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Raspberry Pi 4 and Intel RealSense D435

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makerbro edited this page Apr 13, 2021 · 20 revisions

Pre-install Requirements

  • Start with updating, upgrading, and installing dependencies and tools:
sudo apt-get update && sudo apt-get dist-upgrade
sudo apt-get install automake libtool vim cmake libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev
  • Expand the filesystem by selecting the Advanced Options menu entry, and select yes to rebooting:
sudo raspi-config
  • Increase swap to 2GB by changing the file below to CONF_SWAPSIZE=2048:
sudo vi /etc/dphys-swapfile
  • Apply the change:
sudo /etc/init.d/dphys-swapfile restart swapon -s
  • Create a new udev rule:
cd ~
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
  • Apply the change (needs to be run by root):
sudo su
udevadm control --reload-rules && udevadm trigger
exit
  • Modify the path by adding the following line to the .bashrc file:
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
  • Apply the change:
source ~/.bashrc

Installation

  • Install protobuf — Google's language-neutral, platform-neutral, extensible mechanism for serializing structured data:
cd ~
git clone --depth=1 -b v3.10.0 https://github.com/google/protobuf.git
cd protobuf
./autogen.sh
./configure
make -j1
sudo make install
cd python
export LD_LIBRARY_PATH=../src/.libs
python3 setup.py build --cpp_implementation 
python3 setup.py test --cpp_implementation
sudo python3 setup.py install --cpp_implementation
export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=cpp
export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION_VERSION=3
sudo ldconfig
protoc --version
  • Install libtbb-dev parallelism library for C++:
cd ~
wget https://github.com/PINTO0309/TBBonARMv7/raw/master/libtbb-dev_2018U2_armhf.deb
sudo dpkg -i ~/libtbb-dev_2018U2_armhf.deb
sudo ldconfig
rm libtbb-dev_2018U2_armhf.deb
  • Install RealSense SDK librealsense:
cd ~/librealsense
mkdir  build  && cd build
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true
make -j1
sudo make install
  • Install RealSense SDK pyrealsense2 Python bindings for librealsense:
cd ~/librealsense/build
cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
make -j1
sudo make install
  • Modify the path by adding the following line to the .bashrc file:
export PYTHONPATH=$PYTHONPATH:/usr/local/lib
  • Apply the change:
source ~/.bashrc
  • Install OpenGL:
sudo apt-get install python-opengl
sudo -H pip3 install pyopengl
sudo -H pip3 install pyopengl_accelerate==3.1.3rc1
  • Change pi settings (enable OpenGL):
sudo raspi-config
"7. Advanced Options" – "A8 GL Driver" – "G2 GL (Fake KMS)"

Remote Operation

  • Enable VNC:
"3. Boot Options" – "B1 Desktop/CLI" – "B4 Desktop Autologin"
"5. Interfacing Options" – "P3 VNC" – "Yes"
"7. Advanced Options" – "A5 Resolution" – "DMT Mode 85 1280X720 60Hz 16:9"

  • Select "Finish" on the raspi-config menu, and select "Yes" to rebooting

  • Install a VNC client on another computer, for example VNC Viewer by RealVNC

  • VNC into the Raspberry Pi and run the built-in viewer from a terminal window:

realsense-viewer

Image of Intel's RealSense Viewer

Debugging

pi@raspberrypi:~ $ realsense-viewer
Could not initialize offscreen context!

There is a difference between running vncserver from the terminal and using raspi-config to install it. So, if you see the below output you're doing it wrong:

pi@raspberrypi:~ $ glxgears -info
GL_RENDERER = llvmpipe (LLVM 9.0.1, 128 bits)
GL_VERSION = 3.1 Mesa 19.3.2
GL_VENDOR = VMware, Inc.

Output known to be working:

GL_RENDERER = V3D 4.2
GL_VERSION = 2.1 Mesa 19.3.2
GL_VENDOR = Broadcom

The process to make the necessary changes is described in raspberrypi/Raspberry-Pi-OS-64bit#21 and raspberrypi/Raspberry-Pi-OS-64bit#3. It comes down to how we run vncserver, running it from a Putty terminal uses a VMware driver, whereas running it via sudo raspi-config > interfacing options > vncserver > enable and directly login from the VNC client app then uses the necessary Broadcom driver.

pi@raspberrypi:~ $ realsense-viewer
GLFW Driver Error: GLX: GLX version 1.3 is required
Could not initialize offscreen context!

Follow the steps described in IntelRealSense/librealsense#7343.

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