Build problem on D455 on Xavier NX Jetpack 5.01 - OpenCV

[martinerk0]

Hi, I recently installed Jetpack 5.01 on Jetson Xavier NX ( Ubuntu 20.04 and ROS Noetic )
Firstly I installed realsense lib and ros wrapper using sudo apt-get and while it worked, I thought pointcloud was very low quality and low fps (or pps? - pointcloud per seconds :D ) (around 2 hz with rostopic hz)

I tried to build from source librealsense and it worked with librealsense script.

Then I built realsense-ros from source, but when I wanted to run roslaunch realsense2_camera rs_camera.launch I got error:
/opt/ros/noetic/lib/nodelet/nodelet: symbol lookup error: /home/martinerk0/catkin_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev

I found info at some chinese website that It might me OpenCV dependency issue, but it didn't quite solve it, but because I created some package with OpenCV previously, I added this to CMakeLists.txt

find_package(OpenCV REQUIRED)

include_directories(
    ${OpenCV_INCLUDE_DIRS}
)

target_link_libraries(${PROJECT_NAME}
    ${realsense2_LIBRARY}
    ${catkin_LIBRARIES}
    ${CMAKE_THREAD_LIBS_INIT}
    ${OpenCV_LIBRARIES}
    )

After building with this modified CMakeLists.txt using catkin_make everything runs fine. Only problem is it is still the same hz around 2-3 but I think pointclouds generated are "cleaner". Or I don't know, I'm just happy that I resolved it and maybe this could prove useful for future Jetpack 5 users who will want to build from source. What do you think caused this OpenCV dependency issue? I have not had any problems using apt-get.

EDIT: I used latest versions of librealsense and ros wrapper source.

[MartyG-RealSense]

Thanks very much @martinerk0 for sharing the method that worked for you in resolving your OpenCV issue in the RealSense ROS wrapper! It is unclear why the _ZN2cv3MatC1Ev occurs on rare occasions, though one possibility is if a different version of OpenCV is installed after OpenCV has already been installed.

Issues with pointcloud, and also depth-color alignment, on Jetson boards specifically are a known issue in the RealSense ROS wrapper (desktop / laptop PCs are not affected by it). The problems can include very low FPS of around 3 or missing color. For ROS1 the current best solution is to use librealsense 2.43.0 and wrapper 2.2.23. More information can be found at #1967

[RNorlie]

Hello, @martinerk0. I was just trying to install librealsense with the same setup. I have had success in the past with this setup, but I am trying once again to build with the additional option: -DBUILD_PYTHON_BINDINGS:bool=true , but I am receiving the following errors:

HEAD is now at 8de7772c chore: prepare for the 2.6.2 release (#2821)
[ 37%] No patch step for 'pybind11'
[ 50%] Performing update step for 'pybind11'
[ 62%] No configure step for 'pybind11'
[ 75%] No build step for 'pybind11'
[ 87%] No install step for 'pybind11'
[100%] Completed 'pybind11'
[100%] Built target pybind11
-- pybind11 v2.6.2
-- Found PythonInterp: /usr/bin/python3.9 (found version "3.9.5")
-- Found PythonLibs: python3.9
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find Python (missing: Python_INCLUDE_DIRS Development) (found
  version "2.7.18")
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.16/Modules/FindPython.cmake:347 (find_package_handle_standard_args)
  wrappers/python/CMakeLists.txt:63 (find_package)


-- Configuring incomplete, errors occurred!

Were you able to build with this option, or did you omit it?

[martinerk0]

@RNorlie No, I got errors similar to this thread IntelRealSense/librealsense#6964 (comment) and since I wanted only ROS pointclouds, I just did it without it.

[RNorlie]

@martinerk0 Thank you for your response. I'll open my own issue!

[martinerk0]

@MartyG-RealSense Btw, it is interesting that realsense-viewer on Xavier NX runs at 30fps but ROS wrapper only at 2-3. I don't think it could be just overhead of packing data into the messages, I will try your ( librealsense 2.43.0 and wrapper 2.2.23 ) recommendation when I get another Jetson device and see if it helps.

[MartyG-RealSense]

Hi @martinerk0 Whilst the RealSense ROS wrapper uses librealsense as its backend, some functions in the wrapper are not handled in the same way that librealsense does in order to maintain compatibility with ROS standards.

[MartyG-RealSense]

Hi @martinerk0 Do you require further assistance with this case, please? Thanks!

[martinerk0]

No, you can close this. Thanks!

[MartyG-RealSense]

Thanks very much @martinerk0 for the update! As you suggested, I will close the case. Thanks again!

[Hypothesis-Z]

Hello, @martinerk0. I was just trying to install librealsense with the same setup. I have had success in the past with this setup, but I am trying once again to build with the additional option: -DBUILD_PYTHON_BINDINGS:bool=true , but I am receiving the following errors:

HEAD is now at 8de7772c chore: prepare for the 2.6.2 release (#2821)
[ 37%] No patch step for 'pybind11'
[ 50%] Performing update step for 'pybind11'
[ 62%] No configure step for 'pybind11'
[ 75%] No build step for 'pybind11'
[ 87%] No install step for 'pybind11'
[100%] Completed 'pybind11'
[100%] Built target pybind11
-- pybind11 v2.6.2
-- Found PythonInterp: /usr/bin/python3.9 (found version "3.9.5")
-- Found PythonLibs: python3.9
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find Python (missing: Python_INCLUDE_DIRS Development) (found
  version "2.7.18")
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.16/Modules/FindPython.cmake:347 (find_package_handle_standard_args)
  wrappers/python/CMakeLists.txt:63 (find_package)


-- Configuring incomplete, errors occurred!

Were you able to build with this option, or did you omit it?

Hi @RNorlie How did you solve the problem? It looks like python 3.8 is not found. Here is my error info:

-- pybind11 v2.6.1
-- Found PythonInterp: /usr/bin/python3 (found version "3.8.10")
-- Found PythonLibs: /usr/lib/aarch64-linux-gnu/libpython3.8.so
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find Python (missing: Python_INCLUDE_DIRS Development) (found
  version "2.7.18")
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.16/Modules/FindPython.cmake:347 (find_package_handle_standard_args)
  wrappers/python/CMakeLists.txt:62 (find_package)

[arnoluken]

Hello everyone, same problem here: i am stuck here for almost a day. can anyone help? -- Found PythonInterp: /usr/bin/python3.8 (found suitable version "3.8.10", minimum required is "3.6")
-- Found PythonLibs: /usr/lib/libpython3.8.so
-- Performing Test HAS_FLTO
-- Performing Test HAS_FLTO - Success
CMake Error at /usr/local/share/cmake-3.27/Modules/FindPackageHandleStandardArgs.cmake:230 (message):
Could NOT find Python (missing: Python_INCLUDE_DIRS Development
Development.Module Development.Embed) (found version "2.7.18")
Call Stack (most recent call first):
/usr/local/share/cmake-3.27/Modules/FindPackageHandleStandardArgs.cmake:600 (_FPHSA_FAILURE_MESSAGE)
/usr/local/share/cmake-3.27/Modules/FindPython.cmake:616 (find_package_handle_standard_args)
CMake/external_pybind11.cmake:74 (find_package)
CMake/external_pybind11.cmake:121 (get_pybind11)
CMake/global_config.cmake:68 (include)
CMakeLists.txt:46 (global_set_flags)

[MartyG-RealSense]

Hi @arnoluken A RealSense user with Python 3.8 who experienced the same error messages posted the full solution that worked in their particular case at IntelRealSense/librealsense#12626 (comment)