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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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Build instructions for newer kernels #3292

Closed landersson closed 5 years ago

landersson commented 5 years ago

For various reasons, I'd like to use the RealSense SDK on a laptop running Ubuntu 18.10 and Linux kernel 4.18. If possible, I would also like to run it on an ARM based embedded system (NanoPI M4).

The libraries and tools seem to compile fine on 18.10, but I'm unsure about how to apply and build the required kernel patches. Would it be possible to provide basic instructions for how to apply and build kernel patches for newer kernels?

Is it likely that minor modifications to the scripts/patch-ubuntu-kernel-4.16.sh script will be able to successfully build custom kernel modules for kernel 4.16? If so, what would be the suggested modifications?

dorodnic commented 5 years ago

We certainly have plans to continue to expand the list of supported kernels as we did during last two years. At the moment we are looking into problems with 4.19 kernel. Also, we are improving the libuvc alternative for platforms where patching is impossible (currently working on adding IMU support to enable D435i)

landersson commented 5 years ago

Ok, that sounds good. Any chance you could provide a very brief overview of the steps I should attempt in order to try making it work on the 4.18 kernel?

dorodnic commented 5 years ago

Couple of questions -

  1. Do you need to use the D435i?
  2. Do you need access to per-frame metadata (actual exposure, gain, etc...)
landersson commented 5 years ago

  1. Yes, the device we have in mind is a D435i.

  2. Since this will be used for computer vision purposes, per frame exposure etc would be useful, but it's not critical.

dorodnic commented 5 years ago

The overall flow is always:

  1. Download source code for the Kernel you are using.
  2. Navigate to the relevant folder and apply one or more of the patches.
  3. If patches cannot apply cleanly, make minor modifications to make them apply successfully 4.a. Assuming your kernel has modules, run make under relevant module directory, this will produce new .ko binary file. This file can be loaded using modprobe. 4.b. If your kernel is "monolithic" and does not support dynamically loaded kernel modules, you will have to build the entire kernel and boot into it (there are guides on how to do that)

As always, don't forget to apply udev-rules, otherwise you will get Permissions Denied

Under /scripts/ we have many versions of patches modified to apply cleanly on different distributions. You don't necessarily need all of the patches. If you are based on 4.18, you will already have depth, IR and RGB streaming and hardware timestamps. To make frame metadata work, you need to apply realsense-metadata-ubuntu-xenial-v4.16.patch. For D435i motion module, you are recommended to apply realsense-hid-ubuntu-xenial-v4.16.patch. I think it should work without, but again, you will not get proper timestamps for sure without a patch.

landersson commented 5 years ago

Thanks @dorodnic, that's very helpful. I will try it as soon as I get a chance.

fubsan commented 5 years ago

We certainly have plans to continue to expand the list of supported kernels as we did during last two years. At the moment we are looking into problems with 4.19 kernel.

Hi @dorodnic ,

How are the above mentioned plans going. Is there an expected roadmap/release in sight? We're also kind of stuck with 4.14 on arch (which switched to 4.19 lts wise). We would like to take 4.19 lts into use but have heavy stability issues with it in combo with d435.

landersson commented 5 years ago

I just successfully patched and cross-compiled a modified 4.4.154 kernel for the NanoPI M4 SOC using the patch files in /scripts/, so feel free to close this issue.

jkeys-ecg-nmsu commented 5 years ago

@dorodnic are you still looking at kernel 4.19? I'm unable to install the realsense packages on Chrome OS (Google Pixel Slate) and trying to find a solution.

lantianhaohh commented 2 years ago

Hi @dorodnic , My question at #11050 ,Based on my problem description, I would like to ask how I should go about kernel patching, I want to explore kernel patching, which is helpful for my project.Thank you.

lantianhaohh commented 2 years ago

Hi @dorodnic , My question at #11050 ,Based on my problem description, I would like to ask how I should go about kernel patching, I want to explore kernel patching, which is helpful for my project.Thank you.