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installation_raspberry_pi_64.md

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Raspberry Pi OS 64bit Installation

This is a setup guide for Realsense with Raspberry Pi OS 64bit.
These steps are for L515 (maybe D4XX) with Raspberry Pi 64bit.

Preparation

  • Host PC (Ubuntu 18.04 or Higher)
  • Raspberry Pi 4 (maybe 3+)

Install Raspberry Pi OS 64 bit (Bata test version)

Write Raspberry Pi OS 64bit to SD card.
Latest builds of the 64 bit image can be found.
https://downloads.raspberrypi.org/raspios_arm64/images/

Note: (2021.2.6) Install "raspios_arm64-2020-08-24".

Update the software (On Raspberry Pi):

# On Raspberry Pi
$ sudo apt update
$ sudo apt upgrade

Patch kernel and Cross-compile (On host PC)

Build and apply patched kernel modules.
Build the kernel on the host PC (Cross-compiling).
See the Raspberry Pi documentation for more information on building.

Note: (2021.2.6) For 64bit, Only cross-compilation is possible.

Install dependencies:

# On host PC
$ sudo apt install git bc bison flex libssl-dev make
$ sudo apt install git bc bison flex libssl-dev make libc6-dev libncurses5-dev

# For 64-bit toolchain for a 64-bit kernel.
$ sudo apt install crossbuild-essential-arm64

Get kernel source:

# On host PC
$ git clone --depth=1 https://github.com/raspberrypi/linux

# 2021.2.6 commit 431ac1d21b5e842c5a564bc0bab31d7dc11611f5

Patch kernel source:

Apply the following patch of librealsense.

However, these patch cannot be applied to the kernel source of Raspberry Pi.
For this reason, I have prepared patches for Raspberry Pi kernels.

# On host PC
$ git clone https://github.com/NobuoTsukamoto/realsense_examples.git

# move kernel source dir and patch.
$ cd linux
$ patch -p1 < ../NobuoTsukamoto/script/raspberry_pi_kernel_5.10.13.patch

Apply the default configuration and change configuration:

# On host PC
# For Raspberry Pi 4 default build configuration
$ KERNEL=kernel8
$ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- bcm2711_defconfig
$ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- menuconfig

Enable the following drivers:

  • Deivce Drivers > HID support > Special HID drivers > HID Sensor framework support HID Sensor framework support
  • Deivce Drivers > Industrial I/O support > Accelerometers > HID Accelerometers HID Accelerometers
  • Deivce Drivers > Industrial I/O support > Digital gyroscope sensors > HID Gyroscope 3D HID Gyroscope 3D

Build

# On host PC
$ make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- -j$(nproc) Image modules dtbs

Install directly onto the SD card

Plug the SD card to the host PC.
Install the kernel modules, kernel and Device Tree blobs onto the SD card.

  • PATH_TO_ROOTFS: mounting rootfs (EXT4) partition.
  • PATH_TO_BOOT: mounting boot (FAT32) partision.
$ sudo env PATH=$PATH make ARCH=arm64 CROSS_COMPILE=aarch64-linux-gnu- INSTALL_MOD_PATH=PATH_TO_ROOTFS modules_install
$ sudo cp arch/arm64/boot/Image PATH_TO_BOOT/$KERNEL.img
$ sudo cp arch/arm64/boot/dts/broadcom/*.dtb PATH_TO_BOOT
$ sudo cp arch/arm64/boot/dts/overlays/*.dtb* PATH_TO_BOOT/overlays/
$ sudo cp arch/arm64/boot/dts/overlays/*.dtb* PATH_TO_BOOT/overlays/
$ sudo cp arch/arm64/boot/dts/overlays/README PATH_TO_BOOT/overlays/

Boot Raspberry Pi and Build librealsense (On Raspberry Pi)

Make sure the Raspberry Pi boots on the SD card with the kernel installed.

$ uname -a
Linux raspberrypi 5.10.13-v8+ #1 SMP PREEMPT Fri Feb 5 21:19:47 JST 2021 aarch64 GNU/Linux

Install dependencies:

$ sudo apt -y install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
$ sudo apt -y install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
$ sudo apt -y install python3-pybind11
$ sudo apt -y install pybind11-dev
$ sudo apt -y install cmake

Note: libapriltag-dev will not be installed. This is because an error will occur in the build.

Download source and build.

Build with the latest release (Get it from the repository if necessary).

$ wget https://github.com/IntelRealSense/librealsense/archive/v2.41.0.tar.gz
$ tar xf v2.41.0.tar.gz
$ cd librealsense-2.41.0

update udev rule.

$ sudo ./scripts/setup_udev_rules.sh

configuration and build.
Note:

  • FORCE_RSUSB_BACKEND is OFF because patched the kernel source.
  • BUILD_PYTHON_BINDINGS, BUILD_WITH_OPENMP can be specified as you like.
  • You can reduce the build time by specifying the -j option.
$ mkdir build && cd build
$ cmake .. \
    -DBUILD_PYTHON_BINDINGS=ON \
    -DBUILD_WITH_OPENMP=ON \
    -DCMAKE_BUILD_TYPE=Release
$ make -j3
$ sudo make install

Finally, need to reboot pi

$ sudo reboot

Try RealSense (On Raspberry Pi)

Connect RealSense (L515) and launch realsense-viewer.

$ realsense-viewer

Launch RealSense-Viewer

  • RealSense device is displayed
  • The Motion Module is valid.
    When turned on, Accel stream and Gyro stream are displayed.
  • Depth Sensor is enabled.
    When turned on, the Depth stream should be displayed.

Add PYTHONPATH

Open up your .bashrc file and append he following lines to the bottom of the file:

export PYTHONPATH=$PYTHONPATH:/usr/lib/python3/dist-packages/pyrealsense2/