检察主机ip
检察ssh服务是否启动
检察系统版本,使用代码
- root@ubuntu:~# lsb_release -a
复制代码 输出示例
- Distributor ID: Ubuntu
- Description: Ubuntu 22.04.2 LTS
- Release: 22.04
- Codename: jammy
复制代码 检察系统架构,使用代码
(x86 架构与 ARM 架构的 CPU 架构差别,如果回显为 aarch64表示为 ARM 架构,如果回显为 x86_64 表示为x86架构)
输出示例
- Linux k8s-master 5.15.0-1027-raspi #29-Ubuntu SMP PREEMPT Mon Apr 3 10:12:21 UTC 2023 aarch64 aarch64 aarch64 GNU/Linux
复制代码 或则使用如下代码检察系统架构
输出示例
Ubuntu 拷贝文件后文件带锁
在 Ubuntu 中,如果你使用 sudo 命令拷贝文件到一个必要 root 权限的目次,这个文件就会被标记为锁定状态(locked),只有root 用户或者具有相应权限的用户才华修改或删除它。如果你想要修改这个文件,可以使用 chown 命令将文件的全部权转移给自己,然后再进行修改。详细步调如下: 1.打开终端,使用以下命令将文件的全部权转移给自己:
- sudo chown your_username:your_username file path
复制代码 此中,"your username"为你的用户名,"file_path"为文件的路径。
参考:Ubuntu 拷贝文件后文件带锁 - CSDN文库
检察python所在的路径
在/usr/bin/目次下通过ls -l检察软链接的环境
系统换源
参考:Ubuntu更换软件源(20.04LTS版本)【ARM架构以及X86架构的Ubuntu】_ubunutu(arm)20.04更换软件源 csdn-CSDN博客
1.1备份原来的源
- sudo cp /etc/apt/sources.list /etc/apt/sources_init.list
复制代码 1.2更换源
清华大学的镜像源地址:清华大学开源软件镜像站 | Tsinghua Open Source Mirror
选择对应的Ubuntu版本复制内里的内容。复制到刚刚的 /etc/apt/sources.list文件中。 注意:Ubuntu必须要对应版本!!!!否则镜像源无效。然后实行(这里以ARM架构为例)
- # 先更新
- sudo apt-get update
- sudo apt-get upgrade
- # 安装nano编辑器
- sudo apt-get install nano
复制代码 打开镜像源文件
- sudo nano /etc/apt/sources.list
复制代码 将下边的清华源复制进去,然后ctrl+o生存,回车,ctrl+X退出编辑。
- # 默认注释了源码镜像以提高 apt update 速度,如有需要可自行取消注释
- deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
- # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy main restricted universe multiverse
- deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
- # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-updates main restricted universe multiverse
- deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
- # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ jammy-backports main restricted universe multiverse
-
- deb http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse
- # deb-src http://ports.ubuntu.com/ubuntu-ports/ jammy-security main restricted universe multiverse
复制代码 1.3更新
- sudo apt-get update
- sudo apt-get upgrade
复制代码 设置D415驱动
2.1下载RealSense SDK
- sudo apt-get install git
- git clone https://github.com/IntelRealSense/librealsense
复制代码 2.2编译
- cd librealsense/
-
- mkdir build && cd build
-
- sudo apt-get install libxrandr-dev
- sudo apt-get install libxinerama-dev
- sudo apt-get install libsdl2-dev
- sudo apt-get install python3-dev
- sudo apt install -y build-essential
- sudo apt-get install libssl-dev
-
- cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS=true -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=true
-
- sudo apt-get install libusb-1.0-0-dev
-
- sudo make uninstall && make clean && make && sudo make install #此处编译大约花费时间1.5h
复制代码 2.3设置udev规则
- cd librealsense
- sudo ./scripts/setup_udev_rules.sh
复制代码 2.4测试
在命令行中输入如下指令能看到界面就证明乐成了
安装pyrealsense2
