APEX ORIN MINI USB Relense Camera#
Instructions for use#
Function Description#
The APEX ORIN series industrial computers support plug-and-play use of Intel RealSense USB depth cameras. The following models have been verified and supported:
****（Short-range high-precision depth camera）
****（Long baseline, narrow field of view）
****（Short baseline, wide field of view, and the most widely used）
Support functions include:
USB interface with plug-and-play functionality
Simultaneous output of RGB images + depth images
Support for Intel RealSense SDK (librealsense)
Can be used in combination with Ethernet cameras, GMSL cameras, etc.
Functional limitations#
USB depth cameras are commercial-grade devices and do not have the high-temperature resistance characteristics of automotive or industrial grades.
It is recommended to use them in an environment of 0℃～50℃.
A single USB Root Hub can connect 1～2 RealSense cameras at the same time. An excessive number of cameras may cause insufficient bandwidth.
Automatic recovery during hot swapping is not supported. It is recommended to restart the application or service after plugging and unplugging.
Software environment preparation#
System Requirements#
Operating System: Miwen official APEX ORIN MINI 6.2-2.0.0 and higher image versions
The kernel has USB Video Class (UVC) support enabled
Basic USB / V4L2 drivers are integrated by default
Installation Intel RealSense SDK（librealsense）#
Installation#
It is recommended to use the official stable version of librealsense v2.x:
Install dependencies#
sudo apt update
sudo apt install -y \
libusb-1.0-0-dev \
libglfw3-dev \
libgtk-3-dev \
libssl-dev \
cmake \
build-essential
Compile and install librealsense#
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install
Hardware Connection Instructions#
USB interface requirements#
Use USB 3.0 (USB 3.2 Gen1) interface
It is recommended to use the host direct USB interface and avoid using low-quality HUBs
For D435 / D415, it is recommended to use original or high-quality USB cables
Device identification confirmation#
After inserting the camera, execute:
lsusb | grep RealSense
Under normal circumstances, similar device information can be seen:
Intel Corp. RealSense Depth Camera
And you can see the corresponding video nodes:
ls /dev/video x
4. Camera Usage#
4.1 Basic Testing (Official Tools)#
realsense-viewer
Function:
View RGB / Depth images
Verify if the camera is working properly
Adjust parameters such as exposure, resolution, frame rate, etc.
4.2 Program Example Execution#
python3 /usr/local/lib/python3.x/dist-packages/pyrealsense2/examples/python-tutorial-1-depth.py
4.3 Performance Recommendations#
Before conducting in-depth calculations or algorithm tests, it is recommended to enable the maximum performance mode:
sudo jetson_clocks
5. Instructions for Mixed Use of Multiple Cameras#
5.1 Coexistence with GMSL / Ethernet cameras#
USB depth camera does not occupy GMSL video nodes
Can be used simultaneously with GMSL cameras and Ethernet LiDAR
Recommendations:
USB depth cameras are used for short-range perception / auxiliary mapping
GMSL cameras are used for main visual perception
5.2 Recommendations for Using Multiple USB Cameras#
Try to distribute them across different USB controllers
Avoid multiple depth cameras sharing the same USB Hub
If the frame rate drops, prioritize reducing the resolution or frame rate
6. Common Problems and Troubleshooting#
6.1 The camera cannot be recognized#
6.1 The camera cannot be recognized
1 Check that the USB interface power supply is normal
1 Replace the USB cable
1 Execute lsusb to confirm if the device is enumerated
1 Confirm that /dev/video x is not occupied by other applications
6.2 realsense-viewer cannot open the camera#
Possible reasons:
Abnormal SDK version
Insufficient USB bandwidth
Device node permission issue
Solution:
sudo chmod 666 /dev/video x
6.3 Depth Image Anomalies / Frame Drops#
Check CPU usage
Try to lower the resolution (e.g., 640×480)
Confirm that USB is running in USB 3.x mode
7. Usage Recommendations and Precautions#
RealSense cameras are commercial-grade devices and are not recommended for long-term use in high-temperature or strong vibration environments.
Not recommended for use as safety-related sensors.
It is recommended to use them as auxiliary perception devices in product design.
8. Technical Support#
If you encounter any problems during use, please prepare the following information and contact Miwen Technical Support:
Device model
System image version
Camera model
Logs related to dmesg and /var/log