sudo apt-get update

sudo apt-get install libusb-dev libusb-1.0-0-dev libglfw3 libglfw3-dev freeglut3 freeglut3-dev

sudo apt-get install libpng12-dev

wget -q -O /tmp/libpng12.deb http://security.ubuntu.com/ubuntu/pool/main/libp/libpng/libpng12-0_1.2.54-1ubuntu1.1_amd64.deb

sudo dpkg -i /tmp/libpng12.deb

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2. Debian Package Installation

2.1 Add Intel server to the list of repositories :

echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsense-public.list
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It is recommended to backup /etc/apt/sources.list.d/realsense-public.list file in case of an upgrade.

2.2 Register the server’s public key :

sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
sudo apt-key adv --keyserver keys.gnupg.net --recv-key C8B3A55A6F3EFCDE || sudo apt-key adv -- keyserver hkp://keyserver.ubuntu.com:80 --recv-key C8B3A55A6F3EFCDE
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2

Refresh the list of repositories and packages available :

sudo apt-get update
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2.3 Install the librscalibrationtool package which includes Intel® RealSense™ Dynamic Calibrator:

sudo apt-get install librscalibrationtool
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说明:

librscalibrationtool适用设备为 Intel RealSense D400, D410, D415, D420, D430, D435.
安装后的使用说明见: /usr/share/doc/librscalibrationtool/README.md

2.4 Failure – (Optional) Developers shall also install librscalibrationapi package:

sudo apt-get install librscalibrationapi
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Problem:

librscalibrationapi : Depends: libpng12-dev but it is not installable
分析: 自Ubuntu18.04以后，libpng12-dev已经被弃用

3. Checking Package Installation

After the debian package install finishes, check for files installed. Under debian convention, the executables are installed under /usr/bin, library files under /usr/lib, and other files including sample code under /usr/share/doc.
For example, for Calibration Tool, librscalibrationtool, the files are installed as below:

sudo dpkg -L librscalibrationtool
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4. Video4Linux backend

1. In order to run demos install:

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
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The above two lines will deploy librealsense2 udev rules, kernel drivers, runtime library and executable demos and tools.
Reconnect the Intel RealSense depth camera and run: realsense-viewer

2. Developers shall install additional packages:

sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg
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With dev package installed, you can compile an application with librealsense using g++ -std=c++11 filename.cpp -lrealsense2 or an IDE of your choice.

3. Verify that the kernel is updated :

modinfo uvcvideo | grep "version:" 
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should include realsense string

5. Test Installation

1. Print the tool version to screen:

/usr/bin/Intel.Realsense.DynamicCalibrator -v
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2. To print device information to screen, connect a camera device to the system and execute the following command:

/usr/bin/Intel.Realsense.DynamicCalibrator -list
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6. Perform Calibration for Camera

/usr/bin/Intel.Realsense.DynamicCalibrator
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* Problem (not fixed):

I can see the RGB, Depth and Gyro information without problems when I run realsense-vieweror subscribe to the realsense-ros topics. But when I run/usr/bin/Intel.Realsense.DynamicCalibrator
And click on Start Calibration I get the Failed to start Calibration Error as seen:

PS: relative issue discussion on github:
https://github.com/IntelRealSense/librealsense/issues/3990

Kurento 源码安装（Ubuntu 14.04 和 Ubuntu 16.04）

1. 进入 Home 目录

cd ~

2. 添加镜像源 

 ubuntu 14.04

echo "deb http://ubuntu.kurento.org trusty-dev kms6" | sudo tee /etc/apt/sources.list.d/kurento-dev.list

ubuntu 16.04

echo "deb http://ubuntu.kurento.org xenial-dev kms6" | sudo tee /etc/apt/sources.list.d/kurento-dev.list

3. 下载 kurento.gpg.key

wget -O - http://ubuntu.kurento.org/kurento.gpg.key | sudo apt-key add -

4. 更新

sudo apt-get update

5. 安装 git （已安装跳过）

sudo apt-get install git

6. 安装 build-essential

sudo apt-get install build-essential

7. 下载 KMS

git clone https://github.com/Kurento/kurento-media-server.git

8. 进入 KMS 目录

cd kurento-media-server

9. 安装 KMS 依赖

sudo apt-get install $(cat debian/control | sed -e "s/$/\!\!/g" | tr -d ''\n'' | sed "s/\!\! / /g" | sed "s/\!\!/\n/g" | grep "Build-Depends" | sed "s/Build-Depends: //g" | sed "s/([^)]*)//g" | sed "s/, */ /g")

10. 新建 build 目录

mkdir -p build

11. 进入 build 目录

cd build

12. 生成 makefile

cmake ..

13. 编译 KMS

make -j4

14. git submodule

cd ..

git submodule update --recursive --init

15. deb 打包

dpkg-buildpackage -us -uc

16. 安装 KMS

sudo dpkg -i ../kurento_<version>_<arch>.deb

17. 启动 KMS

sudo service kurento-media-server start

18. 停止 KMS

sudo service kurento-media-server stop

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