1 我的Jetson nano环境

zhihui@zhihui-desktop:~$ jetson_release -v- NVIDIA Jetson Nano (Developer Kit Version)* Jetpack 4.5 [L4T 32.5.0]* NV Power Mode: MAXN - Type: 0* jetson_stats.service: active- Board info:* Type: Nano (Developer Kit Version)* SOC Family: tegra210 - ID:33* Module: P3448-0000 - Board: P3449-0000* Code Name: porg* Boardids: 3448* CUDA GPU architecture (ARCH_BIN): 5.3* Serial Number: 1424720068826- Libraries:* CUDA: 10.2.89* cuDNN: 8.0.0.180* TensorRT: 7.1.3.0* Visionworks: 1.6.0.501* OpenCV: 4.1.1 compiled CUDA: NO* VPI: ii libnvvpi1 1.0.12 arm64 NVIDIA Vision Programming Interface library* Vulkan: 1.2.70- jetson-stats:* Version 3.0.3* Works on Python 3.6.9
zhihui@zhihui-desktop:~$

2 下载librealsense源码

1、下载librealsense源码

在这里下载你需要的版本：https://github.com/IntelRealSense/librealsense/tags

2、我下载的版本是librealsense-2.40.0.zip，下载地址

librealsense-2.40.0.zip下载地址：https://github.com/IntelRealSense/librealsense/archive/v2.40.0.zip

3 编译源码

3.1 cmake编译

详细参考这篇博客，这里主要说明解决遇到的问题

1、cmake

cmake ../ -DFORCE_RSUSB_BACKEND=ON -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3

zhihui@zhihui-desktop:~/RealSense/librealsense-2.40.0/build$ cmake ../ -DFORCE_RSUSB_BACKEND=ON -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Checking internet connection...
-- Internet connection identified
-- Info: REALSENSE_VERSION_STRING=2.40.0
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Setting Unix configurations
-- Found usb: /usr/lib/aarch64-linux-gnu/libusb-1.0.so
-- using RS2_USE_LIBUVC_BACKEND
-- Found PythonInterp: /usr/bin/python3 (found version "3.6.9")
-- Found PythonLibs: /usr/lib/aarch64-linux-gnu/libpython3.6m.so (found version "3.6.9")
-- Found PythonLibs: /usr/lib/aarch64-linux-gnu/libpython3.6m.so
-- pybind11 v2.2.1
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
-- LTO enabled
-- GLFW 3.3 not found; using internal version
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - found
-- Found Threads: TRUE
-- Could NOT find Vulkan (missing: VULKAN_LIBRARY VULKAN_INCLUDE_DIR)
-- Using X11 for window creation
-- Looking for XOpenDisplay in /usr/lib/aarch64-linux-gnu/libX11.so;/usr/lib/aarch64-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/aarch64-linux-gnu/libX11.so;/usr/lib/aarch64-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/aarch64-linux-gnu/libX11.so
CMake Error at third-party/glfw/CMakeLists.txt:235 (message):The Xinerama headers were not found-- Configuring incomplete, errors occurred!
See also "/home/zhihui/RealSense/librealsense-2.40.0/build/CMakeFiles/CMakeOutput.log".
zhihui@zhihui-desktop:~/RealSense/librealsense-2.40.0/build$ ls

上面出现的异常信息有：

Could NOT find Vulkan (missing: VULKAN_LIBRARY VULKAN_INCLUDE_DIR)
CMake Error at third-party/glfw/CMakeLists.txt:235 (message):

我之前在第一台Jetson nano设备上cmake是没有问题的，而且这两台Jetson nano设备我都是使用的同一个镜像刷的机，不知道为啥会遇到这种问题，这个破问题搞了我差不多一两天，头都快大了！！！

