fix: port decoder multiplexing optimization to v2/develop

orbbec_camera/CMakeLists.txt

@@ -142,8 +142,40 @@ if(USE_NV_HW_DECODER)
     set(TEGRA_ARMABI /usr/lib/aarch64-linux-gnu/)
     add_definitions(-DUSE_NV_HW_DECODER)
     add_compile_options(-Wno-missing-field-initializers -Wno-unused-parameter)
-    set(NV_LIBRARIES -lnvjpeg -lnvbufsurface -lnvbufsurftransform -lyuv -lv4l2)
-    list(APPEND NV_LIBRARIES -L${TEGRA_ARMABI} -L${TEGRA_ARMABI}/tegra)
+    # Search Jetson Multimedia API libraries, excluding CUDA library directories.
+    find_library(JETSON_JPEG_LIBRARY
+        NAMES nvmm_jpeg nvjpeg
+        PATHS
+            "${TEGRA_ARMABI}/nvidia"
+            "${TEGRA_ARMABI}/tegra"
+        NO_DEFAULT_PATH
+    )
+    if(NOT JETSON_JPEG_LIBRARY)
+        message(FATAL_ERROR
+            "Jetson Multimedia API JPEG library not found. "
+            "Install the Multimedia API matching the system L4T version."
+        )
+    endif()
+    message(STATUS "Jetson JPEG library: ${JETSON_JPEG_LIBRARY}")
+
+    set(NV_LIBRARIES
+        "${JETSON_JPEG_LIBRARY}"
+        -lnvbufsurface -lnvbufsurftransform -lyuv -lv4l2
+    )
+    list(APPEND NV_LIBRARIES
+        "-L${TEGRA_ARMABI}"
+        "-L${TEGRA_ARMABI}/nvidia"
+        "-L${TEGRA_ARMABI}/tegra"
+    )
+
+    # The nvmm_jpeg Multimedia API classes use the CUDA driver API.
+    if(JETSON_JPEG_LIBRARY MATCHES "/libnvmm_jpeg\\.so")
+        if(CMAKE_VERSION VERSION_LESS "3.17")
+            message(FATAL_ERROR "nvmm_jpeg support requires CMake 3.17 or newer to find CUDAToolkit.")
+        endif()
+        find_package(CUDAToolkit REQUIRED)
+        list(APPEND NV_LIBRARIES CUDA::cuda_driver)
+    endif()
 endif()
 
 set(COMMON_INCLUDE_DIRS