{"id":576,"date":"2025-02-05T13:57:00","date_gmt":"2025-02-05T04:57:00","guid":{"rendered":"https:\/\/ahnbk.dev\/?p=576"},"modified":"2025-02-05T13:57:00","modified_gmt":"2025-02-05T04:57:00","slug":"jetson-orin-nx%ec%97%90%ec%84%9c-realsense-camera-d435i-%ec%9d%b8%ec%8b%9d-%eb%b0%8f-%ec%82%ac%ec%9a%a9%ed%95%98%ea%b8%b0","status":"publish","type":"post","link":"https:\/\/ahnbk.dev\/?p=576","title":{"rendered":"Jetson Orin NX\uc5d0\uc11c Realsense Camera D435i \uc778\uc2dd \ubc0f \uc0ac\uc6a9\ud558\uae30"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\ud558\uc5ec\uac04 \uc774 Jetson \uac1c\ubc1c\uc790 \ub188\ub4e4\uc740 \ubb50\ud558\ub098 \uc27d\uac8c \ub118\uc5b4\uac00\ub294 \uaf34\uc744 \ubabb\ubcf4\ub294\ub4ef \ud569\ub2c8\ub2e4. Jetpack5\uc5d0\uc11c Jetpack6\uc73c\ub85c \ub118\uc5b4\uac00\ub294\ub370\ub3c4 \uc2dc\uac04\uc774 \ud55c\ucc38\uc744 \uac78\ub9ac\ub354\ub9cc, Jetpack6\uc5d0 \uc62c\ub77c\uac00\uc11c\ub294 Realsense \uce74\uba54\ub77c\ub4e4\uc774 \uc778\uc2e0\uc774 \uc548\ub418\ub294 \ubc84\uadf8\uac00 \uc788\uc2b5\ub2c8\ub2e4. \uc6d0\uc778\uc740 \ud574\ub2f9 \ub4dc\ub77c\uc774\ubc84\ub97c \ud3ec\ud568\ud558\uc9c0 \uc54a\uc544\uc11c\uc774\uace0, \uc774\ub97c \ud574\uacb0\ud558\uae30 \uc704\ud574\uc120 \ucee4\ub110 \uc18c\uc2a4\ub97c \ubc1b\uc544 \ud574\ub2f9 \ub4dc\ub77c\uc774\ubc84\ub97c \uc7ac\ube4c\ub529\ud574\uc11c \ubcf5\uc0ac\ud574 \uc918\uc57c \ud569\ub2c8\ub2e4. <\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ud2b9\ud788 D435i\uc758 \uacbd\uc6b0 IMU\uac00 \ub0b4\uc7a5\ub418\uc5b4 \uc788\ub294\ub370, \uc774 IMU\uc758 \uc13c\uc11c\ub370\uc774\ud130\ub97c USB HID \ud504\ub85c\ud1a0\ucf5c\uc744 \uc774\uc6a9\ud574\uc11c \ubc1b\ub3c4\ub85d \ub418\uc5b4 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ub97c \ub2f4\ub2f9\ud558\ub294 \ub514\ubc14\uc774\uc2a4 \ub4dc\ub77c\uc774\ubc84\uac00 hidraw\ub77c\ub294 \ub140\uc11d\uc785\ub2c8\ub2e4. (\uc544\ub9c8 IMU\uac00 \ub0b4\uc7a5\ub418\uc5b4 \uc788\uc9c0 \uc54a\ub294 \uc2dc\ub9ac\uc988\ub4e4\uc740 \uc798 \uc778\uc2dd\ub420 \uc218\ub3c4 \uc788\uc2b5\ub2c8\ub2e4. ^^) <\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4\ud589\ud788 librealsense \ub808\ud3ec\uc9c0\ud1a0\ub9ac\uc5d0 \ucee4\ub110 \ubc0f \ubaa8\ub4c8\uc744 \ud3b8\ud558\uac8c \ube4c\ub4dc\ud560 \uc218 \uc788\ub3c4\ub85d \uc2a4\ud06c\ub9bd\ud2b8\ub97c \uc798 \ub9cc\ub4e4\uc5b4\ub193\uc544\uc11c \ube4c\ub4dc\uae4c\uc9c0\ub294 \uc27d\uac8c \ud574\uacb0\uc774 \uac00\ub2a5\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/github.com\/IntelRealSense\/realsense_mipi_platform_driver\/blob\/dev\/README_JP6.md\">https:\/\/github.com\/IntelRealSense\/realsense_mipi_platform_driver\/blob\/dev\/README_JP6.md<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ git clone https:\/\/github.com\/IntelRealSense\/realsense_mipi_platform_driver.git -b dev\n$ cd realsense_mipi_platform_driver\n$ .