一、Realsense T265 相关环境配置1.T265 坐标系定义2. T265 SDK 安装由于T265停产Intel RealSense SDK 2.0v.2.54.1在该版本中移除了对T265相机的支持因此下载v2.48.0版本。本示例版本为2.50下载地址https://github.com/IntelRealSense/librealsense安装依赖项cd librealsense sudo apt-get install libudev-dev pkg-config libgtk-3-dev sudo apt-get install libusb-1.0-0-dev pkg-config sudo apt-get install libglfw3-dev sudo apt-get install libssl-dev sudo apt-get install libglu1-mesa-dev sudo apt-get install curl安装权限脚本sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules udevadm trigger编译librealsense:mkdir build cd build cmake ../ -DCMAKE_BUILD_TYPERelease -DBUILD_EXAMPLEStrue sudo make uninstall make clean make -j8 sudo make install运行测试软件realsense-viewer如果显示mission一个模块右上角会有标注输入如下指令安装该模块sudo cp ~/.99-realsense-libusb.rules /etc/udev/rules.d/99-realsense-libusb.rules sudo udevadm control --reload-rules udevadm trigger解决一些问题如果出现curl的报错问题sudo apt-get update sudo apt-get install curl如果出现/usr/include/GLFW/glfw3.h:215:13: fatal error: GL/glu.h: 没有那个文件或目录sudo apt-get update sudo apt-get install libglu1-mesa-dev二、Pangolin配置以Pangolin 0.6版本为例安装基础依赖项sudo apt install git cmake gcc g sudo apt install libeigen3-dev sudo apt install libboost-dev sudo apt-get install libboost-all-dev sudo apt install libssl-dev sudo apt-get install libglew-dev安装pangolincd pangolin mkdir build cd build cmake .. make -j6 sudo make install