Table of Contents

Table of Contents

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1. D435i Specification

2. Setup

2.1 Enable D435i Gyroscope and Accelerometer in Linux Kernel Configuration

Enter the kernel configuration by running the following command in the top directory of project

...

Device Drivers>HID support>USB HID drivers>PID device support

...

Device Drivers>Industrial I/O support>HID Sensor IIO Common>Common modules for all HID Sensor IIO drivers

Device Drivers>Industrial I/O support>HID Sensor IIO Common>Common module (trigger) for all HID Sensor IIO drivers

...

Device Drivers>Industrial I/O support>Digital gyroscope sensors>HID Gyroscope 3D

...

Device Drivers>Industrial I/O support>Digital Accelerometers>HID Accelerometers 3D

...

2.2 Apply uvc, metadata, hid and powerlinefrequency-fix patch for kernel

Patch file :

View file

name	uvc_realsense.patch

...

Code Block

language	bash

cp uvc_realsense.patch Q654_code_path/linux/kernel
cd Q654_code_path/linux/kernel
patch -p1 < uvc_realsense.patch

2.3 Compile and Burn

https://sunplus.atlassian.net/wiki/spaces/C3/pages/1988034774/A+guide+to+downloading+and+compiling+SP7350+code#7.-Build-code

Because it needs to build realsense SDK tool to use, please choose Ubuntu XFCE or Ubuntu MATE as rootfs when doing “make config”.

2.4 Connect Sensor Module

Using C3V-W board USB3 TYPE C to connect Intel Realsense D435i.

2.5 Check

After the burning is completed, start the board. The system should print the following information through the serial port.

...

Code Block

sunplus@ubuntu:/sys/bus/iio/devices/iio:device2$ cat in_anglvel_x_raw
3967
sunplus@ubuntu:/sys/bus/iio/devices/iio:device2$ cat in_anglvel_y_raw
0
sunplus@ubuntu:/sys/bus/iio/devices/iio:device2$ cat in_anglvel_z_raw
610

3. Build and Install Intel Realsense SDK tool

3.1 Install dependencies

Make Ubuntu up-to-date

Code Block
sudo apt-get update

Install the core packages required to build librealsense librealsense2 binaries and the affected kernel modules

...

Code Block
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at v4l-utils

3.2 Clone the librealsense2 repo and check out v2.55.1

Code Block
git clone https://github.com/IntelRealSense/librealsense.git git checkout v2.55.1

3.3 Run Intel Realsense permissions script from

...

librealsense2 root directory:

Code Block
./scripts/setup_udev_rules.sh

Notice: You can always remove permissions by running: ./scripts/setup_udev_rules.sh --uninstall

3.4 Modify the path by adding the following line to the .bashrc file:

Code Block
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

...

Code Block
source ~/.bashrc

3.5 Build and Install librealsense2 SDK

Navigate to librealsense2 root directory and run:

...

Code Block
sudo make uninstall && make clean && make -j4 && sudo make install

3.6 Install RealSense SDK pyrealsense2 Python bindings for librealsense:

Code Block
cd ~/librealsense/build cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3) make -j4 sudo make install

...

Code Block
source ~/.bashrc

3.7 Intel Realsense2 SDK binary release files download

Here is Realsense2 SDK v2.55.1 binary release files.

View file

name	librealsense-2.55.1-release.tar.gz

You can download it for using camera directly.

4. Test

It needs to set user sunplus to get permission of video device with below command. Change will be effective after system reboot.

Code Block
sudo usermod -G video -a sunplus sudo systemctl reboot

Next you need to update camera FW version to be 5.16.0.1. This version of FW is suit for SDK v2.55.1.

FW can be download from Realsense D400 series FW. The update flow is in below link.

Realsense camera FW update.

4.1 rs-data-capture: catpure video amd imu streams data

rs-data-capature using method

Create config file d435d435i.cfg with below content.