\/setup_workspace.sh 6.0\n$ .\/apply_patches.sh apply 6.0\n$ .\/build_all.sh 6.0<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\uc720\uc758\ud574\uc57c \ud560 \uc810\uc740 \ud604\uc7ac\uae4c\uc9c0\ub294 <strong>Jetpack 6.0 (rev2)<\/strong>\ub9cc \uc9c0\uc6d0\ud558\uace0 \uc788\uc5b4\uc11c, \ud604\uc7ac \ucd5c\uc2e0\ubc84\uc804\uc778 6.2\uc5d0\uc11c\ub294 \uc704 \ubc29\ubc95\uc744 \uc0ac\uc6a9\ud560 \uc218 \uc5c6\uace0, \uc544\uc9c1\uae4c\uc9c0 \uc9c0\uc6d0 \ubc29\uc548\uc774 \uc5c6\uc2b5\ub2c8\ub2e4. \ub530\ub77c\uc11c Jetson Orin NX \ubcf4\ub4dc\uc5d0 SDK Manager\ub97c \uc774\uc6a9\ud574 \uc124\uce58\ud560 \ub54c, Jetpack \ubc84\uc804\uc744 6.0 (rev2)\ub85c \uc120\ud0dd\ud574\uc57c \ud569\ub2c8\ub2e4. <\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uc774\ub807\uac8c \ube4c\ub4dc\ub97c \uc644\ub8cc\ud558\uace0,<\/p>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<p class=\"wp-block-paragraph\">\uadf8 \ub2e4\uc74c, \ube4c\ub4dc\ub41c \ucee4\ub110 \ubaa8\ub4c8\uc744 Jetson \ubcf4\ub4dc\uc5d0 \ubcf5\uc0ac\ud558\uc5ec \uc801\uc6a9\ud574\uc57c \ud558\ub294\ub370, \uc704 \ub808\ud3ec\uc9c0\ud1a0\ub9ac\uc758 \ubb38\uc11c\ub97c \ub530\ub77c\uc11c \uc9c4\ud589\ud558\uba74, \ub4dc\ub77c\uc774\ubc84\uc758 \ubb38\uc81c\uc778\uc9c0 \ubd80\ud305\uc774 \uc81c\ub300\ub85c \ub418\uc9c0 \uc54a\uac70\ub098, USB\uac00 \uba39\ud1b5\uc774 \ub418\uc5b4\ubc84\ub9bd\ub2c8\ub2e4. \ub530\ub77c\uc11c \ub2e4\uc74c\uc758 \uacfc\uc815\ub9cc \uc9c4\ud589\ud558\uba74 \ub429\ub2c8\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ cd realsense_mipi_platform_driver\n$ scp -r images\/6.0\/rootfs\/lib\/modules\/5.15.136-tegra\/extra &lt;jetson-user-id>@&lt;jetson-board-ip-address>:~\/<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4\uc74c\uc73c\ub85c Jetson \ubcf4\ub4dc\uc5d0\uc11c\ub294<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo cp -r ~\/extra \/lib\/modules\/$(uname -r)\/\n$ cd \/lib\/modules\/$(uname -r)\/\n$ sudo rm -rf videodev.ko<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4\uc74c\uc73c\ub85c depmod \uc124\uc815\ud30c\uc77c\uc5d0 \uacbd\ub85c\ub97c \ucd94\uac00\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo vi \/etc\/depmod.d\/ubuntu.conf\n\nsearch updates boot built-in\n\uc774 \ubd80\ubd84\uc744\nsearch extra updates boot built-in\n\uc73c\ub85c \uc218\uc815<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\ub2e4\uc2dc \ud130\ubbf8\ub110\uc5d0\uc11c \ub2e4\uc74c\uacfc \uac19\uc774 \uc2e4\ud589\ud558\uace0<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code lang=\"bash\" class=\"language-bash\">$ sudo depmod<\/code><\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">\uc7ac\ubd80\ud305\ud55c \ub2e4\uc74c, Realsense \uce74\uba54\ub77c\ub97c \uaf3d\uc544\uc8fc\uba74 \uc81c\ub300\ub85c \uc778\uc2dd\uc774 \ub418\uace0, \uc815\uc0c1\uc801\uc73c\ub85c \uc0ac\uc6a9\uc774 \uac00\ub2a5\ud569\ub2c8\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\ub05d.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\ud558\uc5ec\uac04 \uc774 Jetson \uac1c\ubc1c\uc790 \ub188\ub4e4\uc740 \ubb50\ud558\ub098 \uc27d\uac8c \ub118\uc5b4\uac00\ub294 \uaf34\uc744 \ubabb\ubcf4\ub294\ub4ef \ud569\ub2c8\ub2e4. Jetpack5\uc5d0\uc11c Jetpack6\uc73c\ub85c \ub118\uc5b4\uac00\ub294\ub370\ub3c4 \uc2dc\uac04\uc774 \ud55c\ucc38\uc744 \uac78\ub9ac\ub354\ub9cc, Jetpack6\uc5d0 \uc62c\ub77c\uac00\uc11c\ub294 Realsense \uce74\uba54\ub77c\ub4e4\uc774 \uc778\uc2e0\uc774 \uc548\ub418\ub294 \ubc84\uadf8\uac00 \uc788\uc2b5\ub2c8\ub2e4. \uc6d0\uc778\uc740 \ud574\ub2f9 \ub4dc\ub77c\uc774\ubc84\ub97c \ud3ec\ud568\ud558\uc9c0 \uc54a\uc544\uc11c\uc774\uace0, \uc774\ub97c \ud574\uacb0\ud558\uae30 \uc704\ud574\uc120 \ucee4\ub110 \uc18c\uc2a4\ub97c \ubc1b\uc544 \ud574\ub2f9 \ub4dc\ub77c\uc774\ubc84\ub97c \uc7ac\ube4c\ub529\ud574\uc11c \ubcf5\uc0ac\ud574 \uc918\uc57c \ud569\ub2c8\ub2e4. \ud2b9\ud788 D435i\uc758 \uacbd\uc6b0 IMU\uac00 \ub0b4\uc7a5\ub418\uc5b4 \uc788\ub294\ub370, \uc774 IMU\uc758 \uc13c\uc11c\ub370\uc774\ud130\ub97c USB HID \ud504\ub85c\ud1a0\ucf5c\uc744 \uc774\uc6a9\ud574\uc11c [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[98,7],"tags":[117,119,118,116],"class_list":["post-576","post","type-post","status-publish","format-standard","hentry","category-ros2","category-ubuntu","tag-d435i","tag-jetpack6","tag-jetson","tag-realsense"],"_links":{"self":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/576","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=576"}],"version-history":[{"count":1,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/576\/revisions"}],"predecessor-version":[{"id":577,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=\/wp\/v2\/posts\/576\/revisions\/577"}],"wp:attachment":[{"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=576"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=576"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ahnbk.dev\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=576"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}