JETSON Orin Nano

RealSense-View

Install librealsense2 debian package [link]

Solution [link]

Camilochiang Maybe I found a solution try adding/modifying to CMakeLists in realsense2_camera. Now im testing this solution but it looks promising. (even work with -DFORCE_RSUSB_BACKEND:=false):

find_package( OpenCV REQUIRED )
include_directories(
include
${realsense2_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}
${realsense2_LIBRARY}
${catkin_LIBRARIES}
${CMAKE_THREAD_LIBS_INIT}
${OpenCV_LIBRARIES}
)

Point Cloud on Jetson Nano Orin

Install OpenCV [tutorial]

# a fresh start, so check for updates
$ sudo apt-get update
$ sudo apt-get upgrade
# install nano
$ sudo apt-get install nano
# install dphys-swapfile
$ sudo apt-get install dphys-swapfile
# enlarge the boundary (4.5.2 and higher)
$ sudo nano /sbin/dphys-swapfile
# give the required memory size
$ sudo nano /etc/dphys-swapfile
# reboot afterwards
$ sudo reboot

Installation Time 3.5hrs

 # check your memory first
$ free -m
# you need at least a total of 8.5 GB!
# if not, enlarge your swap space as explained in the guide
$ wget https://github.com/Qengineering/Install-OpenCV-Jetson-Nano/raw/main/OpenCV-4-8-0.sh
$ sudo chmod 755 ./OpenCV-4-8-0.sh
$ ./OpenCV-4-8-0.sh
# once the installation is done...
$ rm OpenCV-4-8-0.sh
# remove the dphys-swapfile now
$ sudo /etc/init.d/dphys-swapfile stop
$ sudo apt-get remove --purge dphys-swapfile
# just a tip to save an additional 275 MB
$ sudo rm -rf ~/opencv
$ sudo rm -rf ~/opencv_contrib 

Jetson Xavier NX

#!/bin/bash
set -e
install_opencv () {
  # Check if the file /proc/device-tree/model exists
  if [ -e "/proc/device-tree/model" ]; then
      # Read the model information from /proc/device-tree/model and remove null bytes
      model=$(tr -d '\0' < /proc/device-tree/model)
      # Check if the model information contains "Jetson Nano Orion"
      echo ""
      if [[ $model == *"Orin"* ]]; then
          echo "Detecting a Jetson Nano Orin."
	  # Use always "-j 4"
          NO_JOB=4
          ARCH=8.7
          PTX="sm_87"
      elif [[ $model == *"Xavier"* ]]; then
          echo "Detecting a Jetson Nano Orin."
	  # Use always "-j 4"
          NO_JOB=4
          ARCH=7.2
          PTX="sm_72"
      elif [[ $model == *"Jetson Nano"* ]]; then
          echo "Detecting a regular Jetson Nano."
          ARCH=5.3
          PTX="sm_53"
	  # Use "-j 4" only swap space is larger than 5.5GB
	  FREE_MEM="$(free -m | awk '/^Swap/ {print $2}')"
	  if [[ "FREE_MEM" -gt "5500" ]]; then
	    NO_JOB=4
	  else
	    echo "Due to limited swap, make only uses 1 core"
	    NO_JOB=1
	  fi
      else
          echo "Unable to determine the Jetson Nano model."
          exit 1
      fi
      echo ""
  else
      echo "Error: /proc/device-tree/model not found. Are you sure this is a Jetson Nano?"
      exit 1
  fi
  
  echo "Installing OpenCV 4.8.0 on your Nano"
  echo "It will take 3.5 hours !"
  
  # reveal the CUDA location
  cd ~
  sudo sh -c "echo '/usr/local/cuda/lib64' >> /etc/ld.so.conf.d/nvidia-tegra.conf"
  sudo ldconfig
  
  # install the Jetson Nano dependencies first
  if [[ $model == *"Jetson Nano"* ]]; then
    sudo apt-get install -y build-essential git unzip pkg-config zlib1g-dev
    sudo apt-get install -y python3-dev python3-numpy
    sudo apt-get install -y python-dev python-numpy
    sudo apt-get install -y gstreamer1.0-tools libgstreamer-plugins-base1.0-dev
    sudo apt-get install -y libgstreamer-plugins-good1.0-dev
    sudo apt-get install -y libtbb2 libgtk-3-dev v4l2ucp libxine2-dev
  fi
  
  if [ -f /etc/os-release ]; then
      # Source the /etc/os-release file to get variables
      . /etc/os-release
      # Extract the major version number from VERSION_ID
      VERSION_MAJOR=$(echo "$VERSION_ID" | cut -d'.' -f1)
      # Check if the extracted major version is 22 or earlier
      if [ "$VERSION_MAJOR" = "22" ]; then
          sudo apt-get install -y libswresample-dev libdc1394-dev
      else
	  sudo apt-get install -y libavresample-dev libdc1394-22-dev
      fi
  else
      sudo apt-get install -y libavresample-dev libdc1394-22-dev
  fi
  # install the common dependencies
  sudo apt-get install -y cmake
  sudo apt-get install -y libjpeg-dev libjpeg8-dev libjpeg-turbo8-dev
  sudo apt-get install -y libpng-dev libtiff-dev libglew-dev
  sudo apt-get install -y libavcodec-dev libavformat-dev libswscale-dev
  sudo apt-get install -y libgtk2.0-dev libgtk-3-dev libcanberra-gtk*
  sudo apt-get install -y python3-pip
  sudo apt-get install -y libxvidcore-dev libx264-dev
  sudo apt-get install -y libtbb-dev libxine2-dev
  sudo apt-get install -y libv4l-dev v4l-utils qv4l2
  sudo apt-get install -y libtesseract-dev libpostproc-dev
  sudo apt-get install -y libvorbis-dev
  sudo apt-get install -y libfaac-dev libmp3lame-dev libtheora-dev
  sudo apt-get install -y libopencore-amrnb-dev libopencore-amrwb-dev
  sudo apt-get install -y libopenblas-dev libatlas-base-dev libblas-dev
  sudo apt-get install -y liblapack-dev liblapacke-dev libeigen3-dev gfortran
  sudo apt-get install -y libhdf5-dev libprotobuf-dev protobuf-compiler
  sudo apt-get install -y libgoogle-glog-dev libgflags-dev
 
