Portable Ithaca capture node: one install for every Jetson

Extract the install that was applied by hand to the Jetson Nano into a single
checkout that builds itself for whatever Jetson it lands on.

The two nodes on the rig share no JetPack — tegra210 caps at 4, tegra234 needs
5+ — so nothing binary is portable between them. The source and the procedure
are: install.sh detects the platform (L4T / JetPack / SoC), installs deps,
builds the OrbbecSDK and the preview server from source locally, and generates
a per-user config and systemd unit. The tested bridge.py ships verbatim; all
machine-specific paths live in the generated config, so it stays unmodified —
its one hardcoded path is made home-relative.

The retired GStreamer/RTSP target is dropped: the direct route encodes no video.

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

.gitattributes

@@ -0,0 +1,12 @@
+# This tree runs on Linux (Jetson). Everything checks out with LF, whatever the
+# committer's OS — a CRLF shebang (`#!/usr/bin/env bash\r`) is a broken script.
+* text=auto eol=lf
+*.py text eol=lf
+*.sh text eol=lf
+*.cpp text eol=lf
+*.txt text eol=lf
+*.json text eol=lf
+*.md text eol=lf
+*.in text eol=lf
+*.rules text eol=lf
+*.service text eol=lf

.gitignore

@@ -0,0 +1,16 @@
+# Generated for the local user by install.sh — never committed, it holds this
+# machine's paths.
+bridge/config.json
+
+# Build outputs.
+server/build/
+
+# The runtime state the bridge writes beside itself.
+bridge/cam_settings.json
+bridge/cam_index.json
+bridge/stream_map.txt
+bridge/*.log
+
+# Python.
+__pycache__/
+*.pyc

README.md

@@ -0,0 +1,104 @@
+# Ithaca capture node
+
+The software a Jetson runs to join an Ithaca RGBD capture rig: a Python bridge that
+puts the node on the WebSocket mesh and answers Preview / Record, and a C++ preview
+server that streams each camera's colour (the sensor's own JPEG) and depth (its own
+16-bit millimetres, LZ4-compressed) straight to the Unity viewer.
+
+One checkout, one command, on any Jetson:
+
+```sh
+git clone <this repo> ~/ithaca-node
+cd ~/ithaca-node
+./install.sh
+```
+
+## Why an install script and not a disk image
+
+The rig currently spans two Jetsons with **no JetPack in common**:
+
+| Node | SoC | JetPack | Ubuntu / CUDA |
+|------|-----|---------|---------------|
+| Jetson Nano (2019) | tegra210 | **4.x only** (EOL) | 18.04 / 10.2 |
+| Jetson Orin Nano | tegra234 | **5 or 6** | 22.04 / 12.x |
+
+tegra210 never got a newer L4T and the Orin refuses the old one, so no single OS
+image covers both, and no compiled binary is portable between them — CUDA, glibc
+and the C++ ABI all differ by generation.
+
+What *is* portable is the **source and the procedure**. `install.sh` detects the
+platform and builds the C++ locally against a locally-built OrbbecSDK, so the same
+command produces a correct binary on each machine. Adding a future Orin NX or a Thor
+needs nothing new here — the script compiles against whatever toolchain it finds.
+
