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jeojeda / rpi-realsense

setup of a raspberry pi 4 and Realsense Camera D405

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The following steps are based on the guide that pfcouto compiled and shared in datasith/Ai_Demos_RPi#10 and mathklk

Visit the wiki for more general instructions about Git, How to setup a network, etc.

General Instructions

Setup of a raspberry pi 4 and Realsense Camera D405

1. Setup the Rasperry Pi case

  1. setup case https://www.youtube.com/watch?v=hWH3v-YUM1E

  2. heat sink https://www.youtube.com/watch?v=E-4GaAz7XNM

2. Install rpi image with Raspberry Pi Imager

  1. general instructions and steps from: https://www.youtube.com/watch?v=LBIBUntnxp8 Follow only the part of the RPI Image

3. Connect with SSH

On Windows CMD ssh <username>@<hostname> #example rpi@raspberrypi type password

4. Start the setup of the Raspberry Pi:

  • Update

    ~ $ sudo apt update
~ $ sudo apt upgrade

  • Enabling VNC Server at the command line You can enable VNC Server at the command line using raspi-config:

~ $ sudo raspi-config

5. Remote Operation

Enable VNC Server:

"3. Interface Options"
"I3. VNC Enable graphical remote access using RealVNC" - "Yes"
"2. Display Options"
"D5. VNC Rsolution" - "1280x720"

- 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](https://www.realvnc.com/en/connect/download/viewer/)
- connect using the name of the local server, for example: ```raspberrypi```

Raspberry OS

sudo apt-get update && sudo apt-get dist-upgrade

  • 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 nano /etc/dphys-swapfile

  • Apply the change: sudo /etc/init.d/dphys-swapfile restart swapon -s

Raspberry Pi Setup

Pre-install Requirements on Raspbian

  • Start with updating, upgrading, and installing dependencies and tools:
sudo apt-get update && sudo apt-get dist-upgrade
sudo apt-get install -y automake libtool cmake libusb-1.0-0-dev libx11-dev xorg-dev libglu1-mesa-dev libssl-dev clang llvm libatlas-base-dev python3-opencv

From another source, vim was also installed. I prefer to use ǹano instead.

  • 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:
sudo nano ~/.bashrc
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
  • Apply the change:
source ~/.bashrc

After an error libtbb-dev was installed before the Python installation inside Protobuf

sudo apt-get install libtbb-dev

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
python --version # 3.9.2
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:
sudo apt install clang llvm
sudo apt-get install libssl-dev
cd ~/librealsense
mkdir build
cd build
export CC=/usr/bin/clang
export CXX=/usr/bin/clang++
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true -DOTHER_LIBS="-latomic"

make -j2
sudo make install
  • Install RealSense SDK pyrealsense2 Python bindings for librealsense:
cd ~/librealsense/build
cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
make -j2
sudo make install
  • Modify the path by adding the following line to the .bashrc file:
echo "export PYTHONPATH=$PYTHONPATH:/usr/local/lib" >> .bashrc
  • Apply the change:
source ~/.bashrc
  • Install OpenGL:
sudo apt-get install python-opengl
sudo -H pip3 install pyopengl
# if there is an error try
sudo apt get install python-opengl
sudo -H pip3 install pyopengl_accelerate
# if there is an error try
sudo pip3 install pyopengl
  • Change pi settings (enable OpenGL):
sudo raspi-config
"7. Advanced Options" – "A8 GL Driver" – "G2 GL (Fake KMS)"
  • Run Realsense viewer
realsense-viewer

* Debuging

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!

* Install Python 3.9.2

https://raspberrytips.com/install-latest-python-raspberry-pi/

  • Download and extract
wget https://www.python.org/ftp/python/3.9.2/Python-3.9.2.tgz
tar -zxvf Python-3.9.2.tgz
cd Python-3.9.2
./configure --enable-optimizations
sudo make altinstall
  • Enable the new version of Python as the version by default
cd /usr/bin
sudo rm python
sudo ln -s /usr/local/bin/python3.9 python
python --version

* Error

error running ./autogen.sh autogen.sh: autoref: not found

first sudo apt install autoconf second sudo apt update third sudo apt install libtool

* Install Rhino3dm (Python library based on OpenNURBS with a RhinoCommon style) + ghhops_server

# if pip install rhino3dm doesn't work
pip install rhino3dm==8.0.0b0

pip install ghhops_server

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setup of a raspberry pi 4 and Realsense Camera D405