Code Block

#Video streams
DEPTH,640,480,30,Z16,0
INFRARED,640,480,30,Y8,1
INFRARED,640,480,30,Y8,2
COLOR,640,480,30,RGB8,0
#Lines starting with non-alpha character (#@!...) will be skipped
# IMU streams will produce data in m/sec^2 & rad/sec
ACCEL,1,1,63,MOTION_XYZ32F
GYRO,1,1,200,MOTION_XYZ32F

...

Check content of d435i.csv

Code Block

sunplus@ubuntu:~/code/rs-data-test$ cat d435i.csv
Configuration:
Stream Type,Stream Name,Format,FPS,Width,Height
Infrared 1,Infrared,Y8,30,640,480
Infrared 2,Infrared,Y8,30,640,480
Depth,Depth,Z16,30,640,480
Color,Color,RGB8,30,640,480
Accel,Accel,MOTION_XYZ32F,63
Gyro,Gyro,MOTION_XYZ32F,200


Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Depth,0,0,1718101255922.467,93.923
Depth,0,1,1718101255955.962,126.588
Depth,0,2,1718101255989.711,159.293
Depth,0,3,1718101256023.715,192.588
Depth,0,4,1718101256057.975,226.107
Depth,0,5,1718101256092.171,259.348
Depth,0,6,1718101256126.385,292.684
Depth,0,1,1718101256396.762,555.328
Depth,0,2,1718101256430.822,589.470
Depth,0,3,1718101256464.863,622.119
Depth,0,4,1718101256498.874,655.503
Depth,0,5,1718101256532.795,688.521
Depth,0,6,1718101256566.686,722.980
Depth,0,7,1718101256600.542,756.215
Depth,0,8,1718101256634.337,789.372
Depth,0,9,1718101256668.097,822.599
Depth,0,10,1718101256701.821,855.674
Depth,0,11,1718101256735.505,889.022
Depth,0,12,1718101256769.153,922.486
Depth,0,13,1718101256802.766,955.681
Depth,0,14,1718101256836.353,989.132

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Color,0,0,1718101256259.960,454.764
Color,0,1,1718101256294.159,487.389
Color,0,2,1718101256328.367,521.477
Color,0,3,1718101256362.703,554.802
Color,0,4,1718101256396.781,588.185
Color,0,5,1718101256430.840,621.509
Color,0,6,1718101256464.941,654.955
Color,0,7,1718101256498.892,688.263
Color,0,8,1718101256532.813,721.608
Color,0,9,1718101256566.730,757.043
Color,0,10,1718101256600.560,788.358
Color,0,11,1718101256634.355,821.694
Color,0,12,1718101256668.119,855.064
Color,0,13,1718101256701.839,891.041
Color,0,14,1718101256735.523,921.861
Color,0,15,1718101256769.160,955.088
Color,0,16,1718101256802.784,988.405

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Infrared,1,0,1718101255955.962,128.361
Infrared,1,1,1718101255989.711,159.286
Infrared,1,2,1718101256023.715,192.573
Infrared,1,3,1718101256057.975,226.106
Infrared,1,4,1718101256092.171,259.396
Infrared,1,5,1718101256126.385,292.732
Infrared,1,6,1718101256160.716,325.822
Infrared,1,1,1718101256430.822,589.375
Infrared,1,2,1718101256464.863,622.861
Infrared,1,3,1718101256498.874,656.143
Infrared,1,4,1718101256532.795,689.165
Infrared,1,5,1718101256566.686,724.407
Infrared,1,6,1718101256600.542,755.700
Infrared,1,7,1718101256634.337,789.499
Infrared,1,8,1718101256668.097,822.567
Infrared,1,9,1718101256701.821,856.480
Infrared,1,10,1718101256735.505,889.345
Infrared,1,11,1718101256769.153,922.735
Infrared,1,12,1718101256802.766,956.517
Infrared,1,13,1718101256836.353,989.500

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms)