+The bridge is pure Python and already runs identically everywhere; keep it that way
+by never giving it a dependency that has to be compiled.
+
+## Layout
+
+```
+install.sh                     one entry point, idempotent
+bridge/
+  bridge.py                    the node client — shipped verbatim, tested in place
+  config.template.json         @PLACEHOLDERS@ filled per user by install.sh
+server/
+  ithaca_rgbd_server.cpp       the preview server
+  CMakeLists.txt               links a prebuilt libOrbbecSDK, no GStreamer
+systemd/
+  ithaca-bridge.service.in     templated with the user and repo path
+  usbfs-memory.service         raises usbfs_memory_mb for the camera bandwidth
+udev/
+  99-obsensor-libusb.rules     reference copy (the SDK's own installer wins if present)
+scripts/
+  detect_platform.sh           L4T / JetPack / SoC, as KEY=value
+  install_deps.sh              apt + websockets
+  build_sdk.sh                 reuse or build OrbbecSDK v2 for this platform
+  build_server.sh              cmake + make the preview server
+```
+
+## What install.sh does
+
+1. Detects L4T / JetPack / SoC (`scripts/detect_platform.sh`).
+2. Installs build and run dependencies (no GStreamer — the direct route encodes no
+   video).
+3. Locates a working OrbbecSDK build, or clones and builds one. A node that already
+   has a good build (the Nano) is left untouched.
+4. Builds `ithaca_rgbd_server` against it.
+5. Generates `bridge/config.json` for the current user — this is where all the
+   machine-specific paths live, so `bridge.py` itself stays unmodified.
+6. Installs the udev rules and the `usbfs-memory` service, and adds the user to the
+   `video` group.
+7. Generates and starts the `ithaca-bridge` systemd service.
+
+Re-run it after a `git pull`: it rebuilds, regenerates the unit and config, and
+restarts the service. It keeps an existing `config.json` (delete it to regenerate)
+and an existing SDK build.
+
+## The SDK is the one thing to watch on a new JetPack
+
+`build_sdk.sh` reuses an existing build when it finds one. On a machine with none it
+clones the official OrbbecSDK v2 and builds it — this is the step most likely to
+need attention on a JetPack it has not been tried on. If it fails, build the SDK by
+hand once and re-run with its location:
+
+```sh
+OB_SDK_ROOT=/path/to/OrbbecSDK_v2 ./install.sh
+```
+
+Override the source with `OB_SDK_REPO` / `OB_SDK_REF` to pin a tag known to build on
+your JetPack.
+
+## Operating the node
+
+```sh
+systemctl status ithaca-bridge      # is it up
+journalctl -u ithaca-bridge -f      # live log
+```
+
+Runtime state the bridge writes beside itself (git-ignored):
+
+- `config.json` — this machine's config (generated).
+- `cam_settings.json` — per-camera settings, kept across restarts.
+- `stream_map.txt` — the live composition: line 1 the cameras to stream, line 2 the
+  alignment (`raw` or `compare`). The preview server re-reads it once a second, so a
+  camera can be turned on or off, and Compare switched, without restarting.

