RealSense Support for Kria KV260 PetaLinux 2021.1

Installing Petalinux 2021.1

Download the latest PetaLinux from the Xilinx download page: link

Navigate to the downloads folder and install using the executable installer file:

$ cd Downloads

Allow permissions for the installer and run the executable:

$ sudo chmod +x ./petalinux-v2021.1-final-installer.run
$ ./petalinux-v2021.1-final-installer.run -d <install destination>

Download KV260 BSP

Download the KV260 BSP from the Xilinx Downloads page: link

Environment setup

Source the settings.sh file inside of the install directory for PetaLinux:

$ source <install destination>/setting.sh

Create the PetaLinux project from the BSP

Run the following command to create the project using the BSP file we downloaded earlier:

$ petalinux-create -t project -s /home/<user>/Downloads/xilinx-k26-starterkit-v2021.1-final.bsp -n kv260_RealSense

Once created step into the folder:

$ cd kv260_RealSense

Set Board Variant

So PetaLinux knows we're using the starter kit we need to set the variable using this command:

$ echo 'BOARD_VARIANT = "kv"' >>  project-spec/meta-user/conf/petalinuxbsp.conf

Add build essentials package

First we need to bring up the rootfs config console

$ petalinux-config -c rootfs

Once the console has booted up navigate to:

Petalinux Package Groups-->packagegroup-petalinux-self-hosted

Select all 3 packages and exit the console

Fix minor known bugs before build

Navigate to petalinuxbsp.conf

Make sure the your file is identical to the one shown:

Build PetaLinux Project

Run the following command to run the PetaLinux build process:

$ petalinux-build

Package up the PetaLinux files

Create the SD card image with this command:

$ petalinux-package --wic --bootfiles "ramdisk.cpio.gz.u-boot boot.scr Image system.dtb"

The generated image file will be located at images/linux/petalinux-sdimage.wic.

You can now use disk to flash your micro SD card:

Make sure that you increase the size of root to run store librealsense.

Booting the KV260 Board

Connect the board to your computer using serial.

Using the login: Petalinux, the first time you will be asked to create a new password, once this is done the shell will start

Installing misc libraries

use the following command to install missing librarie:

$ sudo dnf install libxinerama-dev

Installing Librealsense

In the root clone the librealsense git repository:

$ git clone https://github.com/IntelRealSense/librealsense

next install udev rules:

$ sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules && udevadm trigger

Create build folder:

$ mkdir build
$ cd build

Run Cmake from the build folder

$ cmake ..

Next run Make to start compiling librealsense:

$ make

Once compiled, install librealsense:

$ make install

Running a RealSense Camera:

Export the LD_LIBRARY_PATH to access the compiled RealSense Libraries:

$ export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/usr/local/lib64/"

Now plug in and test your camera works using rs-enumerate-devices:

Success!