深度相机

intel D435 深度相机

当前使用版本
Intel® RealSense™ SDK 2.0 (build 2.20.0)
https://dev.intelrealsense.com/docs/intel-realsense-d400-series-product-family-datasheet
For systems without OpenGL?
Ubuntu 16.04 安装OpenGL
配置步骤

1. 使用 apt 安装 OpenGL 和开发包

sudo apt-get install build-essential libgl1-mesa-dev
sudo apt-get install freeglut3-dev
sudo apt-get install libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev
sdk下载：
https://github.com/IntelRealSense/librealsense/releases
本地编译：
x86架构本地编译安装的目录：/usr/local/bin
cd librealsense-2.40.0
mkdir build && cd build
cmake -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false ..
sudo make uninstall && make clean && make && sudo make install
交叉编译：
https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md
source /data/toradex/sdk/environment-setup-armv7at2hf-vfp-neon-angstrom-linux-gnueabi
cd librealsense-2.40.0
mkdir build-toradex && cd build-toradex
cmake -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false -DCMAKE_INSTALL_PREFIX=/home/neethan/workspace2/project/20201118_d435/librealsense-2.40.0/build-toradex ..
make uninstall && make clean && make && make install

root@apalis-tk1-mainline:~# tar -jxvf librealsense-2.40.0_install.tar.bz2 -C /usr/
D435固件下载：
https://dev.intelrealsense.com/docs/firmware-updates
https://dev.intelrealsense.com/docs/firmware-releases

D435固件烧录方法：
https://dev.intelrealsense.com/docs/firmware-update-tool
进入本地编译安装目录，cd /usr/local/bin
bin rs-fw-update -l
connected devices:
1) Name: Intel RealSense D435, serial number: 014122072551, update serial number: 016223023302, firmware version: 05.11.01.100, USB type: 3.2
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D435掉线问题

http://www.linux-usb.org/FAQ.html#ts6
https://www.cnblogs.com/zhuxiaoxi/p/8504211.html
device descriptor read/64, error -71
源代码中的-71(/include/asm-generic/erro.h)代表的是协议的错误，协议的错误应该就是时序的错误，时序的错误就代表了硬件走线应该是有问题，
把到USB端口的线做的很短，发现问题解决了。
[ 8062.195867] uvcvideo: Failed to query (GET_CUR) UVC control 1 on unit 3: -32 (exp. 1024). [ 8919.994163] uvcvideo: Failed to query (SET_CUR) UVC control 4 on unit 1: -32 (exp. 4). [ 8925.055347] uvcvideo: Failed to query (SET_CUR) UVC control 10 on unit 3: -32 (exp. 2).
https://github.com/IntelRealSense/librealsense/issues/5145

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