robinzhoucmu / rgbd_driver

install librealsense dependencies first:

echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list
sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
sudo apt-get update
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

install PCL dependencies:

• install CUDA 9.0
• install OpenCV 3.4.1
• sudo apt install libeigen3-dev
• sudo apt install libflann-dev
• sudo apt install libvtk5-*
• sudo apt install libboost-all-dev
• sudo apt install libqhull-dev

build and run

mkdir build
cd build && cmake ..
make -j
cd .. && ./build/test_real_sense

NOTE:

there are two config json files in cfg for d435 and d415. you can use the intel gui (realsense-viewer) to to tweak the settings, save to disk and load from that.