In this guide, we will step-by-step guide you to use video camera D435i on SP7350 platforms.
Table of Contents
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
make kconfig
Selects sub-menus:
Device Drivers>HID support>User-space I/O support for HID subsystem
Device Drivers>HID support>Special HID drivers>HID Sensors framework support
> HID Sensors hub custom sensor support
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 :
Patch process is below:
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
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.
[ 138.864182] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a) [ 138.866850] input: Intel(R) RealSense(TM) Depth Ca as /devices/platform/usb3drd0/f80a1000.dwc3/xhci-hcd.1.auto/usb4/4-1/4-1:1.0/input/input6 [ 138.868558] uvcvideo: Found UVC 1.50 device Intel(R) RealSense(TM) Depth Camera 435i (8086:0b3a) [ 139.222833] hid-sensor-hub 0003:8086:0B3A.0004: No report with id 0xffffffff found [ 143.179993] hid-sensor-hub 0003:8086:0B3A.0004: No report with id 0xffffffff found
After the system startup is completed, the video device can be viewed.
Device video0~5 are for Realsense D435i
sunplus@ubuntu:~$ ll /dev/video* crw-rw-rw- 1 root plugdev 81, 5 Jun 11 16:00 /dev/video0 crw-rw-rw- 1 root plugdev 81, 6 Jun 11 16:00 /dev/video1 crw-rw---- 1 root video 81, 0 Jun 11 15:58 /dev/video10 crw-rw---- 1 root video 81, 1 Jun 11 15:58 /dev/video11 crw-rw---- 1 root video 81, 2 Jun 11 15:58 /dev/video12 crw-rw---- 1 root video 81, 3 Jun 11 15:58 /dev/video13 crw-rw---- 1 root video 81, 4 Jun 11 15:58 /dev/video14 crw-rw-rw- 1 root plugdev 81, 7 Jun 11 16:00 /dev/video2 crw-rw-rw- 1 root plugdev 81, 8 Jun 11 16:00 /dev/video3 crw-rw-rw- 1 root plugdev 81, 9 Jun 11 16:00 /dev/video4 crw-rw-rw- 1 root plugdev 81, 10 Jun 11 16:00 /dev/video5
The iio device can be viewed.
sunplus@ubuntu:/sys/bus/iio/devices$ ll total 0 drwxr-xr-x 2 root root 0 Jun 11 15:58 ./ drwxr-xr-x 4 root root 0 Jun 11 15:58 ../ lrwxrwxrwx 1 root root 0 Jun 11 15:58 iio:device0 -> ../../../devices/platform/f8802f00.adc/iio:device0/ lrwxrwxrwx 1 root root 0 Jun 11 16:00 iio:device1 -> ../../../devices/platform/usb3drd0/f80a1000.dwc3/xhci-hcd.1.auto/usb4/4-1/4-1:1.5/0003:8086:0B3A.0004/HID-SENSOR-200073.3.auto/iio:device1/ lrwxrwxrwx 1 root root 0 Jun 11 16:00 iio:device2 -> ../../../devices/platform/usb3drd0/f80a1000.dwc3/xhci-hcd.1.auto/usb4/4-1/4-1:1.5/0003:8086:0B3A.0004/HID-SENSOR-200076.4.auto/iio:device2/ lrwxrwxrwx 1 root root 0 Jun 11 16:00 trigger0 -> ../../../devices/platform/usb3drd0/f80a1000.dwc3/xhci-hcd.1.auto/usb4/4-1/4-1:1.5/0003:8086:0B3A.0004/HID-SENSOR-200073.3.auto/trigger0/ lrwxrwxrwx 1 root root 0 Jun 11 16:00 trigger1 -> ../../../devices/platform/usb3drd0/f80a1000.dwc3/xhci-hcd.1.auto/usb4/4-1/4-1:1.5/0003:8086:0B3A.0004/HID-SENSOR-200076.4.auto/trigger1/
iio:device1 is the device for Accelerometer of realsense D435i. The device sysfs content is below:
sunplus@ubuntu:/sys/bus/iio/devices/iio:device1$ ll total 0 drwxrwxrwx 6 root root 0 Jun 11 16:00 ./ drwxrwxrwx 5 root root 0 Jun 11 16:00 ../ drwxrwxrwx 2 root root 0 Jun 11 16:00 buffer/ -rwxrwxrwx 1 root root 4096 Jun 11 16:00 current_timestamp_clock* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 dev* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_accel_hysteresis* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_accel_offset* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_accel_sampling_frequency* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_accel_scale* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_accel_x_raw* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_accel_y_raw* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_accel_z_raw* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 name* drwxrwxrwx 2 root root 0 Jun 11 16:00 power/ drwxrwxrwx 2 root root 0 Jun 11 16:00 scan_elements/ lrwxrwxrwx 1 root root 0 Jun 11 16:00 subsystem -> ../../../../../../../../../../../bus/iio/ drwxrwxrwx 2 root root 0 Jun 11 16:00 trigger/ -rwxrwxrwx 1 root root 4096 Jun 11 16:00 uevent*
You can read sensor data by cat command.
