Installation of Intel Realsense SDK on Raspberry Pi 4

Development Environment

• Raspberry Pi 4 Model B
• Raspberry Pi OS Lite

Reference

https://openvino.jp/intel-realsense-camera-d435i-2/

1. Add Swap

/etc/dphys-swapfile

...
CONF_SWAPSIZE=2048

2. 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 -y libglu1-mesa libglu1-mesa-dev mesa-utils mesa-utils-extra xorg-dev libgtk-3-dev libusb-1.0-0-dev

3. Update udev Rule

mkdir ~/src && cd ~/src
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

4. Set Path

echo "export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc
source ~/.bashrc

5. Install Protocol Buffers

cd ~/src
sudo apt install autoconf automake libtool curl
wget https://github.com/protocolbuffers/protobuf/releases/download/v3.7.1/protobuf-all-3.7.1.tar.gz
tar -zxvf protobuf-all-3.7.1.tar.gz
cd protobuf-3.7.1
./configure
make
make check
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

sudo reboot

6. Install TBB

cd ~/src
wget https://github.com/PINTO0309/TBBonARMv7/raw/master/libtbb-dev_2018U2_armhf.deb
sudo dpkg -i ~/src/libtbb-dev_2018U2_armhf.deb
sudo ldconfig
rm libtbb-dev_2018U2_armhf.deb

7. Install OpenCV

Check here

8. Install Realsense SDK/librealsense

cd ~/src/librealsense
mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true
make -j1
sudo make install

9. Install PyRealsense

cd ~/src/librealsense/build
cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
make -j1
sudo make install

echo "export PYTHONPATH=$PYTHONPATH:/usr/local/lib" >> ~/.bashrc
source ~/.bashrc

10. Change Pi Setting

sudo apt 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)"

Then, reboot.

sudo reboot

Check if it is Installed

Open desktop environment of Raspberry Pi (etc. VNC).

Open a terminal and run realsense-viewer

realsense-viewer