bridge/config.template.json

@@ -0,0 +1,9 @@
+{
+  "server_ip": null,
+  "working_directory": "@HOME@/IthacaRecordings",
+  "recorder_bin": "@SDK_BUILD@/bin/ob_stream_depth_color_k4arec_pipeline",
+  "stream_server": "@REPO@/server/build/ithaca_rgbd_server",
+  "sync_mode": "standalone",
+  "camera_serial": null,
+  "log_level": "INFO"
+}

install.sh

@@ -0,0 +1,101 @@
+#!/usr/bin/env bash
+# One command, the same on every Jetson: installs the Ithaca capture node from this
+# checkout. Detects the platform, installs dependencies, builds the C++ against a
+# locally-built OrbbecSDK, generates a config and a service for the CURRENT user,
+# and starts the bridge.
+#
+# Idempotent: safe to re-run after a git pull. It rebuilds the server, rewrites the
+# config and unit, and restarts the service; it does not touch a working SDK build.
+#
+# Why a script and not a prebuilt image: the two Jetsons here have no common
+# JetPack — tegra210 caps at 4, tegra234 needs 5+ — so nothing binary is portable
+# between them. The source and this procedure are; the binaries are made locally.
+set -euo pipefail
+
+REPO=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+USER_NAME=$(id -un)
+HOME_DIR="$HOME"
+
+echo "=============================================================="
+echo " Ithaca node install"
+eval "$("$REPO/scripts/detect_platform.sh")"
+echo "   modele  : $MODEL"
+echo "   L4T     : $L4T   (JetPack $JETPACK, $SOC, $ARCH)"
+echo "   user    : $USER_NAME   home: $HOME_DIR"
+echo "   repo    : $REPO"
+echo "=============================================================="
+
+if [[ "$ARCH" != "aarch64" ]]; then
+    echo "!! Cette install vise les Jetson (aarch64). Arch detectee: $ARCH." >&2
+    echo "!! Continue quand meme dans 3 s (Ctrl-C pour arreter)…" >&2
+    sleep 3
+fi
+
+# ---- 1. dependencies ------------------------------------------------------
+"$REPO/scripts/install_deps.sh"
+
+# ---- 2. the SDK, then the server ------------------------------------------
+# build_sdk.sh reuses an existing build (leaving a working node untouched) or
+# builds one; build_server.sh compiles ithaca_rgbd_server against it.
+echo ">> Localisation / compilation de l'OrbbecSDK…"
+eval "$("$REPO/scripts/build_sdk.sh")"
+echo "   OB_SDK_ROOT  = $OB_SDK_ROOT"
+echo "   OB_SDK_BUILD = $OB_SDK_BUILD"
+
+echo ">> Compilation du serveur de preview…"
+SERVER_BIN=$("$REPO/scripts/build_server.sh")
+echo "   $SERVER_BIN"
+
+# ---- 3. config, generated for this user -----------------------------------
+# The tested bridge.py ships unchanged; portability lives here, in the config it
+# reads. @PLACEHOLDERS@ become real paths for the current user.
+CONFIG="$REPO/bridge/config.json"
+if [[ -f "$CONFIG" ]]; then
+    echo ">> config.json existe deja — conserve (supprime-le pour regenerer)."
+else
+    sed -e "s#@HOME@#$HOME_DIR#g" \
+        -e "s#@REPO@#$REPO#g" \
+        -e "s#@SDK_BUILD@#$OB_SDK_BUILD#g" \
+        "$REPO/bridge/config.template.json" > "$CONFIG"
+    echo ">> config.json genere: $CONFIG"
+fi
+mkdir -p "$HOME_DIR/IthacaRecordings"
+
+# ---- 4. udev + usbfs (need root, affect the whole machine) ----------------
+echo ">> Regles udev (acces camera sans root) + usbfs_memory…"
+# Prefer the SDK's own installer when it is there — it is the maintained source of
+# the rule set; fall back to the copy shipped here.
+if [[ -x "$OB_SDK_ROOT/scripts/env_setup/install_udev_rules.sh" ]]; then
+    sudo bash "$OB_SDK_ROOT/scripts/env_setup/install_udev_rules.sh" || true
+else
+    sudo install -m 0644 "$REPO/udev/99-obsensor-libusb.rules" \
+        /etc/udev/rules.d/99-obsensor-libusb.rules
+fi
+sudo udevadm control --reload-rules && sudo udevadm trigger || true
+
+sudo install -m 0644 "$REPO/systemd/usbfs-memory.service" \
+    /etc/systemd/system/usbfs-memory.service
+
+# So the camera is reachable without being root right now, not only after a
+# reboot: the video group is what the udev rules grant to.
+sudo usermod -aG video "$USER_NAME" || true
+
+# ---- 5. the bridge service, generated for this user -----------------------
+UNIT=/etc/systemd/system/ithaca-bridge.service
+sudo sed -e "s#@REPO@#$REPO#g" -e "s#@USER@#$USER_NAME#g" \
+    "$REPO/systemd/ithaca-bridge.service.in" | sudo tee "$UNIT" >/dev/null
+
+sudo systemctl daemon-reload
+sudo systemctl enable --now usbfs-memory.service
+sudo systemctl enable ithaca-bridge.service
+sudo systemctl restart ithaca-bridge.service
+
+echo "=============================================================="
+echo " Installe. Etat du bridge :"
+systemctl is-active ithaca-bridge.service || true
+echo
+echo " Journal en direct :  journalctl -u ithaca-bridge -f"
+echo " Si la camera n'est vue qu'apres reconnexion USB, c'est le"
+echo " groupe 'video' qui vient d'etre ajoute — deconnecte/reconnecte"
+echo " la session, ou rebranche la camera."
+echo "=============================================================="

