树莓派4B安装realsense的Python3开发环境

￡神魔★判官ぃ 2023-03-14 13:13 15阅读 0赞

# 设置虚拟内存 #

sudo mousepad /etc/dphys-swapfile
    sudo /etc/init.d/dphys-swapfile restart

改为固定的2048或者干脆使用动态分配的大小，重启

# 安装依赖包 #

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade
    sudo apt-get install git cmake libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
    sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

第二行的是核心依赖，必装。第三行是3D相关的依赖，如果不打算使用realsense-viewer，可以不装。

# 下载Realsense SDK #

git clone https://github.com/IntelRealSense/librealsense.git

或者直接去上述地址下载zip包，解压

# 编译准备 #

mkdir build && cd build
    cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=ON -DBUILD_WITH_TM2=false -DIMPORT_DEPTH_CAM_FW=false

# 编译 #

sudo make uninstall && make clean && make && sudo make install

这步大概要1~2小时，反正很慢。。

# 设置udev规则 #

sudo ./scripts/setup_udev_rules.sh

会提示你拔掉摄像头，然后按任意键，主要是为了让realsense-viewer更方便的识别设备

# 测试 #

realsense-viewer

# 安装pyrealsense2 #

$ cd ~/librealsense/build
    
    for python2
    $ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python)
    
    for python3
    $ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
    
    $ make -j1
    $ sudo make install
    
    add python path
    $ vim ~/.zshrc
    export PYTHONPATH=$PYTHONPATH:/usr/local/lib
    
    $ source ~/.zshrc

这里做完，在`xxx/librealsense/build/wrappers/python`目录下会生成一些so文件，拷贝到python的库文件夹下

sudo cp pyxxxxx /usr/lib/python3/dist-packages/

# 测试 #

新建`test.py`文件，写入以下内容，并且运行

import pyrealsense2 as rs
    import numpy as np
    import cv2
    
    if __name__ == "__main__":
        # Configure depth and color streams
        pipeline = rs.pipeline()
        config = rs.config()
        config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
        config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
        # Start streaming
        pipeline.start(config)
        try:
            while True:
                # Wait for a coherent pair of frames: depth and color
                frames = pipeline.wait_for_frames()
                depth_frame = frames.get_depth_frame()
                color_frame = frames.get_color_frame()
                if not depth_frame or not color_frame:
                    continue
                # Convert images to numpy arrays
    
                depth_image = np.asanyarray(depth_frame.get_data())
    
                color_image = np.asanyarray(color_frame.get_data())
    
                # Apply colormap on depth image (image must be converted to 8-bit per pixel first)
                depth_colormap = cv2.applyColorMap(cv2.convertScaleAbs(depth_image, alpha=0.03), cv2.COLORMAP_JET)
                # Stack both images horizontally
                images = np.hstack((color_image, depth_colormap))
                # Show images
                cv2.namedWindow('RealSense', cv2.WINDOW_AUTOSIZE)
                cv2.imshow('RealSense', images)
                key = cv2.waitKey(1)
                # Press esc or 'q' to close the image window
                if key & 0xFF == ord('q') or key == 27:
                    cv2.destroyAllWindows()
                    break
        finally:
            # Stop streaming
            pipeline.stop()

# 关于opencv导入报错 #

ImportError: libhdf5_serial.so.100: cannot open shared object file: No such file or directory

原因：缺少了若干模块  
解决方案：直接安装

pip3 install opencv-contrib-python==3.4.3.18 -i https://www.piwheels.org/simple
    sudo apt-get update #安装依赖库
    sudo apt-get install libhdf5-dev
    sudo apt-get install libatlas-base-dev
    sudo apt-get install libjasper-dev
    sudo apt-get install libqt4-test
    sudo apt-get install libqtgui4
    sudo apt-get update
     
    python3
    import cv2 # 检查导入成功

# 参考链接 #

知乎文章：https://zhuanlan.zhihu.com/p/95724383

github官方文档： https://github.com/IntelRealSense/librealsense/blob/master/doc/installation\_raspbian.md