在Jetson上配置RealSense相机驱动

1.下载源码 https://github.com/IntelRealSense/librealsense

cd librealsense
./scripts/setup_udev_rules.sh
echo 'hid_sensor_custom' | sudo tee -a /etc/modules

2.添加cuda环境变量

export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH

3.编译

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

4.添加pyrealsense2环境变量

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

完成编译后，可在/usr/local/lib/python3.6/pyrealsense2/目录下查看编译好的库文件

pybackend2.cpython-36m-aarch64-linux-gnu.so
pybackend2.cpython-36m-aarch64-linux-gnu.so.2.49.0
pyrealsense2.cpython-36m-aarch64-linux-gnu.so.2.49
pybackend2.cpython-36m-aarch64-linux-gnu.so.2
pyrealsense2.cpython-36m-aarch64-linux-gnu.so
pyrealsense2.cpython-36m-aarch64-linux-gnu.so.2.49.0

5.测试

realsense-viewer

import pyrealsense2后直接通过python接口使用相机

6.参考文献

[1] https://blog.csdn.net/weixin_41010198/article/details/113618002.
[2] https://blog.csdn.net/Boris_LB/article/details/120750799