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| # Raspbian(RaspberryPi3) Installation | ||
| This is a setup guide for Realsense with RaspberryPi | ||
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| These steps are for D435 with Raspberry Pi3 and 3+. | ||
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| ### Check versions | ||
| ``` | ||
| $ uname -a | ||
| Linux raspberrypi 4.14.34-v7+ | ||
| $ sudo apt update;sudo apt upgrade | ||
| $ sudo reboot | ||
| $ uname -a | ||
| $ gcc -v | ||
| gcc version 6.3.0 20170516 (Raspbian 6.3.0-18+rpi1+deb9u1) | ||
| $ cmake --version | ||
| cmake version 3.7.2 | ||
| ``` | ||
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| ### Add swap | ||
| Initial value is 100MB, but we need to build libraries so initial value isn't enough for that. | ||
| In this case, need to switch from 100 to `2048` (2GB). | ||
| ``` | ||
| $ sudo vim /etc/dphys-swapfile | ||
| CONF_SWAPSIZE=2048 | ||
| $ sudo /etc/init.d/dphys-swapfile restart swapon -s | ||
| ``` | ||
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| ### Install packages | ||
| ``` | ||
| $ sudo apt-get install -y libdrm-amdgpu1 libdrm-amdgpu1-dbg libdrm-dev libdrm-exynos1 libdrm-exynos1-dbg libdrm-freedreno1 libdrm-freedreno1-dbg libdrm-nouveau2 libdrm-nouveau2-dbg libdrm-omap1 libdrm-omap1-dbg libdrm-radeon1 libdrm-radeon1-dbg libdrm-tegra0 libdrm-tegra0-dbg libdrm2 libdrm2-dbg | ||
| $ sudo apt-get install -y libglu1-mesa libglu1-mesa-dev glusterfs-common libglu1-mesa libglu1-mesa-dev libglui-dev libglui2c2 | ||
| $ sudo apt-get install libglu1-mesa libglu1-mesa-dev mesa-utils mesa-utils-extra | ||
| ``` | ||
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| ### update udev rule | ||
| Now we need to get librealsense from the repo(https://github.com/IntelRealSense/librealsense). | ||
| ``` | ||
| $ cd ~ | ||
| $ git clone https://github.com/IntelRealSense/librealsense.git | ||
| $ cd librealsense | ||
| $ sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ | ||
| $ sudo udevadm control --reload-rules && udevadm trigger | ||
| ``` | ||
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| ### update `cmake` version (if your cmake is 3.7.2 or before 3.11.4) | ||
| If you don't use zsh, please switch `.zshrc` to `.bashrc`. | ||
| ``` | ||
| $ cd ~ | ||
| $ wget https://cmake.org/files/v3.11/cmake-3.11.4.tar.gz | ||
| $ tar -zxvf cmake-3.11.4.tar.gz;rm cmake-3.11.4.tar.gz | ||
| $ cd cmake-3.11.4 | ||
| $ ./configure --prefix=/home/pi/cmake-3.11.4 | ||
| $ make -j1 | ||
| $ sudo make install | ||
| $ export PATH=/home/pi/cmake-3.11.4/bin:$PATH | ||
| $ source ~/.zshrc | ||
| $ cmake --version | ||
| cmake version 3.11.4 | ||
| ``` | ||
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| ### set path | ||
| ``` | ||
| $ vim ~/.zshrc | ||
| export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH | ||
| $ source ~/.zshrc | ||
| ``` | ||
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| ### install `protobu` | ||
| ``` | ||
| $ cd ~ | ||
| $ git clone --depth=1 -b v3.5.1 https://github.com/google/protobuf.git | ||
| $ cd protbuf | ||
| $ ./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 | ||
| ``` | ||
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| ### install `TBB` | ||
| ``` | ||
| $ 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 | ||
| ``` | ||
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| ### install `OpenCV` | ||
| You can build from source code, but it takes so much time. In this case, we will use pre-build version to save time. | ||
| ``` | ||
| Remove previous version | ||
| $ sudo apt autoremove libopencv3 | ||
| Install | ||
| $ wget https://github.com/mt08xx/files/raw/master/opencv-rpi/libopencv3_3.4.3-20180907.1_armhf.deb | ||
| $ sudo apt install -y ./libopencv3_3.4.3-20180907.1_armhf.deb | ||
| $ sudo ldconfig | ||
| ``` | ||
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| ### 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 | ||
| ``` | ||
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| ### install `pyrealsense2` | ||
| ``` | ||
| $ cd ~/librealsense/build | ||
| for python2 | ||
| $ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python) | ||
| for python3 | ||
| $ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3) | ||
| $ make -j1 | ||
| $ sudo make install | ||
| add python path | ||
| $ vim ~/.zshrc | ||
| export PYTHONPATH=$PYTHONPATH:/usr/local/lib | ||
| $ source ~/.zshrc | ||
| ``` | ||
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| ### change `pi` settings (enable OpenGL) | ||
| ``` | ||
| $ sudo apt-get install python-opengl | ||
| $ sudo -H pip3 install pyopengl | ||
| $ sudo -H pip3 install pyopengl_accelerate | ||
| $ sudo raspi-config | ||
| "7.Advanced Options" - "A7 GL Driver" - "G2 GL (Fake KMS)" | ||
| ``` | ||
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| Finally, need to reboot pi | ||
| ``` | ||
| $ sudo reboot | ||
| ``` | ||
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| ### Try RealSense D435 | ||
| Connected D435 to the pi and open terminal | ||
| ``` | ||
| $ realsense-viewer | ||
| ``` |