1.下载librealsense
https://github.com/IntelRealSense/librealsense/releases/tag/v2.16.5
2.sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libglfw3-dev
3.sudo apt-get install libgtk-3-dev
报错：
The following packages have unmet dependencies:
libgtk-3-dev : Depends: libgtk-3-0 (= 3.18.9-1ubuntu3) but 3.18.9-1ubuntu3.3 is to be installed
解决方法：
1)在Software Sources中修改配置：
勾选Important security updates (lucid-security)和Recommended updates (lucid-updates)选项
2)执行update操作
sudo apt-get update
3)重新安装：
sudo apt-get install libgtk-3-dev
4.在 librealsense 文件夹下安装Video4Linux视频内核驱动，注意不要插上摄像头。
构建和应用修补内核模块：
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
./scripts/patch-realsense-ubuntu-lts.sh
(ps:执行后发现系统中已经有了v4l2-core modules，所以跳过了这个步骤)
提示完成后，插上RealSense，可执行sudo dmesg | tail -n 50查看结果。
5.编译安装
mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make -j8 && sudo make install
6.install完成后，目标文件在 /usr/local/bin中。
进入librealsense/build/examples/capture，输入rs-capture测试。
7.升级固件（未测试）
连接摄像头
sudo apt-get install dfu
sudo apt-get install intel-realsense-dfu
lsusb #(看一下对应的device号)
下载bin,参考：https://downloadcenter.intel.com/download/28237/Latest-Firmware-for-Intel-RealSense-D400-Product-Family?v=t
https://downloadcenter.intel.com/download/28237/Latest-Firmware-for-Intel-RealSense-D400-Product-Family?v=t
intel-realsense-dfu -b 002 -d 009 -f -i ./Signed_Image_UVC_5_10_6_0.bin #(注意修改对应的-b 和 -d 后面的数字，以及bin的版本号)
echo ‘deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main’ | sudo tee /etc/apt/sources.list.d/realsense-public.list
sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
sudo apt-get update
sudo apt-get install dfu*
参考自：
http://www.pianshen.com/article/6519141340/
https://blog.csdn.net/qq_33419535/article/details/88547498
https://blog.csdn.net/qq_42393859/article/details/85257685
https://blog.csdn.net/riancy_riancy/article/details/83270836
https://blog.csdn.net/weixin_39585934/article/details/83902811
https://www.jianshu.com/p/51fca21bf6f4