First Flight: Intel RealSense D435 Depth Camera on Jetson TX2

 

This is part of a series of posts outlining the evolution of my GroundHog hexacopter into a multi-role UAV.  It is based on a Pixhawk flight controller with a Jetson TX2 companion computer.  It has now been fitted with an Intel RealSense D435 depthcam.

Continue reading “First Flight: Intel RealSense D435 Depth Camera on Jetson TX2”

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Intel Realsense D435 on Jetson TX2

JetsonTX2withD435

Here’s a quick technical post for anyone attempting to harness the capabilities of a Realsense D435 camera on a Jetson TX2.  For me, this is about getting usable depth perception on a UAV, but it has proved more problematic than I originally anticipated.

This post aims to provide some simple instructions that now work for me, but took a long time to find out!

The Problem

The Intel librealsense2 library does not support ARM architectures as I write.  This causes a fatal compile error when the file librealsense/src/image.cpp is accessed, as it queries the system architecture.

Solution

Modify image.cpp as in my Github gist here.  This bypasses the architecture check.

Installation Sequence

  • Flash the TX2 with JetPack 3.2
  • git clone https://github.com/IntelRealSense/librealsense.git
  • cd librealsense
  • sudo apt-get update
  • modify librealsense/src/image.cpp as per gist above
  • sudo apt-get install git cmake
  • sudo apt-get install libssl-dev
  • sudo apt-get install libusb-1.0-0-dev pkg-config libgtk-3-dev
  • sudo apt-get install libglfw3-dev
  • sudo apt-get install libudev-dev
  • sudo apt-get install cmake-curses-gui
  • sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
  • sudo udevadm control –reload-rules && udevadm trigger
  • reboot
  • mkdir build && mkdir install
  • cd build
  • cmake ../ -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DBUILD_UNIT_TESTS=false
  • make -j4
  • sudo make install
  • Connect D435 to the USB3 port
  • Navigate to the tools at usr/local/bin, such as:
    • ./realsense-viewer

Issues

I am getting some warnings of incomplete frames, but it’s not clear if this is due to a power issue on the powered hub or a software configuration.  Despite this, the provided tools seem to work well and demonstrates some of the best depth camera capabilities I have seen (and this is my third depth camera to date).