Realsense Camera

The Realsense D435 camera may come with an old firmware version. The current minimum recommended firmware version is v5.10.03.

You can download Firmware Version 5.10.03 from the following website: https://downloadcenter.intel.com/download/28076/Latest-Firmware-for-Intel-RealSense-D400-Product-Family

Official firmware update documentation is available at the following website: https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/Linux-RealSense-D400-DFU-Guide.pdf.

To Upgrade the Firmware

  1. Obtain the current firmware version in log output by running the sample application with the following command:

    bob@desktop:~/isaac$ bazel run //apps/samples/realsense_camera
    
  2. Download the recommended (or later) version of the firmware from this website: https://realsense.intel.com/intel-realsense-downloads/#firmware.

  3. Connect the camera to a x64 Linux system.

  4. Use the lsusb command to obtain the bus and device number of the Realsense camera. It is identified as “Intel Corp.”.

  5. Update the firmware with the following commands:

    echo 'deb http://realsense-hw-public.s3.amazonaws.com/Debian/apt-repo xenial main' | sudo tee /etc/apt/sources.list.d/realsensepublic.list
    sudo apt-key adv --keyserver keys.gnupg.net --recv-key 6F3EFCDE
    sudo apt-get update
    sudo apt-get install  intel-realsense-dfu*
    intel-realsense-dfu –b <bus_number> –d <device_number> –f –i /path/to/fimware_file.bin
    
  6. Once the firmware update finishes, disconnect and reconnect the camera.

The realsense_camera Sample Application

Exercise the realsense_camera with the provided sample application with the following command:

bob@desktop:~/isaac$ bazel run //apps/samples/realsense_camera

The camera image can be seen in Sight. Make sure to set a valid resolution in the configuration section in the application file.

Usage Suggestions

This section offers suggestions for using a Realsense camera with the Isaac SDK.

Using a USB 3.0 Port with a USB 3.0 Cable

The realsense camera requires a USB3.0+ connection. USB 3.0 ports and cables can be identified by blue-color components on the inside of ports and cable connectors.

The Jetson Xavier USB-C port, nearest to the power connector, is a USB 3.0 port.

The camera is able to start up with a USB 2.0 connection, but performance is severely limited and crashes can be expected.

The jetson_clocks.sh Script

If you encounter a large amount of motion blur, run /home/nvidia/jetson_clocks.sh. That script enables all cores, disables CPU idling, disables the GPU rail gate, and turns the fan speed to max (where a fan is installed.) Those changes may alleviate the blur.

These settings do not persist over reboot. You must re-run the script each restart to maintain these settings.

Setting the Power Model

Running sudo nvpmodel -m 0 enables all cores, and increases the scaling minimum clock frequency. This change persists over reboot. Run sudo nvpmodel -q to display current settings. This increases proccessing power and may result in reduced frame drops and image blur, in some situations.