Jetson nano Ubuntu18 上疯狂安装Open3D

jetson nano上安装Open3D成功的截图留念

地址：https://github.com/intel-isl/Open3D
官方document
http://www.open3d.org/docs/release/introduction.html

断断续续装了一个礼拜，几次感觉要崩溃最终还是挺过来了，之前在jetson nano上安装了PCL 和python-pcl 读了部分文档，感觉pcl的代码有点啰嗦，就文档而言open3d给出的功能更多更细更友好。python-pcl 的文档虽然也挺细致，但受限于pcl，如果用的功能不是很多，比如机械臂抓取这块感觉python-pcl就可以了，但是我莫名其妙的还是想都用用看，于是折腾了一个礼拜，太疯狂了，我可能有强迫症。

安装的时候要注意3rdparty 这个目录，要注意这里的代码都是空的，根据编译参数不同代码要自行下载

比较难的就是网络，大部分要访问外网，如果网络出问题神仙也没辙了，它编译的过程也要下载一些依赖，编译过程中下载失败报错了，我是在别的电脑上下载好，在copy过去的。

安装过程中坑的量还是比较大的，由于安装过程中问题太多我没有一一记录，如果小伙伴们遇到了问题可以留言给我，如果我遇到过也会帮助解答

util 目录中的 install_deps_ubuntu.sh 最好也装一下

下面是官方给出的arm下编译的流程

https://github.com/intel-isl/Open3D/blob/317628457b60f624c8f54e1dbba7b6e20730cd2a/docs/arm.rst

ARM support

Open3D provides experimental support for 64-bit ARM architecture (arm64 or aarch64) on Linux. Open3D needs to be compiled from source to run on ARM.

System requirements
64-bit ARM processor and 64-bit Linux operating system. Check the output of uname -p and it should show aarch64.
Full OpenGL (not OpenGL ES) is needed for Open3D GUI. If OpenGL is not available, the Open3D GUI will compile but it won’t run. In this case, we recommend setting -DBUILD_GUI=OFF during the cmake configuration step.
Building Open3D on ARM64
Note: If you encounter build issues, check the arm64 section of .github/workflows/openblas.yml for the full CI build scripts on ARM64.

Install dependencies
Install the following system dependencies:

sudo apt-get update -y
sudo apt-get install -y apt-utils build-essential git cmake
sudo apt-get install -y python3 python3-dev python3-pip
sudo apt-get install -y xorg-dev libglu1-mesa-dev
sudo apt-get install -y libblas-dev liblapack-dev liblapacke-dev
sudo apt-get install -y libsdl2-dev libc+±7-dev libc++abi-7-dev libxi-dev
sudo apt-get install -y clang-7
Optionally, virtualenv and ccache are recommended. Note that conda does not support ARM.

sudo apt-get install -y python3-virtualenv ccache
If the Open3D build system complains about CMake xxx or higher is required, refer to one of the following options:

Compile CMake from source
Install with snap: sudo snap install cmake --classic
Install with pip (run inside a Python virtual environment): pip install cmake
Build

Optional: create and activate virtual environment

virtualenv --python=$(which python3) ${HOME}/venv
source ${HOME}/venv/bin/activate

Clone

git clone --recursive https://github.com/intel-isl/Open3D
cd Open3D
git submodule update --init --recursive
mkdir build
cd build

Configure

> Set -DBUILD_CUDA_MODULE=ON if CUDA is available (e.g. on Nvidia Jetson)

> Set -DBUILD_GUI=ON if OpenGL is available (e.g. on Nvidia Jetson)

> We don’t support TensorFlow and PyTorch on ARM officially

cmake
-DCMAKE_BUILD_TYPE=Release
-DBUILD_SHARED_LIBS=ON
-DBUILD_CUDA_MODULE=OFF
-DBUILD_GUI=OFF
-DBUILD_TENSORFLOW_OPS=OFF
-DBUILD_PYTORCH_OPS=OFF
-DBUILD_UNIT_TESTS=ON
-DCMAKE_INSTALL_PREFIX=~/open3d_install
-DPYTHON_EXECUTABLE=$(which python)
…

Build C++ library

make -j$(nproc)

Run tests (optional)

make tests -j$(nproc)
./bin/tests --gtest_filter="-ReduceSum*"

Install C++ package (optional)

make install

Install Open3D python package (optional)

make install-pip-package -j$(nproc)
python -c “import open3d; print(open3d)”

Run Open3D GUI (optional, available on when -DBUILD_GUI=ON)

./bin/Open3D/Open3D
Nvidia Jetson
Nvidia Jetson computers with 64-bit processor and OS are supported. You can compile Open3D with -DBUILD_CUDA_MODULE=ON and -DBUILD_GUI=ON and the Open3D GUI app should be functional. We support CUDA v10.x, but other versions should work as well.

Raspberry Pi 4
Raspberry Pi 4 has 64-bit processor and supports OpenGL ES (not OpenGL). To build Open3D on Raspberry Pi 4, compile with -DBUILD_GUI=OFF.