Build Configuration
Intro
Intel RealSense SDK is using CMake eco-system to offer useful customization to customers who wish to build the SDK from source.
For example, to generate makefile with
BUILD_EXAMPLESflag turned-on, use the following command line:
cmake .. -DBUILD_EXAMPLES=true
Alternatively, usecmake-guiutility to configure and generate your build files.
Build Customization Flags
| Flag | Description | Default |
|---|---|---|
| BUILD_EXAMPLES | Build SDK examples | true |
| BUILD_GRAPHICAL_EXAMPLES | Controls the-subset of examples and tools dependent on OpenGL. Recommended to disable for headless systems without the graphic subsystem | true |
| BUILD_TOOLS | Build SDK command-line utilities, such as the firmware updater (SDK v2.46.0+) | true |
| BUILD_UNIT_TESTS | Build the full suite of unit-tests for the SDK | false |
| BUILD_WITH_OPENMP | When enabled, YUY to RGB conversion and Depth-Color spatial alignment will take advantage of multiple-cores using OpenMP. This can reduce latency at expense of greater CPU utilization | false |
| ENFORCE_METADATA | Having UVC per-frame metadata requires building with Windows SDK installed. When this flag is disabled, the resulting binary might not be capable of properly parsing UVC metadata if Windows SDK was not installed during the build. If this flag is true, not having Windows SDK install will break the build | false |
| BUILD_PYTHON_BINDINGS | Build Python bindings for the SDK. Requires Python to be installed. See wrapper page for more information | false |
| BUILD_MATLAB_BINDINGS | Build Matlab wrapper for the SDK. See wrapper page for more information | false |
| BUILD_OPENNI2_BINDINGS | Build OpenNi2 wrapper for the SDK. See wrapper page for more information | false |
| BUILD_NODEJS_BINDINGS | Build Node.js bindings for the SDK. Requires Node.js to be installed. See wrapper page for more information | false |
| BUILD_CSHARP_BINDINGS | Build .NET bindings for the SDK. See wrapper page for more information | false |
| DOTNET_VERSION_EXAMPLES | Select .NET framework version to be used for .NET examples | 4.0 |
| DOTNET_VERSION_LIBRARY | Select .NET framework version to be used for .NET wrapper | 3.5 |
| ENABLE_CCACHE | Enable building the SDK with CCache | true |
| BUILD_UNITY_BINDINGS | Build Unity sample scene using the SDK. See wrapper page for more information | false |
| FORCE_LIBUVC | Setting this flag to true will configure the underlying backend to use libuvc. This backend is default for Mac OS, but can be configured on other OS-s as well. libuvc can serve as a more robust alternative to the native backend, however, it has well known limitations and is not recommended to be used in end-products (please use FORCE_RSUSB_BACKEND cmake flag instead) | false |
| FORCE_WINUSB_UVC | Setting this will configure librealsense to use Windows backend based on WinUSB rewrite of the UVC protocol, instead of Media Foundation. Requires installation of a special driver provided inside the Win7 SDK installer (use FORCE_RSUSB_BACKEND instead) | false |
| TRACE_API | When this flag is enabled, all API-calls will be written to the log at INFO severity. This will include any errors, duration, input and output parameters as well as the return value. Entry and exit from API calls will be documented as well at DEBUG severity. Enabling this feature will result in severe performance penalty | false |
| HWM_OVER_XU | When this option is enabled, hardware commands will be dispatched through extension-unit (XU) transfer protocol. When disabled (and assuming the hardware supports it) the SDK will talk to the hardware directly using libusb / WinUSB | true |
| BUILD_SHARED_LIBS | When enabled the output of the library will be a dynamic link library (DLL) or a shared object (SO). When disabled the output will be a static library (LIB/A) | true |
| CMAKE_BUILD_TYPE | Desired build time. To take advantage of compiler optimizations set to "Release" or "RelWithDebInfo" | Debug |
| ENABLE_ZERO_COPY | When enabled frames that do not require processing will not be mem-copied on arrival, rather the rs2::frame object will track native handle to the underlying OS resource (be it V4L2 video-buff or an ISample). This will reduce CPU utilization and save battery life, but can introduce unexpected latency or frame-drops, since the responsibility for buffer lifetime management falls on the application developer (deprecated) | false |
| BUILD_EASYLOGGINGPP | Perform cross-platform logging using EasyLogging++ 3rd-party library | true |
| BUILD_CV_EXAMPLES | Build computer vision examples requiring OpenCV. See wrappers/opencv | false |
| BUILD_CV_KINFU_EXAMPLE | Build simple 3d-reconstruction example using Kinnect-Fussion implementation. Relies on OPENCV_ENABLE_NONFREE. See wrappers/opencv/kinfu | false |
| BUILD_PCL_EXAMPLES | Search for PCL 3rd-party library and include example under wrappers/pcl in the project | false |
| BUILD_WITH_TM2 | Assuming you received from Intel an engineering sample of T265(TM2) device, enable support for it in the SDK | true |
| BUILD_WITH_CUDA | Build the SDK using CUDA for color conversions and image alignment | false |
| BUILD_WITH_STATIC_CRT | When enabled increases binary footprint but prevents the dependency on Visual C++ Redistributables | true |
| BUILD_GLSL_EXTENSIONS | Build OpenGL Shading Language extensions API | true |
| BUILD_INTERNAL_UNIT_TESTS | Build test package for components under librealsense namespace, requires BUILD_SHARED_LIBS=OFF and BUILD_UNIT_TESTS=ON | false |
| BUILD_PYTHON_DOCS | Build Documentation for Python bindings | false |
| ANDROID_USB_HOST_UVC | Build UVC backend for Android (use FORCE_RSUSB_BACKEND instead) | false |
| FORCE_RSUSB_BACKEND | Equivalent to FORCE_LIBUVC, ANDROID_USB_HOST_UVC and FORCE_WINUSB_UVC. Renamed for consistency across platforms | false |
| IMPORT_DEPTH_CAM_FW | Download the latest firmware for the depth cameras | true |
Back End Recommended Configuration
| Platform | OS | Configuration | Recommend build | Recommended Version |
|---|---|---|---|---|
| X86 | Win10 | Media Foundation (1) | Default cmake | All versions |
| X86 | Win7 | RSUSB | cmake .. -DFORCE_RSUSB_BACKEND | SDK 2.30+ |
| X86 | Linux/Ubuntu | V4L | Default cmake | Kernel 4.4+ (2) |
| ARM (Nvidia) | Linux/Ubuntu | V4L | Default cmake | jetPack4.2.3+ |
| ARM (RaspberryPi) | Linux/Ubuntu | RSUSB (3) | cmake .. -DFORCE_RSUSB_BACKEND | SDK 2.30+ |
| ARM (Rockchip) | Android | RSUSB | cmake .. -DFORCE_RSUSB_BACKEND | SDK 2.30+ |
| Mac | MacOS | RSUSB | cmake .. -DFORCE_RSUSB_BACKEND | SDK 2.30+ |
Notes:
(1) RSUSB can be supported (not recommended)
(2) Metadata support is Kernel version dependent. Kernel <4.16 patches are required. Kernel >=4.16, basic metadata supported, extended require patches. Please refer to the Linux installation guide
(3) RSUSB supports metadata. But if multiple-camera is required, recommended to use V4L but without metadata.
Comments:
- RSUSB is compliant with UVC 1.5.
- LibUVC and WinUSB are deprecated from the build in SDK 2.30+, replaced by RSUSB
- Multi-user applications support is limited with RSUSB
Updated about 1 year ago