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169 lines
4.2 KiB
169 lines
4.2 KiB
# Raspbian(RaspberryPi3) Installation
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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
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```
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$ uname -a
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Linux raspberrypi 4.14.34-v7+
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$ sudo apt update;sudo apt upgrade
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$ sudo reboot
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$ uname -a
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$ gcc -v
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gcc version 6.3.0 20170516 (Raspbian 6.3.0-18+rpi1+deb9u1)
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$ cmake --version
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cmake version 3.7.2
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```
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### Add swap
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Initial value is 100MB, but we need to build libraries so initial value isn't enough for that.
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In this case, need to switch from 100 to `2048` (2GB). Note that this is only needed on Raspberry Pi's with a small amount of RAM.
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```
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$ sudo vim /etc/dphys-swapfile
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CONF_SWAPSIZE=2048
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$ sudo /etc/init.d/dphys-swapfile restart swapon -s
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```
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### Install packages
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```
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$ sudo apt-get install -y libdrm-amdgpu1 libdrm-amdgpu1-dbgsym libdrm-dev libdrm-exynos1 libdrm-exynos1-dbgsym libdrm-freedreno1 libdrm-freedreno1-dbgsym libdrm-nouveau2 libdrm-nouveau2-dbgsym libdrm-omap1 libdrm-omap1-dbgsym libdrm-radeon1 libdrm-radeon1-dbgsym libdrm-tegra0 libdrm-tegra0-dbgsym libdrm2 libdrm2-dbgsym
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$ sudo apt-get install -y libglu1-mesa libglu1-mesa-dev glusterfs-common libglu1-mesa libglu1-mesa-dev libglui-dev libglui2c2
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$ sudo apt-get install -y libglu1-mesa libglu1-mesa-dev mesa-utils mesa-utils-extra xorg-dev libgtk-3-dev libusb-1.0-0-dev
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```
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### update udev rule
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Now we need to get librealsense from the repo(https://github.com/IntelRealSense/librealsense).
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```
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$ cd ~
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$ git clone https://github.com/IntelRealSense/librealsense.git
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$ cd librealsense
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$ sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
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$ sudo udevadm control --reload-rules && sudo udevadm trigger
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```
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### update `cmake` version (if your cmake is 3.7.2 or before 3.11.4)
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If you don't use zsh, please switch `.zshrc` to `.bashrc`.
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```
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$ cd ~
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$ wget https://cmake.org/files/v3.11/cmake-3.11.4.tar.gz
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$ tar -zxvf cmake-3.11.4.tar.gz;rm cmake-3.11.4.tar.gz
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$ cd cmake-3.11.4
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$ ./configure --prefix=/home/pi/cmake-3.11.4
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$ make -j1
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$ sudo make install
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$ export PATH=/home/pi/cmake-3.11.4/bin:$PATH
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$ source ~/.zshrc
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$ cmake --version
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cmake version 3.11.4
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```
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### set path
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```
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$ vim ~/.zshrc
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export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
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$ source ~/.zshrc
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```
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### install `protobuf`
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```
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$ cd ~
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$ git clone --depth=1 -b v3.5.1 https://github.com/google/protobuf.git
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$ cd protobuf
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$ ./autogen.sh
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$ ./configure
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$ make -j1
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$ sudo make install
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$ cd python
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$ export LD_LIBRARY_PATH=../src/.libs
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$ python3 setup.py build --cpp_implementation
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$ python3 setup.py test --cpp_implementation
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$ sudo python3 setup.py install --cpp_implementation
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$ export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=cpp
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$ export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION_VERSION=3
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$ sudo ldconfig
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$ protoc --version
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```
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### install `TBB`
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```
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$ cd ~
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$ wget https://github.com/PINTO0309/TBBonARMv7/raw/master/libtbb-dev_2018U2_armhf.deb
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$ sudo dpkg -i ~/libtbb-dev_2018U2_armhf.deb
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$ sudo ldconfig
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$ rm libtbb-dev_2018U2_armhf.deb
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```
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### install `OpenCV`
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You can build from source code, but it takes so much time. In this case, we will use pre-build version to save time.
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```
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Remove previous version
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$ sudo apt autoremove libopencv3
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Install
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$ wget https://github.com/mt08xx/files/raw/master/opencv-rpi/libopencv3_3.4.3-20180907.1_armhf.deb
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$ sudo apt install -y ./libopencv3_3.4.3-20180907.1_armhf.deb
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$ sudo ldconfig
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```
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### install `RealSense` SDK/librealsense
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```
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$ cd ~/librealsense
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$ mkdir build && cd build
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$ cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true
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$ make -j1
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$ sudo make install
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```
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### install `pyrealsense2`
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```
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$ cd ~/librealsense/build
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for python2
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$ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python)
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for python3
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$ cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
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$ make -j1
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$ sudo make install
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add python path
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$ vim ~/.zshrc
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export PYTHONPATH=$PYTHONPATH:/usr/local/lib
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$ source ~/.zshrc
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```
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### change `pi` settings (enable OpenGL)
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```
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$ sudo apt-get install python-opengl
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$ sudo -H pip3 install pyopengl
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$ sudo -H pip3 install pyopengl_accelerate
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$ sudo raspi-config
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"7.Advanced Options" - "A7 GL Driver" - "G2 GL (Fake KMS)"
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```
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Finally, need to reboot pi
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```
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$ sudo reboot
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```
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### Try RealSense D435
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Connected D435 to the pi and open terminal
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```
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$ realsense-viewer
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```
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