Infrared,2,0,1718101255955.962,128.428
Infrared,2,1,1718101255989.711,159.321
Infrared,2,2,1718101256023.715,192.626
Infrared,2,3,1718101256057.975,226.147
Infrared,2,4,1718101256092.171,259.445
Infrared,2,5,1718101256126.385,292.773
Infrared,2,6,1718101256160.716,325.862
Infrared,2,1,1718101256430.822,589.427
Infrared,2,2,1718101256464.863,622.906
Infrared,2,3,1718101256498.874,656.184
Infrared,2,4,1718101256532.795,689.203
Infrared,2,5,1718101256566.686,724.450
Infrared,2,6,1718101256600.542,755.756
Infrared,2,7,1718101256634.337,789.542
Infrared,2,8,1718101256668.097,822.614
Infrared,2,9,1718101256701.821,856.523
Infrared,2,10,1718101256735.505,889.443
Infrared,2,11,1718101256769.153,922.776
Infrared,2,12,1718101256802.766,956.562
Infrared,2,13,1718101256836.353,989.543

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms),3DOF_x,3DOF_y,3DOF_z

Gyro,0,1,1718101256005.679,166.630,-0.010,0.001,0.000
Gyro,0,2,1718101256010.786,170.414,-0.006,-0.004,0.001
Gyro,0,3,1718101256015.898,175.404,-0.005,-0.002,0.004
Gyro,0,4,1718101256021.017,180.401,-0.005,-0.001,0.001
Gyro,0,5,1718101256026.140,185.397,-0.006,0.001,0.004
Gyro,0,6,1718101256031.270,190.403,-0.006,-0.001,-0.001
Gyro,0,7,1718101256036.406,195.490,-0.004,0.001,0.001
Gyro,0,8,1718101256041.547,200.425,-0.004,0.002,-0.004
Gyro,0,9,1718101256046.694,205.399,-0.007,-0.004,0.004
Gyro,0,10,1718101256051.846,210.410,-0.005,-0.004,-0.003
Gyro,0,11,1718101256057.005,215.408,-0.009,0.001,0.004
Gyro,0,12,1718101256062.169,220.487,-0.006,-0.001,-0.002
Gyro,0,13,1718101256067.339,225.696,-0.005,-0.002,-0.003
Gyro,0,14,1718101256072.456,230.407,-0.001,-0.002,-0.001
Gyro,0,15,1718101256077.574,235.379,-0.005,-0.001,0.002
Gyro,0,16,1718101256082.695,240.376,-0.006,-0.001,-0.002
Gyro,0,17,1718101256087.820,245.393,-0.002,0.000,0.001
Gyro,0,18,1718101256092.947,250.604,-0.008,0.000,0.002
Gyro,0,19,1718101256098.076,255.596,-0.005,0.005,0.002
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Gyro,0,29,1718101256149.514,305.604,-0.005,0.001,0.001
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Gyro,0,144,1718101256737.266,881.623,-0.004,0.001,0.002
Gyro,0,145,1718101256742.317,886.827,-0.005,-0.001,-0.002
Gyro,0,146,1718101256747.367,891.615,-0.005,0.003,0.002
Gyro,0,147,1718101256752.417,896.512,-0.004,0.004,0.003
Gyro,0,148,1718101256757.465,901.408,-0.006,0.001,-0.001
Gyro,0,149,1718101256762.513,906.358,-0.008,0.000,0.003
Gyro,0,150,1718101256767.560,911.428,-0.010,-0.003,0.004
Gyro,0,151,1718101256772.606,918.068,-0.006,-0.003,0.002
Gyro,0,152,1718101256777.651,922.758,-0.003,-0.003,0.000
Gyro,0,153,1718101256782.696,926.340,-0.006,-0.007,0.002
Gyro,0,154,1718101256787.740,931.324,-0.003,-0.001,0.002
Gyro,0,155,1718101256792.782,936.314,-0.006,0.002,0.002
Gyro,0,156,1718101256797.824,941.312,-0.007,0.002,0.004
Gyro,0,157,1718101256802.867,946.466,-0.005,-0.003,0.000
Gyro,0,158,1718101256807.910,953.340,-0.006,-0.001,0.005
Gyro,0,159,1718101256812.951,956.562,-0.003,-0.003,0.000
Gyro,0,160,1718101256817.991,961.320,-0.007,-0.003,0.004
Gyro,0,161,1718101256823.031,966.334,-0.003,0.001,0.003
Gyro,0,162,1718101256828.070,971.315,-0.003,0.001,0.003
Gyro,0,163,1718101256833.109,976.427,-0.010,0.000,0.003
Gyro,0,164,1718101256838.146,982.352,-0.005,-0.003,-0.002
Gyro,0,165,1718101256843.183,986.548,-0.005,0.001,0.003
Gyro,0,166,1718101256848.219,991.480,-0.005,-0.005,0.001
Gyro,0,167,1718101256853.254,996.393,-0.003,-0.004,0.001
Gyro,0,168,1718101256858.287,1001.469,-0.003,-0.001,-0.001
Gyro,0,169,1718101256863.321,1006.363,-0.005,-0.002,-0.003
Gyro,0,170,1718101256868.354,1011.377,-0.006,-0.002,0.000

