Ubuntu14.04安装librealsense（camera R200）

刚开始安装之前，查了很多资料。后来发现还是官网的文档最靠谱。

参考github上`/doc/installation.md`

注意：

现在github上librealsense的master branch是2.0版本的SDK，我的摄像头是R200，推荐安装的应该是1.0版本，在Legacy branch下面。这点需要额外注意，我就是因为没注意读说明，上来就装了mater branch下的2.0，结果打不开我的R200。提了个issue，才知道该装1.0

安装过程：

升级Ubuntu14.04的内核，要确保在4.4.50以上

```
sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
```
对于一些低版本内核，上述三个命令不足以保证能将内核成功升级，接着运行：

sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial

记住安装的内核的版本，比如这里我安装的是4.4.0-112-generic（在安装2.0版本的时候做过一遍这个步骤，当时升级到了4.4.0-111-generic）
然后重启
```
sudo update-grub && sudo reboot
```
重启的时候选择高级选项，选4.4.0-112-generic那个启动项
进入系统之后运行
```
uname -r
```
确认内核的版本

安装依赖项

sudo apt-get install libusb-1.0-0-dev pkg-config

下载legacy分支下的文件，并且解压进入解压后的文件夹目录。`~/Downloads/librealsense-legacy/`

./scripts/install_glfw3.sh

Install the project...
-- Install configuration: ""
-- Up-to-date: /usr/local/include/GLFW
-- Installing: /usr/local/include/GLFW/glfw3.h
-- Installing: /usr/local/include/GLFW/glfw3native.h
-- Installing: /usr/local/lib/cmake/glfw3/glfw3Config.cmake
-- Installing: /usr/local/lib/cmake/glfw3/glfw3ConfigVersion.cmake
-- Installing: /usr/local/lib/cmake/glfw3/glfw3Targets.cmake
-- Installing: /usr/local/lib/cmake/glfw3/glfw3Targets-noconfig.cmake
-- Installing: /usr/local/lib/pkgconfig/glfw3.pc
-- Installing: /usr/local/lib/libglfw.so.3.2
-- Up-to-date: /usr/local/lib/libglfw.so.3
-- Up-to-date: /usr/local/lib/libglfw.so
Done installing glfw3!

上面的是安装glfw3的结果

编译和安装

mkdir build && cd build
cmake ../
cmake ../ -DBUILD_EXAMPLES=true
make && sudo make install
安装位置：库文件：/usr/local/lib 头文件：/usr/local/include demos, tutorials and tests ：/usr/local/bin

安装V4L

sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

sudo apt-get install libssl-dev

# 回到解压缩文件夹目录，运行下面的脚本
# 注意运行这个脚本的时候要拔掉摄像头
./scripts/patch-realsense-ubuntu-xenial.sh

script的运行结果：

Patched kernel module created successfullyHandle uvcvideo :
Module is resident, unloading ...  succeeded.
Applying the patched module ...  succeededScript has completed successfully. Please consult the installation guide for further instruction.

运行下面的命令，检查上面脚本的运行结果

sudo dmesg | tail -n 50

结果如下：

[duyl@ ~/Downloads/librealsense-legacy]14:38$ sudo dmesg | tail -n 50
[ 2181.959700] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2189.735339] systemd-hostnamed[5791]: Warning: nss-myhostname is not installed. Changing the local hostname might make it unresolveable. Please install nss-myhostname!
[ 2286.338849] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 2286.617633] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2286.617656] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2286.902883] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 2287.181013] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2287.181019] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2436.613356] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 2436.891560] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2436.891592] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2437.173328] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 2437.451966] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2437.451989] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2636.552369] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 2636.830929] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2636.830954] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2637.112289] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 2637.391121] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 2637.391144] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3003.917809] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 3004.196396] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3004.196423] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3004.461784] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 3004.740113] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3004.740132] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3095.311287] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 3095.589577] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3095.589604] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3095.847286] usb 1-3.4: reset low-speed USB device number 6 using xhci_hcd
[ 3096.125293] usb 1-3.4: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3096.383295] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 3096.661899] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3096.661926] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3158.971936] usbcore: deregistering interface driver uvcvideo
[ 3159.295591] media: Linux media interface: v0.10
[ 3159.305369] Linux video capture interface: v2.00
[ 3159.313350] uvcvideo: module verification failed: signature and/or required key missing - tainting kernel
[ 3159.313808] uvcvideo: Found UVC 1.00 device Integrated Webcam (1bcf:2c01)
[ 3159.321674] input: Integrated Webcam as /devices/pci0000:00/0000:00:14.0/usb1/1-5/1-5:1.0/input/input21
[ 3159.321970] usbcore: registered new interface driver uvcvideo
[ 3159.321976] USB Video Class driver (1.1.1)
[ 3211.504872] usb 1-3.4: reset low-speed USB device number 6 using xhci_hcd
[ 3211.783042] usb 1-3.4: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3216.913056] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 3217.191717] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3217.191745] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3217.473159] usb 1-3.3: reset low-speed USB device number 4 using xhci_hcd
[ 3217.751717] usb 1-3.3: ep 0x81 - rounding interval to 64 microframes, ep desc says 80 microframes
[ 3217.751741] usb 1-3.3: ep 0x82 - rounding interval to 64 microframes, ep desc says 80 microframes
[duyl@ ~/Downloads/librealsense-legacy]14:39$

注意倒数第几行显示的： usbcore: registered new interface driver uvcvideo

连接上摄像头，运行/usr/local/bin/目录下的cpp-capture。

[duyl@ /usr/local/bin]14:59$ ./cpp-capture

安装成功。

备注：

第一次安装错误了，安成了SDK2.0，后来装1.0，但是没有把2.0先uninstall，还是有点问题。

进入2.0SDK文件夹的build文件夹下面，运行

sudo make uninstall
make clean

把前面的清理掉，然后就行了。