A step by step instruction for installing librealsense on a Raspberry Pi 4, or more specifically pyrealsense.
Credit goes to datasith, who also made a tutorial about this.
This repository can be understood as a fork from his wiki entry.
- Raspberry Pi 4 Model B 8GB Rev 1.4 B
- 64 GB SanDisk SD card
- Intel Realsense D435
- Install Raspberry Pi OS 32-bit installed via the Raspberry Pi Imager.
- If you're doing this in headless mode, the Imager program allows you to conviniently set up WiFi and SSH access.
- 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
- Expand the filesystem by selecting
Advanced Options > Expand Filesystem, and select yes to rebooting:
sudo raspi-config
- (not necessary on the 8 GB Raspberry) Increase swap to 2GB by changing the file below to
CONF_SWAPSIZE=2048:
sudo nano /etc/dphys-swapfile
- (not necessary on the 8 GB Raspberry) Apply the change:
sudo /etc/init.d/dphys-swapfile restart swapon -s
- Clone the realsense repo and create a new
udevrule:
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
- Add the following lines to the end of your
.bashrcfile (some of these are first needed at later steps):
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=cpp
export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION_VERSION=3
export PYTHONPATH=$PYTHONPATH:/usr/local/lib:/home/pi/librealsense/build/wrappers/python
- Apply the change:
source ~/.bashrc
- 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
make -j4
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
sudo ldconfig
protoc --version # libprotoc 3.10.0
(Running the python tests might throw errors, but the installation still worked fine for me in the end.)
- Install
libtbb-devparallelism 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
- Change default C/C++ compiler to clang (#9962)
export CC=/usr/bin/clang
export CXX=/usr/bin/clang++
- Install RealSense SDK
librealsense:
cd ~/librealsense
mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release -DFORCE_LIBUVC=true -DOTHER_LIBS="-latomic"
make -j4
sudo make install
(The DOTHER_LIBS flag might not be required, but I had it from previous attempts to fixing this and it worked so I'm leaving it)
- Install RealSense SDK
pyrealsense2Python bindings forlibrealsense:
cd ~/librealsense/build
cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3)
make -j4
sudo make install
- Change the default compiler back to gcc
unset CC
unset CXX
I've included an example script for using the pyrealsense2 library. Tested with a D435.
- Download the example python script from this repo
cd ~
wget https://raw.githubusercontent.com/mathklk/realsense_raspberry_pi4/master/example.py
chmod +x example.py
- Run the script (requires a desktop environment to show the image)
./example.py
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