pyrealsense2库不实用于arm架构树莓派,所以pip install pyrealsense2无法安装。目前还没有arm架构下的pyralsense2的PyPi包,因此在jetson使用pip安装的话,无法找到满意的版本。在python3下import pyrealsense2表现ImportError: No module named pyrealsense2
参考:【亲测有效】树莓派4B安装realsense(Intel深度摄像头)_树莓派realsense-CSDN博客
在Jetson Nano上编译 pyrealsense2库包,并在Intel的tof相机上进行测试_no internet connection, disabling import_depth_cam-CSDN博客
- cd ~/librealsense/build
-
- # for python3
- cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
-
- make -j1
- sudo make install
复制代码 添加python路径
复制下面语句到~/.zshrc中
- export PYTHONPATH=$PYTHONPATH:/usr/local/lib
复制代码 然后ctrl+o生存,回车,ctrl+X退出编辑,输入如下指令
到librealsense/build/release目次下看发现有了一些so、so.2.54 和 so.2.54.2 末端的文件,我们将这些文件全部拷贝至 /usr/lib/python3/dist-packages/ 文件夹下,不是 /usr/lib/python3.7 文件夹下。
- librealsense2-gl.so
- pyrsutils.cpython-310-aarch64-linux-gnu.so
- librealsense2-gl.so.2.54
- pyrsutils.cpython-310-aarch64-linux-gnu.so.2.54
- librealsense2-gl.so.2.54.2
- pyrsutils.cpython-310-aarch64-linux-gnu.so.2.54.2
- librealsense2.so
- librealsense2.so.2.54
- librealsense2.so.2.54.2
- pybackend2.cpython-310-aarch64-linux-gnu.so
- pybackend2.cpython-310-aarch64-linux-gnu.so.2
- pybackend2.cpython-310-aarch64-linux-gnu.so.2.54.2
- pyrealsense2.cpython-310-aarch64-linux-gnu.so
- pyrealsense2.cpython-310-aarch64-linux-gnu.so.2.54
- pyrealsense2.cpython-310-aarch64-linux-gnu.so.2.54.2
复制代码 python调用realsense深度相机测试代码
- 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()
复制代码 当可以大概出现画面即说明安装乐成
报错1
- Pyrealsense2-D435i:frames = pipeline.wait_for_frames() RuntimeError: Frame didn't arrival within 5000 #12462
复制代码 pyrealsense2库不实用于arm架构树莓派,所以pip install pyrealsense2无法安装。
参考:Pyrealsense2-D435i:frames = pipeline.wait_for_frames() RuntimeError: Frame didn't arrive within 5000 · Issue #12462 · IntelRealSense/librealsense (github.com)
报错2
- Could NOT find OpenSSL, try to set the path to OpenSSL root folder in the
复制代码 解决方案
- sudo apt-get install libssl-dev
复制代码 报错3
- GnuTLS recv error (-110): The TLS connection was non-properly terminated.
复制代码 参考:解决 git clone 时碰到的一些问题_gnutls recv error (-110): the tls connection was n-CSDN博客
报错4
- CMake Error at CMakeLists.txt:5 (project):
- No CMAKE_CXX_COMPILER could be found.
-
- Tell CMake where to find the compiler by setting either the environment
- variable "CXX" or the CMake cache entry CMAKE_CXX_COMPILER to the full path
- to the compiler, or to the compiler name if it is in the PATH.
复制代码 解决方案
- sudo apt install -y build-essential
复制代码 参考:解决 No CMAKE_CXX_COMPILER could be found问题_cmake error at cmakelists.txt:2 (project): no cmak-CSDN博客
报错5
- /home/ubuntu/librealsense/build/third-party/pybind11/include/pybind11/detail/common.h:266:10: fatal error: Python.h: No such file or directory
- 266 | #include <Python.h>
复制代码 解决方案
- sudo apt-get install python3-dev
复制代码
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