Stream Type,Index,F#,HW Timestamp (ms),Host Timestamp(ms),3DOF_x,3DOF_y,3DOF_z

Accel,0,1,1718101255923.423,86.336,-0.069,-9.267,1.393
Accel,0,2,1718101255925.444,86.796,-0.108,-8.267,1.255
Accel,0,3,1718101255941.395,101.960,-0.088,-8.365,1.255
Accel,0,4,1718101255957.402,117.878,-0.108,-9.434,1.432
Accel,0,5,1718101255973.465,133.717,-0.127,-9.248,1.412
Accel,0,6,1718101255989.587,149.614,-0.108,-9.267,1.393
Accel,0,7,1718101256005.769,165.976,-0.127,-9.248,1.412
Accel,0,8,1718101256022.006,181.414,-0.127,-9.267,1.373
Accel,0,9,1718101256038.304,197.453,-0.088,-9.287,1.412
Accel,0,10,1718101256054.656,213.130,-0.108,-9.267,1.412
Accel,0,11,1718101256071.026,229.177,-0.108,-9.267,1.393
Accel,0,12,1718101256087.289,244.881,-0.088,-9.267,1.393
Accel,0,13,1718101256103.580,260.935,-0.108,-9.248,1.412
Accel,0,14,1718101256119.895,276.890,-0.108,-9.267,1.393
Accel,0,15,1718101256136.238,293.018,-0.108,-9.267,1.412
Accel,0,16,1718101256152.606,308.666,-0.108,-9.267,1.412
Accel,0,17,1718101256169.000,324.655,-0.088,-9.267,1.412
Accel,0,18,1718101256185.394,340.461,-0.127,-9.267,1.393
Accel,0,19,1718101256201.752,356.125,-0.108,-9.248,1.432
Accel,0,20,1718101256218.129,372.105,-0.127,-9.267,1.412
Accel,0,21,1718101256234.520,388.118,-0.108,-9.267,1.412
Accel,0,22,1718101256250.929,403.860,-0.108,-9.267,1.393
Accel,0,23,1718101256267.359,419.866,-0.108,-9.267,1.412
Accel,0,24,1718101256283.804,435.898,-0.108,-9.248,1.412
Accel,0,25,1718101256300.102,451.469,-0.127,-9.267,1.412
Accel,0,26,1718101256316.401,467.629,-0.108,-9.287,1.412
Accel,0,27,1718101256332.699,483.384,-0.108,-9.267,1.412
Accel,0,28,1718101256349.002,499.394,-0.108,-9.267,1.393
Accel,0,29,1718101256365.306,515.123,-0.108,-9.267,1.412
Accel,0,30,1718101256381.611,531.294,-0.108,-9.267,1.393
Accel,0,31,1718101256397.890,547.085,-0.088,-9.248,1.393
Accel,0,32,1718101256414.120,562.848,-0.108,-9.267,1.393
Accel,0,33,1718101256430.345,578.844,-0.108,-9.287,1.393
Accel,0,34,1718101256446.568,594.608,-0.108,-9.267,1.412
Accel,0,35,1718101256462.786,610.586,-0.127,-9.248,1.412
Accel,0,36,1718101256478.999,626.492,-0.108,-9.287,1.412
Accel,0,37,1718101256495.208,642.413,-0.108,-9.267,1.393
Accel,0,38,1718101256511.376,658.419,-0.108,-9.267,1.412
Accel,0,39,1718101256527.534,674.101,-0.127,-9.267,1.412
Accel,0,40,1718101256543.688,690.154,-0.108,-9.267,1.393
Accel,0,41,1718101256559.836,705.854,-0.127,-9.287,1.393
Accel,0,42,1718101256575.976,721.915,-0.127,-9.267,1.412
Accel,0,43,1718101256592.111,737.857,-0.108,-9.267,1.412
Accel,0,44,1718101256608.224,754.820,-0.108,-9.267,1.412
Accel,0,45,1718101256624.326,769.631,-0.127,-9.267,1.412
Accel,0,46,1718101256640.421,787.672,-0.127,-9.267,1.412
Accel,0,47,1718101256656.508,801.543,-0.108,-9.267,1.412
Accel,0,48,1718101256672.587,817.639,-0.127,-9.267,1.412
Accel,0,49,1718101256688.659,833.152,-0.108,-9.267,1.393
Accel,0,50,1718101256704.721,849.303,-0.108,-9.267,1.412
Accel,0,51,1718101256720.774,864.943,-0.108,-9.248,1.412
Accel,0,52,1718101256736.819,882.158,-0.108,-9.267,1.432
Accel,0,53,1718101256752.855,896.731,-0.108,-9.267,1.412
Accel,0,54,1718101256768.882,912.645,-0.127,-9.267,1.412
Accel,0,55,1718101256784.902,928.623,-0.127,-9.248,1.412
Accel,0,56,1718101256800.914,944.400,-0.108,-9.267,1.412
Accel,0,57,1718101256816.923,960.420,-0.127,-9.248,1.412
Accel,0,58,1718101256832.922,976.172,-0.108,-9.267,1.412
Accel,0,59,1718101256848.914,992.084,-0.088,-9.267,1.412
Accel,0,60,1718101256864.896,1007.651,-0.127,-9.248,1.393