sunplus@ubuntu:/sys/bus/iio/devices/iio:device1$ cat in_accel_x_raw 11 sunplus@ubuntu:/sys/bus/iio/devices/iio:device1$ cat in_accel_y_raw -947 sunplus@ubuntu:/sys/bus/iio/devices/iio:device1$ cat in_accel_z_raw -142
iio:device2 is the device for Gyroscope of realsense D435i. The device sysfs content is below:
sunplus@ubuntu:/sys/bus/iio/devices/iio:device2$ ll total 0 drwxrwxrwx 6 root root 0 Jun 11 16:00 ./ drwxrwxrwx 5 root root 0 Jun 11 16:00 ../ drwxrwxrwx 2 root root 0 Jun 11 16:00 buffer/ -rwxrwxrwx 1 root root 4096 Jun 11 16:00 current_timestamp_clock* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 dev* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_anglvel_hysteresis* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_anglvel_offset* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_anglvel_sampling_frequency* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_anglvel_scale* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_anglvel_x_raw* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_anglvel_y_raw* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 in_anglvel_z_raw* -rwxrwxrwx 1 root root 4096 Jun 11 16:00 name* drwxrwxrwx 2 root root 0 Jun 11 16:00 power/ drwxrwxrwx 2 root root 0 Jun 11 16:00 scan_elements/ lrwxrwxrwx 1 root root 0 Jun 11 16:00 subsystem -> ../../../../../../../../../../../bus/iio/ drwxrwxrwx 2 root root 0 Jun 11 16:00 trigger/ -rwxrwxrwx 1 root root 4096 Jun 11 16:00 uevent*
You can read sensor data by cat command.
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
sudo apt-get update
Install the core packages required to build librealsense2 binaries and the affected kernel modules
sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev
Install build tools
sudo apt-get install git wget cmake build-essential
Prepare Linux Backend and the Dev. Environment
Unplug any connected Intel RealSense camera and run:
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
git clone https://github.com/IntelRealSense/librealsense.git git checkout v2.55.1
3.3 Run Intel Realsense permissions script from librealsense2 root directory:
./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:
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
Apply the change:
source ~/.bashrc
3.5 Build and Install librealsense2 SDK
Navigate to librealsense2 root directory and run:
mkdir build && cd build
Run cmake configure step:
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=Release
Linux build configuration is presently configured to use the V4L2 backend by default.
Note: Don’t use “-DFORCE_RSUSB_BACKEND=true” or “-DFORCE_LIBUVC=true” build option, or you can’t get gyroscope and accelerometer sensor data by using realsense API.
Recompile and install librealsense2 binaries:
sudo make uninstall && make clean && make -j4 && sudo make install
3.6 Install RealSense SDK pyrealsense2 Python bindings for librealsense:
cd ~/librealsense/build cmake .. -DBUILD_PYTHON_BINDINGS=bool:true -DPYTHON_EXECUTABLE=$(which python3) make -j4 sudo make install
Modify the path by adding the following line to the .bashrc file:
export PYTHONPATH=$PYTHONPATH:/usr/local/lib
Apply the change:
source ~/.bashrc
3.7 Intel Realsense2 SDK binary release files download
Here is Realsense2 SDK v2.55.1 binary release files.
You can download it for using camera directly.
4. Test
It needs to set user sunplus to get permission of video device with below command. Change will be effective after system reboot.
sudo usermod -G video -a sunplus sudo systemctl reboot
Next you need to update camera FW version to be 5.16.0.1. This version of FW is suit for SDK v2.55.1.
FW can be download from Realsense D400 series FW. The update flow is in below link.
4.1 rs-data-capture: catpure video amd imu streams data
Create config file d435i.cfg with below content.
#Video streams DEPTH,640,480,30,Z16,0 INFRARED,640,480,30,Y8,1 INFRARED,640,480,30,Y8,2 COLOR,640,480,30,RGB8,0 #Lines starting with non-alpha character (#@!...) will be skipped # IMU streams will produce data in m/sec^2 & rad/sec ACCEL,1,1,63,MOTION_XYZ32F GYRO,1,1,200,MOTION_XYZ32F
Use below command to get data and save data as d435i.csv file.
