Cannot compile for embedded aarch64 without GLFW (and other stuff?) even with BUILD_GUI=OFF

[giuliano-flya]

Hello, I am trying to build Open3D for an arm64 embedded sytem. I just want to build the core library, I don't need visualization, or CUDA, or anything fancy, just the core geometry module for point clouds and meshes, that's it. It seems that even though I explicitly disabled the GUI, it is still trying to build GLFW and other libraries which are related to window management and visualization. Is there a way to disable them?

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

Steps to reproduce the issue

I first cloned Open3D v0.18.0 by:

git clone https://github.com/isl-org/Open3D.git -b v0.18.0
cd Open3D

Then, I build Open3D in the build environment for the embedded platform I'm using (cmake is a cmake wrapper passing the correct toolchain to cmake):

cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_MODULE=OFF -DBUILD_ISPC_MODULE=OFF -DBUILD_GUI=OFF -DUSE_SYSTEM_CURL=ON -DUSE_SYSTEM_EIGEN3=ON -DUSE_SYSTEM_TBB=ON ..

Error message

cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_MODULE=OFF -DBUILD_ISPC_MODULE=OFF -DBUILD_GUI=OFF -DUSE_SYSTEM_CURL=ON -DUSE_SYSTEM_EIGEN3=ON -DUSE_SYSTEM_TBB=ON ..
-- CMAKE_BUILD_TYPE is set to Release.
-- ccache found at /bsp/host/bin/ccache
-- Downloading third-party dependencies to /home/giuliano/Open3D/3rdparty_downloads
CMake Deprecation Warning at CMakeLists.txt:196 (cmake_policy):
  The OLD behavior for policy CMP0072 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.


-- The C compiler identification is GNU 7.3.1
-- The CXX compiler identification is GNU 7.3.1
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /bsp/host/bin/aarch64-linux-gnu-gcc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /bsp/host/bin/aarch64-linux-gnu-g++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Open3D 0.18.0+5c982c7b5
-- Found Python3: /bsp/host/bin/python3.11 (found suitable version "3.11.6", minimum required is "3.6") found components: Interpreter Development Development.Module Development.Embed 
-- Performing Test FLAG_fstack_protector_strong
-- Performing Test FLAG_fstack_protector_strong - Success
-- Performing Test FLAG_Wformat
-- Performing Test FLAG_Wformat - Success
-- Performing Test FLAG_Wformat_security
-- Performing Test FLAG_Wformat_security - Success
-- Performing Test FLAG_Wl__z_noexecstack
-- Performing Test FLAG_Wl__z_noexecstack - Success
-- Performing Test FLAG_Wl__z_relro__z_now
-- Performing Test FLAG_Wl__z_relro__z_now - Success
-- Performing Test FLAG_pie
-- Performing Test FLAG_pie - Success
-- Performing Test FLAG____CONFIG_Release__LINKER___strip_debug_
-- Performing Test FLAG____CONFIG_Release__LINKER___strip_debug_ - Success
-- Using security hardening compiler flags: $<$<COMPILE_LANGUAGE:CUDA>:-Xcompiler=-fstack-protector-strong,-Wformat,-Wformat-security>;$<$<COMPILE_LANGUAGE:CXX>:-fstack-protector-strong;-Wformat;-Wformat-security>
-- Using security hardening linker flags: $<$<COMPILE_LANGUAGE:CUDA>:-Xcompiler=-Wl,-z,noexecstack,-Wl,-z,relro,-z,now,$<$<STREQUAL:$<TARGET_PROPERTY:TYPE>,EXECUTABLE>:-pie>,$<$<CONFIG:Release>:LINKER:--strip-debug>>;$<$<COMPILE_LANGUAGE:CXX>:-Wl,-z,noexecstack;-Wl,-z,relro,-z,now;$<$<STREQUAL:$<TARGET_PROPERTY:TYPE>,EXECUTABLE>:-pie>;$<$<CONFIG:Release>:LINKER:--strip-debug>>
-- Using security hardening compiler definitions: _FORTIFY_SOURCE=2
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Check if compiler accepts -pthread
-- Check if compiler accepts -pthread - yes
-- Found Threads: TRUE  
-- Using installed third-party library 3rdparty_threads 
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Using installed third-party library 3rdparty_openmp 
-- Building with OpenMP
-- Using installed third-party library 3rdparty_x11 
-- Using installed third-party library 3rdparty_eigen3 3.4.0
-- Building library 3rdparty_glfw from source
-- Could NOT find Vulkan (missing: VULKAN_INCLUDE_DIR) 
-- Using X11 for window creation
-- Found X11: /bsp/host/aarch64-buildroot-linux-gnu/sysroot/usr/include   
CMake Error at 3rdparty/glfw/CMakeLists.txt:236 (message):
  The RandR headers were not found

Open3D, Python and System information

- Operating system: Customized Embedded Linux
- Open3D version: 0.18.0
- System architecture: arm64
- How did you install Open3D?: build from source
- Compiler version (if built from source): gcc-7

Additional information

I just want to build the core library, I don't need visualization, or CUDA, or anything fancy, just the core geometry module for point clouds and meshes, that's it.