2、解决这个错误方式！

直接安装如下依赖即可（参考）：

sudo apt-get install -y libxinerama-dev libxcursor-dev

之后再cmake编译，就没有问题了，正确编译信息如下：

zhihui@zhihui-desktop:~/RealSense/librealsense-2.40.0/build$ cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3
-- The CXX compiler identification is GNU 7.5.0
-- The C compiler identification is GNU 7.5.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Checking internet connection...
-- Failed to identify Internet connection
CMake Warning at CMakeLists.txt:16 (message):No internet connection, disabling BUILD_WITH_TM2CMake Warning at CMakeLists.txt:22 (message):No internet connection, disabling IMPORT_DEPTH_CAM_FW-- Info: REALSENSE_VERSION_STRING=2.40.0
-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
-- Setting Unix configurations
-- Found usb: /usr/lib/aarch64-linux-gnu/libusb-1.0.so
-- using RS2_USE_V4L2_BACKEND
-- Found PythonInterp: /usr/bin/python3 (found version "3.6.9")
-- Found PythonLibs: /usr/lib/aarch64-linux-gnu/libpython3.6m.so (found version "3.6.9")
-- Found PythonLibs: /usr/lib/aarch64-linux-gnu/libpython3.6m.so
-- pybind11 v2.2.1
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
-- LTO enabled
-- GLFW 3.3 not found; using internal version
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - found
-- Found Threads: TRUE
-- Could NOT find Vulkan (missing: VULKAN_LIBRARY VULKAN_INCLUDE_DIR)
-- Using X11 for window creation
-- Looking for XOpenDisplay in /usr/lib/aarch64-linux-gnu/libX11.so;/usr/lib/aarch64-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/aarch64-linux-gnu/libX11.so;/usr/lib/aarch64-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/aarch64-linux-gnu/libX11.so
-- Found OpenGL: /usr/lib/aarch64-linux-gnu/libOpenGL.so
-- Could NOT find apriltag (missing: APRILTAG_INC APRILTAG_LIB)
-- Unable to find apriltag library, skipping pose-apriltag example
-- Configuring done
-- Generating done
-- Build files have been written to: /home/zhihui/RealSense/librealsense-2.40.0/build
zhihui@zhihui-desktop:~/RealSense/librealsense-2.40.0/build$

注意：

编译的时候还是要把网断了，要不然会下载东西，比较慢

剩下的步骤就参考我之前的那篇博客吧！

3.2 测试

>>> import pyrealsense2 as rs
>>> dir(rs)
['BufData', 'STAEControl', 'STAFactor', 'STCensusRadius', 'STColorControl', 'STColorCorrection', 'STDepthControlGroup', 'STDepthTableControl', 'STHdad', 'STRauColorThresholdsControl', 'STRauSupportVectorControl', 'STRsm', 'STSloColorThresholdsControl', 'STSloPenaltyControl', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__spec__', '__version__', 'adjust_2D_point_to_boundary', 'align', 'auto_calibrated_device', 'calibrated_sensor', 'calibration_status', 'calibration_type', 'camera_info', 'color_sensor', 'colorizer', 'composite_frame', 'config', 'context', 'debug_protocol', 'decimation_filter', 'depth_frame', 'depth_huffman_decoder', 'depth_sensor', 'depth_stereo_sensor', 'device', 'device_calibration', 'device_list', 'disparity_frame', 'disparity_transform', 'distortion', 'dsm_params', 'event_information', 'extension', 'extrinsics', 'filter', 'filter_interface', 'firmware_log_message', 'firmware_log_parsed_message', 'firmware_logger', 'fisheye_sensor', 'format', 'frame', 'frame_metadata_value', 'frame_queue', 'frame_source', 'hdr_merge', 'hole_filling_filter', 'intrinsics', 'is_pixel_in_line', 'log', 'log_message', 'log_severity', 'log_to_callback', 'log_to_console', 'log_to_file', 'max_usable_range_sensor', 'motion_device_intrinsic', 'motion_frame', 'motion_sensor', 'motion_stream', 'motion_stream_profile', 'next_pixel_in_line', 'notification', 'notification_category', 'option', 'option_range', 'options', 'pipeline', 'pipeline_profile', 'pipeline_wrapper', 'playback', 'playback_status', 'pointcloud', 'points', 'pose', 'pose_frame', 'pose_sensor', 'pose_stream', 'pose_stream_profile', 'processing_block', 'quaternion', 'recorder', 'region_of_interest', 'roi_sensor', 'rs2_deproject_pixel_to_point', 'rs2_fov', 'rs2_project_color_pixel_to_depth_pixel', 'rs2_project_point_to_pixel', 'rs2_transform_point_to_point', 'rs400_advanced_mode', 'save_single_frameset', 'save_to_ply', 'sensor', 'sequence_id_filter', 'software_device', 'software_motion_frame', 'software_notification', 'software_pose_frame', 'software_sensor', 'software_video_frame', 'spatial_filter', 'stream', 'stream_profile', 'syncer', 'temporal_filter', 'terminal_parser', 'texture_coordinate', 'threshold_filter', 'timestamp_domain', 'tm2', 'units_transform', 'updatable', 'update_device', 'vector', 'vertex', 'video_frame', 'video_stream', 'video_stream_profile', 'wheel_odometer', 'yuy_decoder', 'zero_order_invalidation']
>>>

如果显示如上，说明已经成功编译，可以正常使用啦！！！

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解决Jetson nano上编译librealsense错误：Could NOT find Vulkan (missing: VULKAN_LIBRARY VULKAN_INCLUDE_DIR)