最详细jetson-xavier-nx调试realsense（l515）

原创已于 2025-06-23 15:10:16 修改 · 180 阅读

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于 2025-06-11 21:58:22 首次发布

一共两种办法，第一种是直接在命令行使用librealsense，第二种使用python代码拉取。

因为L515已经停产，所以它的sdk在2.50之前可以使用，之后就不会适用，运行的话会报错，所以我们需要下载2.50之前的sdk，直接在命令行输入命令：

git clone -b v2.48.0 https://github.com/IntelRealSense/librealsense

过程中如果报各种git错误，最开始我上网上搜了很多通过ssh转http下载的，都不是好用的，之后重启下，就可以正常git了，下载成功之后如图所示：

使用ls查看一下发现存在librealsense

注：千万别换源（因为我就是换源之后，发现下载不了后续步骤的cmake），就用最原始系统自带的，不要修改/etc/apt/source.list，如果有不小心修改的了的，这是18.04对应的源如下（如果换回去之后，还是提示有问题，升级一下sudo apt-get update，应该就可以了）：

# See UpgradeNotes - Community Help Wiki for ho to upgrade to
# newer versions of the distribution.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic main restricted
# deb-src Index of /ubuntu-ports bionic main restricted

## Major bug fix updates produced after the final release of the
## distribution.
deb http://ports.ubuntu.com/ubuntu-ports/  bionic-updates main restricted
# deb-src Index of /ubuntu-ports bionic-updates main restricted

## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic universe
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates universe
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic multiverse
# deb-src Index of /ubuntu-ports bionic multiverse
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-updates multiverse
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse

## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb Index of /ubuntu bionic partner
# deb-src Index of /ubuntu bionic partner
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse

我们进入该文件夹，在命令行输入cd librealsense，安装相应的依赖和脚本

cd librealsense
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
sudo apt-get install libusb-1.0-0-dev pkg-config
sudo apt-get install libglfw3-dev
sudo apt-get install libssl-dev
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger

安装完成之后，我们新建build文件夹，进行编译librealsense：
安装cmake，安装make，sudo apt-get install cmake,sudo apt-get install make
注：如果在执行完cmake这个步骤之后，查看这个文件夹中只有2个文件，那么说明缺少编译依赖，使用命令apt-get install gcc build-essential来进行补充依赖，之后删除这个rm -r build这个文件夹，再次重新创建，cmake。

mkdir build

cd build

sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=true -DBUILD_PYTHON_BINDINGS:bool=true -DPYTHON_EXECUTABLE=/usr/bin/python3

sudo make uninstall

make clean && make -j$(nproc)

sudo make install

如果安装过程中，发现报错终止了安装，我的报错信息如下：

n file included from /home/xavier/librealsense/examples/software-device/../example.hpp:10,
                 from /home/xavier/librealsense/examples/software-device/rs-software-device.cpp:6:
/usr/include/GLFW/glfw3.h:215:13: fatal error: GL/glu.h: No such file or directory
  215 |    #include &lt;GL/glu.h&gt;
      |             ^~~~~~~~~~
compilation terminated.
make[2]: *** [examples/software-device/CMakeFiles/rs-software-device.dir/build.make:63: examples/software-device/CMakeFiles/rs-software-device.dir/rs-software-device.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1252: examples/software-device/CMakeFiles/rs-software-device.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/xavier/librealsense/examples/capture/../example.hpp:10,
                 from /home/xavier/librealsense/examples/capture/rs-capture.cpp:5:
/usr/include/GLFW/glfw3.h:215:13: fatal error: GL/glu.h: No such file or directory
  215 |    #include &lt;GL/glu.h&gt;
      |             ^~~~~~~~~~
compilation terminated.
make[2]: *** [examples/capture/CMakeFiles/rs-capture.dir/build.make:63: examples/capture/CMakeFiles/rs-capture.dir/rs-capture.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1279: examples/capture/CMakeFiles/rs-capture.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

可以进行安装：

sudo apt-get update   
sudo apt-get install libglu1-mesa-dev freeglut3-dev mesa-common-dev

安装完成之后使用命令查看

ls /usr/include/GL/glu.h

如果有显示信息，则代表安装成功。

安装过程很慢（大约30-40分钟），需等待：

2025-06-23更新

第一种方法：
安装完成之后，可以在终端命令行输入：realsense-viewer，可以查看页面开启：

第二种方法：

我们需要下载个pycharm用来方便查看安装我们的包：
安装教程：最详细jetson-xavier-nx安装pycharm以及虚拟环境管理-CSDN博客
我这边附上测试代码：

import pyrealsense2 as rs   
import numpy as np   
import cv2
   
# Configure depth and color streams   
pipeline = rs.pipeline()   
config = rs.config()
   
# 建议使用相同分辨率   
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)   
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)
   
# Start streaming   
pipeline.start(config)
   
try:
    while True:
        # Wait for a coherent pair of frames: depth and color
        frames = pipeline.wait_for_frames()
        depth_frame = frames.get_depth_frame()
        color_frame = frames.get_color_frame()
        
        if not depth_frame or not color_frame:
            continue

        # Convert images to numpy arrays
        depth_image = np.asanyarray(depth_frame.get_data())
        color_image = np.asanyarray(color_frame.get_data())

        # Apply colormap on depth image
        depth_colormap = cv2.applyColorMap(
            cv2.convertScaleAbs(depth_image, alpha=0.03), 
            cv2.COLORMAP_JET
        )

        # 方法1：分别显示两个窗口
        cv2.imshow('Color Stream', color_image)
        cv2.imshow('Depth Stream', depth_colormap)
        
        # 方法2：如果要合并显示，需要先调整尺寸
        # depth_colormap_resized = cv2.resize(depth_colormap, (color_image.shape[1], color_image.shape[0]))
        # images = np.hstack((color_image, depth_colormap_resized))
        # cv2.imshow('RealSense', images)

        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
   
finally:
    # Stop streaming
    pipeline.stop()
    cv2.destroyAllWindows()

如果报pyrealsen2未安装，（注！！！！千万不要在该系统安装，因为会下载最新版本的pyrealsense2，我们的realsense的sdk是48.0，会导致一直报错显示未识别no device connect）

这时我这边儿附上一个pyrealsense2的安装包，在最上面。
下载完成之后我们先进行解压缩，把解压缩之后的文件需要把它移动到/usr/local/lib/python3.8/dist-package里面，之后进入vi ~/.bashrc，添加如下代码：

export PYTHONPATH=$PYTHONPATH:/usr/local/lib:/usr/local/lib/python3.8/dist-packages/pyrealsense2

添加成功之后我们需要使用命令source ~/.bashrc，进行使能。

使能成功之后，我们再次运行代码，应该就会成功显示：

提示：如果报错提示：pipeline.start(config) RuntimeError: Couldn‘t resolve requests
解决这个问题应该调整代码的尺寸大小，配置成如下参数：
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 1280, 720, rs.format.bgr8, 30)