4.2 rs-capture:

...

capture video amd imu streams data with GUI interface

Code Block
rs-capture

...

Versions Compared

Old Version 1

New Version Current

Key

1. D435i Specification

2. Setup

2.1 Enable D435i Gyroscope and Accelerometer in Linux Kernel Configuration

2.2 Apply uvc, metadata, hid and powerlinefrequency-fix patch for kernel

2.3 Compile and Burn

2.4 Connect Sensor Module

2.5 Check

3. Build and Install Intel Realsense SDK tool

3.1 Install dependencies

3.2 Clone the librealsense2 repo and check out v2.55.1

3.3 Run Intel Realsense permissions script from

librealsense2 root directory:

3.4 Modify the path by adding the following line to the .bashrc file:

3.5 Build and Install librealsense2 SDK

3.6 Install RealSense SDK pyrealsense2 Python bindings for librealsense:

3.7 Intel Realsense2 SDK binary release files download

4. Test

4.1 rs-data-capture: catpure video amd imu streams data

4.2 rs-capture:

capture video amd imu streams data with GUI interface

Page Comparison

Versions Compared

Old Version 1

New Version Current

Key

1. D435i Specification

2. Setup

2.1 Enable D435i Gyroscope and Accelerometer in Linux Kernel Configuration

2.2 Apply uvc, metadata, hid and powerlinefrequency-fix patch for kernel

2.3 Compile and Burn

2.4 Connect Sensor Module

2.5 Check

3. Build and Install Intel Realsense SDK tool

3.1 Install dependencies

3.2 Clone the librealsense2 repo and check out v2.55.1

3.3 Run Intel Realsense permissions script from

librealsense2 root directory:

3.4 Modify the path by adding the following line to the .bashrc file:

3.5 Build and Install librealsense2 SDK

3.6 Install RealSense SDK pyrealsense2 Python bindings for librealsense:

3.7 Intel Realsense2 SDK binary release files download

4. Test

4.1 rs-data-capture: catpure video amd imu streams data

4.2 rs-capture:

capture video amd imu streams data with GUI interface