  # remove old versions or previous builds
  cd ~ 
  sudo rm -rf opencv*
  # download the 4.8.0 version
  wget -O opencv.zip https://github.com/opencv/opencv/archive/4.8.0.zip 
  wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.8.0.zip 
  # unpack
  unzip opencv.zip 
  unzip opencv_contrib.zip 
  # Some administration to make life easier later on
  mv opencv-4.8.0 opencv
  mv opencv_contrib-4.8.0 opencv_contrib
  # clean up the zip files
  rm opencv.zip
  rm opencv_contrib.zip
  
  # set install dir
  cd ~/opencv
  mkdir build
  cd build
  
  # run cmake
  cmake -D CMAKE_BUILD_TYPE=RELEASE \
  -D CMAKE_INSTALL_PREFIX=/usr \
  -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \
  -D EIGEN_INCLUDE_PATH=/usr/include/eigen3 \
  -D WITH_OPENCL=OFF \
  -D CUDA_ARCH_BIN=${ARCH} \
  -D CUDA_ARCH_PTX=${PTX} \
  -D WITH_CUDA=ON \
  -D WITH_CUDNN=ON \
  -D WITH_CUBLAS=ON \
  -D ENABLE_FAST_MATH=ON \
  -D CUDA_FAST_MATH=ON \
  -D OPENCV_DNN_CUDA=ON \
  -D ENABLE_NEON=ON \
  -D WITH_QT=OFF \
  -D WITH_OPENMP=ON \
  -D BUILD_TIFF=ON \
  -D WITH_FFMPEG=ON \
  -D WITH_GSTREAMER=ON \
  -D WITH_TBB=ON \
  -D BUILD_TBB=ON \
  -D BUILD_TESTS=OFF \
  -D WITH_EIGEN=ON \
  -D WITH_V4L=ON \
  -D WITH_LIBV4L=ON \
  -D WITH_PROTOBUF=ON \
  -D OPENCV_ENABLE_NONFREE=ON \
  -D INSTALL_C_EXAMPLES=OFF \
  -D INSTALL_PYTHON_EXAMPLES=OFF \
  -D PYTHON3_PACKAGES_PATH=/usr/lib/python3/dist-packages \
  -D OPENCV_GENERATE_PKGCONFIG=ON \
  -D BUILD_EXAMPLES=OFF \
  -D CMAKE_CXX_FLAGS="-march=native -mtune=native" \
  -D CMAKE_C_FLAGS="-march=native -mtune=native" ..
 
  make -j ${NO_JOB} 
  
  directory="/usr/include/opencv4/opencv2"
  if [ -d "$directory" ]; then
    # Directory exists, so delete it
    sudo rm -rf "$directory"
  fi
  
  sudo make install
  sudo ldconfig
  
  # cleaning (frees 320 MB)
  make clean
  sudo apt-get update
  
  echo "Congratulations!"
  echo "You've successfully installed OpenCV 4.8.0 on your Nano"
}

cd ~

if [ -d ~/opencv/build ]; then
  echo " "
  echo "You have a directory ~/opencv/build on your disk."
  echo "Continuing the installation will replace this folder."
  echo " "
  
  printf "Do you wish to continue (Y/n)?"
  read answer

  if [ "$answer" != "${answer#[Nn]}" ] ;then 
      echo "Leaving without installing OpenCV"
  else
      install_opencv
  fi
else
    install_opencv
fi

cmake-3.25.1

sudo apt install -y cmake libssl-dev curl

# For Qt GUI
sudo apt install -y qt5-default

mkdir cmake-3.25.1
cd cmake-3.25.1
#sudo apt install -y libssl-dev 

mkdir -p Src
cd Src
wget -c --show-progress https://github.com/Kitware/CMake/releases/download/v3.25.1/cmake-3.25.1.tar.gz
tar xvf cmake-3.25.1.tar.gz
cd ..

mkdir -p cmake-3.25.1-build && cd cmake-3.25.1-build

#cmake -DCMAKE_USE_OPENSSL=OFF ../cmake-3.25.1
# If you want to build cmake-gui against Qt5
cmake -DCMAKE_-DBUILD_QtDialog=ON -DQT_QMAKE_EXECUTABLE=/usr/lib/qt5/bin/qmake ../Src/cmake-3.25.1

make -j $(nproc)
#make test

# This would install into /usr/local
sudo make install

# This should show version 3.25.1
cmake --version
cd ../..