RobotinoでRealsense

librealsense2が，robotinoパッケージに紐付いているため，GLSLが1.30になると使えない模様．

sudo apt-get install libglfw3-dev

とりあえず，ソースから入れてみるか…．
Intel Realsenseを動かしてみよう　#1を参考に作業してみます．

cd ~/git
git clone https://github.com/intelrealsense/librealsense
mkdir -p librealsense/build
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
cd build
cmake ..
make -j4
sudo make install

「glsl1.30 is not supported」のエラーが出る…．とほほ．
realsense-viewer not starting in ubuntu 20.04を参考に，リンク先のinux/Ubuntu – RealSense SDK 2.0 Build Guideを見てみると，

cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false - For systems without OpenGL or X11 build only textual examples

とあるので，cmake の部分をやり直し．

cd ..
rm -rf build
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true -DBUILD_GRAPHICAL_EXAMPLES=false
make -j4
sudo make install

って，これはただ単にrealsense-viewerをmakeしないって対処法じゃん…．とほほ．

The example program rs-capture would also act as a test of whether OpenGL is functioning properly on your computer, as it makes use of OpenGL for rendering like the Viewer does.

あ，こっちはいけそうだ．

cd ~/git/librealsense/build/examples/capture
./rs-capture

というわけで，pythonでrealsenseを使うために，

pip3 install pyrealsense2 open3d

ERROR: jupyter-packaging 0.12.3 has requirement setuptools>=60.2.0, but you'll have setuptools 45.2.0 which is incompatible.
  WARNING: The scripts f2py, f2py3 and f2py3.8 are installed in '/home/robotino/.local/bin' which is not on PATH.

エラーと警告は，今のところ無視してみます．