Raspberry Pi 4

Raspberry Pi config

OS Installation

On the desktop machine, download the Raspberry Pi Imager and install a fresh version of the operating system in a micro SD card.

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sudo apt install rpi-imager

Go to extra settings and enable SSH access, configure the WiFi, if needed. Click in write and wait for the process to complete.

Insert the micro SD card in the RPi and next, update and upgrade the operating system:

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sudo apt update
sudo apt upgrade

sudo reboot

Expand storage

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sudo raspi-config


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sudo reboot

Increase swap memory

Some of the instructions bellow require more memory than the one available in the RPi4. For this, it is recommended to increase the SWAP memory available to the system so that compilation does not fail unexpectedly. Open the /sbin/dphys-swapfile and /etc/dphys-swapfile, and edit the line CONF_MAXSWAP=<some_value> to 4096. After it, reboot the RPi.

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# unmount the swap
sudo dphys-swapfile swapoff

# edit the swap configuration to:
# CONF_SWAPSIZE=2048 
# CONF_MAXSWAP=4096
sudo nano /sbin/dphys-swapfile
sudo nano /etc/dphys-swapfile

# configure with new values
sudo dphys-swapfile setup

# start swap
sudo dphys-swapfile swapon

Camera module

If you have a camera module available, you can enable it by following the official guide

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sudo raspi-config


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sudo reboot

Vulkan SDK

Dependencies

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sudo apt install -y \
  bison \
  cmake \
  g++ \
  gcc \
  git \
  libglm-dev \
  liblz4-dev \
  libmirclient-dev \
  libpciaccess0 \
  libpng-dev \
  libwayland-dev \
  libx11-dev \
  libx11-xcb-dev \
  libxcb-dri3-0 \
  libxcb-dri3-dev \
  libxcb-ewmh-dev \
  libxcb-keysyms1-dev \
  libxcb-present0 \
  libxcb-randr0-dev \
  libxml2-dev \
  libxrandr-dev \
  libzstd-dev \
  mesa-vulkan-drivers \
  ninja-build \
  ocaml-core \
  pkg-config \
  python \
  python3 \
  python3-distutils \
  qt5-qmake \
  qtbase5-dev \
  qtbase5-dev-tools \
  qtcreator \
  vulkan-tools
  wayland-protocols

Build and install

Download and build the Vulkan SDK

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mkdir -p ~/local/vulkan
cd ~/local/vulkan

wget -O vulkansdk.tar.gz \
  https://sdk.lunarg.com/sdk/download/1.3.231.2/linux/vulkansdk-linux-x86_64-1.3.231.2.tar.gz

tar -xvf vulkansdk.tar.gz

# remove archive to save space
rm vulkansdk.tar.gz

cd 1.3.231.2

# remove prebuilt x86_64 libraries are not needed in the RPi
rm -rf x86_64

# build the SDK

./vulkansdk -j 4 glslang
./vulkansdk -j 4 vulkan-headers
./vulkansdk -j 4 vulkan-loader
./vulkansdk -j 2 vulkan-validationlayers  # this one consumes all the RAM and uses SWAP memory
./vulkansdk -j 4 vulkan-tools
./vulkansdk -j 4 vulkantools
./vulkansdk -j 4 shaderc
./vulkansdk -j 4 spirv-headers
./vulkansdk -j 4 spirv-tools
./vulkansdk -j 4 spirv-cross
./vulkansdk -j 4 gfxreconstruct
./vulkansdk -j 4 spirv-reflect
./vulkansdk -j 4 vulkan-extensionlayer
./vulkansdk -j 4 vulkan-profiles
./vulkansdk -j 4 DirectXShaderCompiler
./vulkansdk -j 4 volk
./vulkansdk -j 4 VulkanMemoryAllocator
./vulkansdk -j 4 VulkanCapsViewer

Configure the VULKAN_SDK environment variable permanently in the system:

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# edit .bashrc or .zshrc accordingly
nano .bashrc

# include the following environment variables at the end of the file
export VULKAN_SDK=~/local/vulkan/1.3.231.2/aarch64                                          
export PATH=$VULKAN_SDK/bin:$PATH

Reload the profile:

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cd
source .bashrc

Install the SDK in the system:

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sudo cp -r $VULKAN_SDK/include/vulkan/ /usr/local/include/
sudo cp -P $VULKAN_SDK/lib/libvulkan.so* /usr/local/lib/
sudo cp $VULKAN_SDK/lib/libVkLayer_*.so /usr/local/lib/
sudo mkdir -p /usr/local/share/vulkan/explicit_layer.d
sudo cp $VULKAN_SDK/etc/vulkan/explicit_layer.d/VkLayer_*.json /usr/local/share/vulkan/explicit_layer.d

sudo ldconfig

OpenCV

Dependencies

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sudo apt install -y \
    build-essential \
    cmake \
    gfortran \
    gstreamer1.0-gl \
    gstreamer1.0-gtk3 \
    libatlas-base-dev \
    libavcodec-dev \
    libavformat-dev \
    libblas-dev \
    libcanberra-gtk* \
    libdc1394-22-dev \
    libgif-dev
    libgstreamer-plugins-base1.0-dev \
    libgstreamer1.0-dev \
    libgtk-3-dev \
    libgtk2.0-dev \
    libhdf5-dev \
    libjasper-dev \
    libjpeg-dev \
    liblapack-dev \
    libopenblas-dev \
    libpng-dev \
    libswscale-dev \
    libtbb-dev \
    libtbb2 \
    libtiff-dev \
    libv4l-dev \
    libx264-dev \
    libxvidcore-dev \
    pkg-config \
    protobuf-compiler \
    python3-dev \
    python3-numpy \
    unzip

Build

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mkdir -p ~/local/opencv && cd ~/local/opencv

# Download and unpack sources
wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.5.2.zip
wget -O opencv.zip https://github.com/opencv/opencv/archive/4.5.2.zip

unzip opencv.zip
unzip opencv_contrib.zip

mv opencv-4.5.2 opencv
mv opencv_contrib-4.5.2 opencv_contrib

# remove archives
rm opencv.zip
rm opencv_contrib.zip

# Create build directory and switch into it
mkdir -p opencv/build && cd opencv/build

# Configure
cmake -D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=~/local/opencv/opencv_contrib/modules \
-D ENABLE_NEON=ON \
-D WITH_OPENMP=ON \
-D WITH_OPENCL=OFF \
-D BUILD_ZLIB=ON \
-D BUILD_TIFF=ON \
-D WITH_FFMPEG=ON \
-D WITH_TBB=ON \
-D BUILD_TBB=ON \
-D BUILD_TESTS=OFF \
-D WITH_EIGEN=OFF \
-D WITH_GSTREAMER=ON \
-D WITH_V4L=ON \
-D WITH_LIBV4L=ON \
-D WITH_VTK=OFF \
-D WITH_QT=OFF \
-D OPENCV_ENABLE_NONFREE=ON \
-D INSTALL_C_EXAMPLES=OFF \
-D INSTALL_PYTHON_EXAMPLES=OFF \
-D BUILD_opencv_python3=TRUE \
-D OPENCV_GENERATE_PKGCONFIG=ON \
-D BUILD_EXAMPLES=OFF ..

# Build
make -j 4

# Install
sudo make install

Lluvia

Bazel

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wget -O bazel https://github.com/bazelbuild/bazel/releases/download/5.3.2/bazel-5.3.2-linux-arm64

chmod +x bazel
sudo mv bazel /usr/local/bin

Build and install C++ and Python packages

Install clang compiler

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sudo apt install -y clang

Clone and build Lluvia

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git clone https://github.com/jadarve/lluvia.git
cd lluvia

# install requirements listed in lluvia's root folder
sudo python3 -m pip install -r requirements.txt

bazel build //lluvia/cpp/...

# Run the tests to verify runtime is configured propertly
bazel test //lluvia/cpp/...

# Build and install the python wheel
bazel build //lluvia/python:lluvia_wheel
python3 -m pip install bazel-bin/lluvia/python/lluvia-0.0.1-py3-none-any.whl

Examples

With the Raspberry Pi camera module installed, it is possible to run the webcam demo located at samples/webcam/webcam.py. The command below configures the camera to output images at 320x240 resolution and fed to the webcam/HornSchunck container node, defined in the horn_schunck.lua script:

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./samples/webcam/webcam.py --width=320 --height=240 \
  ./samples/webcam/scripts/horn_schunck.lua webcam/HornSchunck

The resulting color-encoded optical flow is displayed in a second window.


Last modified November 28, 2022: #118 Support Raspberry Pi 4 (#140) (06a2b56)