Jetson4.3 L4T32.3.1 Ubuntu18.04 安装pyrealsense2

1 server’s public key:

sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE

2 Add the server to the list of repositories:

ubuntu 18

sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo bionic main" -u

3 install sdk

sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg

4 更新源

# Installs librealsense and pyrealsense2 on the Jetson NX running Ubuntu 18.04
# and using Python 3
# Tested on a Jetson NX running Ubuntu 18.04 and Python 3.6.9 on 2021-01-25
sudo apt-get update && sudo apt-get -y upgrade
sudo apt-get install -y --no-install-recommends \
    python3 \
    python3-setuptools \
    python3-pip \
    python3-dev

# Install the core packages required to build librealsense libs
sudo apt-get install -y git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
# Install Distribution-specific packages for Ubuntu 18
sudo apt-get install -y libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev

4 源码编译

4.1 源码下载

git clone https://github.com/IntelRealSense/librealsense.git

4.2 tx2内核

./scripts/patch-realsense-ubuntu-L4T.sh  

4.3 编译

./scripts/setup_udev_rules.sh  
mkdir build && cd build  
cmake ../ -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3
sudo make uninstall 
make clean
make j4
sudo make install

利用realsense-viewer查看图像

4.4 编译结果

在/usr/local/lib下查看编译生成的librealsense2动态库文件

在python3的库包存放位置/usr/local/lib/python3.6/pyrealsense2，生成pyrealsense2相关的动态库文件

5.pyrealsense2安装

在/.bashrc中添加环境

sudo gedit ~/.bashrc

export PATH=$PATH:~/.local/bin
export PYTHONPATH=$PYTHONPATH:/usr/local/lib
export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.6/pyrealsense2

source /.bashrc

此时可以 import pyrealsense2

测试：在librealsense/wrappers/python/examples文件夹下运行.py代码进行测试

参考链接：https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md
https://shliang.blog.youkuaiyun.com/article/details/113618002
https://blog.youkuaiyun.com/weixin_39298885/article/details/113149462