: 2020.06.15-unknownhash

Additionally, attach any relevant sections from the log files above.</pre>
</div>
　　　　我复制保留了执行./bootstrap-vcpkg.sh 的时候下载的3个包：cmake、librealsense、ninja，（在vcpkg/downloads里面），清除vcpkg文件夹，
　　重新按那几条指令顺序走一遍，在执行./bootstrap-vcpkg.sh 之前把三个下好的包放回对应的文件夹（纯粹是因为这样不用漫长的等待），
　　好了，依旧是最后一步出错。
 
　　　　然后我想能不能不用vcpkg这个C++包管理器安装，毕竟我已经通过它下载好了librealsense。
　　于是我找到了https://github.com/IntelRealSense/librealsense/blob/v2.38.0/doc/installation.md，看到了Building librealsense2 SDK,看到了cmake……
　　接着解压刚才下载好的IntrlRealSense-librealsense
　　一顿操作：
 
<div class="cnblogs_code">
<pre>mkdir build
cd build
cmake ../ -DCMAKE_BUILD_TYPE=Release
sudo make uninstall && make clean && make && sudo make install</pre>
</div>
 
　　等待一段时间，输入sudo密码继续安装完成，就好了
 
　　<img src="https://img2020.cnblogs.com/blog/1732705/202008/1732705-20200804161629732-1249573012.png">
 
　　项目成功include啦！
　　至此，librealsense安装完成。
 
　　你以为的困难，不一定就真的难。 
来源：https://www.cnblogs.com/ljxislearning/p/13434204.html

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Ubuntu 18安装librealsense