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If the kernel Image is not updated, the logs get cluttered with a large number of warnings about incorrect video formats being present. That is why the kernel Image needs to be updated. Some of the patches actually change header files which touch some modules which are built in to the kernel. For this reason, the patches sub-directory contains artisan patches, exquisitely crafted to upgrade the Jetson Xavier to run the librealsense 2 libraries. This is between the different kernel versions which have patch revisions. There are no librealsense 2 patches available to directly patch the Xavier, because it is running kernel version 4.9. Also, in order to have the Xavier understand the different video formats, there are some patches to apply to the module source code. The first step is to build the needed modules and a new kernel. $ cd buildLibrealsense2Xavier Build Kernel and Modules On the JetsonHacks Github account, there is a repository named buildLibrealsense2Xavier. WARNING: This installation method assumes that you are running a stock kernel. You should make backups of anything value, by you know that already. It is strongly suggested that you do this on a fresh install, immediately after flashing the Jetson. You should be familiar with kernel modules, and the kernel Image. Note : This installation is for intermediate and advanced developers. In this article, we do something exactly unlike that. The NVIDIA approved method is to cross compile the kernel and modules on the PC, and then flash them on the Jetson. The JetPack installer contains the signing application. This complicates building the kernel on the Jetson Xavier itself, as the signing application only runs on a PC. This is for security reasons, as you are aware if you have been following the computer news for the last few months. In this implementation, the Linux kernel is signed and resides in a partition on disk. The Jetson AGX Xavier is an embedded system.
Because some of the affected modules are built in to the kernel itself, the kernel image itself should be built. However, the biggest challenge in installing full librealsense 2 support on the Xavier is that additional kernel modules must be built and installed.
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The software drivers to interface with the D435i have seen a few updates (such as better CUDA support) since that time. Since that time, we have seen the introduction of the RealSense D435i camera and Jetson AGX Xavier.
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In previous articles, we went through how to install the Intel RealSense library (called librealsense 2) on the Jetson TX1 and Jetson TX2.
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