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Update installation_jetson.md #14

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88 changes: 54 additions & 34 deletions doc/installation_jetson.md
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Expand Up @@ -77,38 +77,58 @@ Note that this method provides binary installation compiled using the `-DFORCE_R
![d400](./img/jetson-d400.png) ![t265](./img/jetson-t265.png)

You can also double-TAB after typing `rs-` to see the full list of SDK examples.

5. **Building from source**

1. In order to build the SDK using the `RSUSB` method and avoid the kernel patching procedure See [libuvc_installation.sh](https://github.com/IntelRealSense/librealsense/blob/master/scripts/libuvc_installation.sh) script for details. If you have CUDA dev-kit installed, don't forget to add `-DBUILD_WITH_CUDA=true` for better performance.
2. Use the native kernel with patches.
The method was verified with **Jetson AGX** boards running L4T version 4.2.3, 4.3 and 4.4, but may also apply to **Jetson Nano**
a. Verify the board type and L4T versions compatibility.
b. Verify internet connection.
c. Verify the available space on flash, the patching process requires ~2.5Gb free space
>df -h

d. Configure the Jetson Board into Max power mode (desktop -> see the upper right corner)
e. Disconnect attached USB/UVC cameras (if any).
f. Navigate to the root of Libreansense2 directory.
g. Run the script (note the ending characters - `L4T`)
>./scripts/patch-realsense-ubuntu-L4T.sh

The script will run for about 30 minutes (depends on Internet speed) and do the following:
i. Fetch the kernel source trees required to build the kernel and its modules.
ii. Apply Librealsense-specific kernel patches and build the modified kernel modules.
iii. Try to insert the modules into the kernel.
![d400](./img/jetson_l4t_kernel_patches.png)

3. Compile Librealsense2.
Navigate to the SDK's root directory.
Follow the [Ubuntu installation guide](./installation.md) to install the missing components and configuration items:
>sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev -y
./scripts/setup_udev_rules.sh
>mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install

The Cmake `-DBUILD_WITH_CUDA=true` flag assumes CUDA modules are installed. If not - reconnect the board to the Ubuntu Host PC and use NVIDIA `SDK Manager` tool to install the missing components.

4. Connect Realsense Device, run `realsense-viewer` and inspect the results:

## Building from Source using RSUSB Backend

**Use the RSUSB backend without the kernel patching**

* In order to build the SDK using the `RSUSB` method and avoid the kernel patching procedure, please refer to [libuvc_installation.sh](https://github.com/IntelRealSense/librealsense/blob/master/scripts/libuvc_installation.sh) script for details. If you have CUDA dev-kit installed, don't forget to add `-DBUILD_WITH_CUDA=true` for optimal performance.

## Building from Source using Native Backend

**Use the V4L Native backend by applying the kernel patching**

The method was verified with **Jetson AGX** boards with JetPack **4.2.3**[L4T 32.4.3], **4.3**[L4T 32.3.1] and **4.4**[L4T 32.2.1].

The medhoe has not yet been verified on the **Jetson Nano** board.

* **Prerequisite**

* Verify the board type and Jetpack versions compatibility.
* Verify internet connection.
* Verify the available space on flash, the patching process requires **~2.5Gb** free space
>df -h

* Configure the Jetson Board into Max power mode (desktop -> see the upper right corner)
* Disconnect attached USB/UVC cameras (if any).

* **Build and Patch Kernel Modules for Jetson L4T**

1. Navigate to the root of libreansense2 directory.
2. Run the script (note the ending characters - `L4T`)
```
./scripts/patch-realsense-ubuntu-L4T.sh
```
* The script will run for about 30 minutes depending on internet speed and perform the following tasks:

a. Fetch the kernel source trees required to build the kernel and its modules.
b. Apply Librealsense-specific kernel patches and build the modified kernel modules.
c. Try to insert the modules into the kernel.

![d400](./img/jetson_l4t_kernel_patches.png)

* **Build librealsense2 SDK**

1. Navigate to the SDK's root directory.
2. Follow the [Ubuntu installation guide](./installation.md) to install the missing components and configuration items:
```
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev -y
./scripts/setup_udev_rules.sh
mkdir build && cd build
cmake .. -DBUILD_EXAMPLES=true -DCMAKE_BUILD_TYPE=release -DFORCE_RSUSB_BACKEND=false -DBUILD_WITH_CUDA=true && make -j$(($(nproc)-1)) && sudo make install
```
The CMAKE `-DBUILD_WITH_CUDA=true` flag assumes CUDA modules are installed. If not, please reconnect the board to the Ubuntu Host PC and use NVIDIA `SDK Manager` tool to install the missing components.

* **Connect Realsense Device, run `realsense-viewer` and inspect the results**

![d400](./img/jetson_l4t_sensors_md.png)