librealsense / realsense SDK Build and Install in Jetson Xavier NX

1. Download  zip file

https://github.com/IntelRealSense/librealsense/releases 

Releases · IntelRealSense/librealsense

 

JetPack 4.5.1 (Ubuntu 18.04) : 2.48.0

wget https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.48.0.zip
unzip v2.48.0.zip

JetPack 5.1 (Ubuntu 20.04) : 2.51.1

 

2. Build and Install

apt-get install libssl-dev

cd [librealsense_dir]
mkdir build && cd build


cmake .. \
-DFORCE_RSUSB_BACKEND=true \
-DBUILD_WITH_CUDA=true \
-DCMAKE_BUILD_TYPE=release

make -j4
sudo make install

 

 

* Debug

if this error happens,

solution : 

sudo apt-get install xorg-dev libglu1-mesa-dev

 

 

 

* Reference

https://github.com/IntelRealSense/librealsense/issues/9519

rgb-depth alignment is too slow even built with CUDA · Issue #9519 · IntelRealSense/librealsense

 

https://github.com/openMVG/openMVG/issues/85

The RandR library and headers were not found (on Ubuntu) · Issue #85 · openMVG/openMVG