rs-data-collect -c d435i.cfg -f d435i.csv -t 1
Check content of d435i.csv
sunplus@ubuntu:~/code/rs-data-test$ 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 Gyro,0,20,1718101256103.208,260.694,-0.007,-0.002,-0.001 Gyro,0,21,1718101256108.343,265.611,-0.006,-0.006,0.001 Gyro,0,22,1718101256113.479,270.616,-0.004,-0.003,0.001 Gyro,0,23,1718101256118.620,275.599,-0.006,-0.002,0.002 Gyro,0,24,1718101256123.762,280.614,-0.005,-0.002,0.003 Gyro,0,25,1718101256128.908,285.596,-0.009,0.002,0.001 Gyro,0,26,1718101256134.056,290.605,-0.006,0.005,0.002 Gyro,0,27,1718101256139.205,295.675,-0.007,-0.001,0.002 Gyro,0,28,1718101256144.358,300.613,-0.005,0.003,0.002 Gyro,0,29,1718101256149.514,305.604,-0.005,0.001,0.001 Gyro,0,30,1718101256154.673,310.612,-0.006,0.001,0.001 Gyro,0,31,1718101256159.834,315.601,-0.006,-0.005,0.004 Gyro,0,32,1718101256164.998,320.595,-0.007,0.004,0.001 Gyro,0,33,1718101256170.163,325.765,-0.009,-0.002,0.000 Gyro,0,34,1718101256175.332,330.662,-0.006,0.003,0.004 Gyro,0,35,1718101256180.503,335.641,-0.005,-0.005,0.001 Gyro,0,36,1718101256185.652,340.663,-0.004,-0.002,0.001 Gyro,0,37,1718101256190.803,345.633,-0.006,-0.003,0.004 Gyro,0,38,1718101256195.954,350.640,-0.005,-0.002,0.002 Gyro,0,39,1718101256201.108,355.634,-0.005,0.002,0.003 Gyro,0,40,1718101256206.263,360.642,-0.005,0.000,0.002 Gyro,0,41,1718101256211.420,365.631,-0.008,0.006,0.001 Gyro,0,42,1718101256216.579,370.625,-0.005,-0.002,0.002 Gyro,0,43,1718101256221.739,375.645,-0.006,-0.001,0.003 Gyro,0,44,1718101256226.901,380.633,-0.005,0.002,0.002 Gyro,0,45,1718101256232.064,385.629,-0.009,0.002,-0.001 Gyro,0,46,1718101256237.230,390.638,-0.009,-0.002,0.002 Gyro,0,47,1718101256242.397,395.633,-0.004,0.001,0.005 Gyro,0,48,1718101256247.566,400.882,-0.009,-0.002,-0.001 Gyro,0,49,1718101256252.735,405.640,-0.005,0.001,0.004 Gyro,0,50,1718101256257.907,410.881,-0.006,0.000,0.001 Gyro,0,51,1718101256263.081,415.683,-0.004,0.002,0.000 Gyro,0,52,1718101256268.256,420.881,-0.007,-0.002,-0.002 Gyro,0,53,1718101256273.433,425.629,-0.007,-0.001,0.004 Gyro,0,54,1718101256278.611,430.624,-0.002,-0.003,0.002 Gyro,0,55,1718101256283.791,435.699,-0.004,-0.001,0.004 Gyro,0,56,1718101256288.923,440.636,-0.005,-0.003,0.000 Gyro,0,57,1718101256294.056,445.584,-0.007,-0.001,0.003 Gyro,0,58,1718101256299.188,450.807,-0.009,-0.001,0.001 Gyro,0,59,1718101256304.321,455.671,-0.007,-0.001,0.002 Gyro,0,60,1718101256309.454,460.626,-0.009,-0.001,0.002 Gyro,0,61,1718101256314.586,465.876,-0.007,0.000,0.001 Gyro,0,62,1718101256319.720,470.885,-0.004,-0.002,-0.001 Gyro,0,63,1718101256324.853,475.878,-0.004,-0.003,0.003 Gyro,0,64,1718101256329.987,480.890,-0.005,-0.003,0.000 Gyro,0,65,1718101256335.121,485.843,-0.004,-0.001,0.000 Gyro,0,66,1718101256340.254,490.840,-0.004,0.005,-0.003 Gyro,0,67,1718101256345.388,495.832,-0.004,-0.002,0.004 Gyro,0,68,1718101256350.522,500.834,-0.007,-0.002,0.001 Gyro,0,69,1718101256355.657,505.833,-0.007,0.003,0.000 Gyro,0,70,1718101256360.792,510.840,-0.006,-0.005,0.000 Gyro,0,71,1718101256365.926,515.822,-0.010,0.002,-0.001 Gyro,0,72,1718101256371.061,520.850,-0.006,-0.003,0.002 Gyro,0,73,1718101256376.196,525.843,-0.009,0.001,0.005 Gyro,0,74,1718101256381.331,530.830,-0.004,-0.001,-0.001 Gyro,0,75,1718101256386.467,535.851,-0.007,-0.002,-0.001 Gyro,0,76,1718101256391.603,540.829,-0.007,-0.001,0.001 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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
rs-capture
