ork+realsense 尝试

https://blog.techbridge.cc/2016/05/14/ros-object-recognition-kitchen/  简单的教程，好多繁体字

In file included from /home/rosindigo/catkin_ws/src/ork_renderer/src/renderer3d.cpp:50:0:
/home/rosindigo/catkin_ws/src/ork_renderer/src/renderer3d_impl_osmesa.h:39:23: fatal error: GL/osmesa.h: 沒有此一檔案或目錄
 #include <GL/osmesa.h>
 ^
 compilation terminated.
 make[2]: *** [ork_renderer/src/CMakeFiles/object_recognition_renderer_3d.dir/renderer3d.cpp.o] Error 1
 make[1]: *** [ork_renderer/src/CMakeFiles/object_recognition_renderer_3d.dir/all] Error 2
 make: *** [all] Error 2
 Invoking "make -j8 -l8" failed

其中编译时会出现这样的错误，因為是少了 GL/osmesa.h，解决

sudo apt-get install libosmesa6-dev

20181012 确实不好弄

最近一直搞darknet的yolo，在移植到工控机的时候发现

 Given stream configuration is not supported by the device! 
 Stream: Infrared, Stream Index: 2, Format: Y8, Width: 640, Height: 480, FPS: 30

看样子说是设备不支持，查了半天最后还是在git上看到了问题所在

https://github.com/IntelRealSense/librealsense/issues/2410  原来是这个usb接口用的2.0，唬人啊，外面的借口明明是3.0，但是里面的是2.0，日了*了，搞了我一天。

原话是这样的：

In USB2 mode only subset of streaming configurations is supported due to bandwidth limitation (IR2 is not).
Please check the cabling, you may also may try to switch USB port.