Intel RealSense SDK 2.0 

#Intel RealSense SDK 2.0 
しばらくぶりにIntelRealSenseのgithubを覗いたらaptでインストールできるようになっていた。

##Package Details:
The packages and their respective content are listed below:

|Name      |Content       |Depends on        |
|----------|--------------|------------------|
|librealsense2-udev-rules|	Configures RealSense device permissions on kernel level	|-|
|librealsense2-dkms|	DKMS package for Depth cameras-specific kernel extensions|	librealsense2-udev-rules|
|librealsense2|	RealSense™ SDK runtime (.so) and configuration files|	librealsense2-udev-rules
|librealsense2-utils|	Demos and tools available as a part of RealSense™ SDK|	librealsense2
|librealsense2-dev|	Header files and symbolic link for developers|	librealsense2
|librealsense2-dbg|	Debug symbols for developers	librealsense2|

Note The packages include binaries and configuration files only. Use the github repository to obtain the source code.

###Installing the packages:
Register the server's public key:

    sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
    Executing: /tmp/apt-key-gpghome.7zEfTLFBBA/gpg.1.sh --keyserver keys.gnupg.net --recv-key 
    F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
    gpg: key C8B3A55A6F3EFCDE: public key ""CN = Intel(R) Intel(R) Realsense", O=Intel Corporation" imported
    gpg: Total number processed: 1
    gpg:               imported: 1


 In case the public key still cannot be retrieved, check and specify proxy settings: export http_proxy="http://<proxy>:<port>"
, and rerun the command. See additional methods in the following link.

Add the server to the list of repositories:
Ubuntu 16 LTS:

    sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main" -u
Ubuntu 18 LTS:

    sudo add-apt-repository "deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo bionic main" -u

Install the libraries (see section below if upgrading packages):

    sudo apt-get install librealsense2-dkms
    sudo apt-get install librealsense2-utils

The above two lines will deploy librealsense2 udev rules, build and activate kernel modules, runtime library and executable demos and tools.

Optionally install the developer and debug packages:
ROS Wrapperを使う場合はこれらもインストールしないとだめ。

    sudo apt-get install librealsense2-dev
    sudo apt-get install librealsense2-dbg

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.

Reconnect the Intel RealSense depth camera and run: realsense-viewer to verify the installation.

Verify that the kernel is updated :

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

Upgrading the Packages:
Refresh the local packages cache by invoking:

    sudo apt-get update

Upgrade all the installed packages, including librealsense with:

    sudo apt-get upgrade

To upgrade selected packages only a more granular approach can be applied:

    sudo apt-get --only-upgrade install <package1 package2 ...>
E.g:

    sudo apt-get --only-upgrade install librealsense2-utils librealsense2-dkms

###Uninstalling the Packages:
Important Removing Debian package is allowed only when no other installed packages directly refer to it. For example removing librealsense2-udev-rules requires librealsense2 to be removed first.

Remove a single package with:

    sudo apt-get purge <package-name>

Remove all RealSense™ SDK-related packages with:

    dpkg -l | grep "realsense" | cut -d " " -f 3 | xargs sudo dpkg --purge