scripts/build_sdk.sh

@@ -0,0 +1,82 @@
+#!/usr/bin/env bash
+# Makes sure an OrbbecSDK v2 build exists for THIS platform, and prints where it
+# is as OB_SDK_ROOT=... / OB_SDK_BUILD=... / OB_SDK_GENERATED=... for build_server.sh.
+#
+# Never ships a prebuilt binary between Jetsons: CUDA and glibc differ by
+# generation, so the SDK is built from source on the machine that will run it.
+# The heavy artifact stays out of git.
+#
+# Order of preference:
+#   1. An existing build pointed to by $OB_SDK_ROOT — reused as-is. This is what
+#      keeps a working node (the Nano already has one) untouched.
+#   2. A build at one of the known locations, likewise reused.
+#   3. A fresh clone + build. On a new JetPack this is the step to watch; if it
+#      fails, build the SDK by hand once and re-run install.sh with OB_SDK_ROOT set.
+set -euo pipefail
+
+here=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+eval "$("$here/detect_platform.sh")"
+
+# The official v2 source. Pinned loosely: a caller can override both to match a
+# tag known to build on their JetPack.
+SDK_REPO="${OB_SDK_REPO:-https://github.com/orbbec/OrbbecSDK_v2.git}"
+SDK_REF="${OB_SDK_REF:-main}"
+
+find_build() {
+    local root="$1"
+    [[ -f "$root/include/libobsensor/ObSensor.hpp" ]] || return 1
+    local b
+    b=$(ls -d "$root"/build/linux_* 2>/dev/null | head -1)
+    [[ -z "$b" ]] && b="$root/build"
+    [[ -f "$b/lib/libOrbbecSDK.so" ]] || return 1
+    echo "$b"
+}
+
+emit() {
+    local root="$1" build="$2"
+    echo "OB_SDK_ROOT=$root"
+    echo "OB_SDK_BUILD=$build"
+    echo "OB_SDK_GENERATED=$root/build/src/generated"
+}
+
+# 1 & 2: reuse whatever is already built.
+for candidate in "${OB_SDK_ROOT:-}" \
+                 "$HOME/OrbbecSDK_v2" \
+                 "$HOME/OrbbecSDK_v2_jetson"; do
+    [[ -z "$candidate" ]] && continue
+    if b=$(find_build "$candidate" 2>/dev/null); then
+        echo ">> SDK deja bati, reutilise: $candidate" >&2
+        emit "$candidate" "$b"
+        exit 0
+    fi
+done
+
+# 3: clone + build from source.
+root="${OB_SDK_ROOT:-$HOME/OrbbecSDK_v2}"
+echo ">> Aucun SDK bati — clone et compilation (JetPack ${JETPACK}, ${SOC})" >&2
+echo ">> ${SDK_REPO} @ ${SDK_REF} -> ${root}" >&2
+
+if [[ ! -d "$root/.git" ]]; then
+    git clone --depth 1 --branch "$SDK_REF" "$SDK_REPO" "$root" >&2
+fi
+
+build="$root/build/linux_$(uname -m)"
+mkdir -p "$build"
+(
+    cd "$build"
+    # -DOB_BUILD_EXAMPLES=ON gives the k4a recorder sample used as recorder_bin.
+    cmake ../.. -DCMAKE_BUILD_TYPE=Release -DOB_BUILD_EXAMPLES=ON >&2
+    make -j"$(nproc)" >&2
+)
+
+if ! b=$(find_build "$root" 2>/dev/null); then
+    cat >&2 <<EOF
+
+!! La compilation du SDK ne s'est pas terminee comme attendu.
+!! Bâtis-le une fois a la main, puis relance install.sh en pointant dessus :
+!!     OB_SDK_ROOT=<chemin> ./install.sh
+EOF
+    exit 1
+fi
+echo ">> SDK bati: $b" >&2
+emit "$root" "$b"

scripts/build_server.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+# Builds ithaca_rgbd_server against the SDK build_sdk.sh located. Prints nothing
+# but the binary path on success.
+set -euo pipefail
+
+here=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+repo=$(cd "$here/.." && pwd)
+
+# SDK locations come from build_sdk.sh (or the environment, when a caller already
+# knows them).
+if [[ -z "${OB_SDK_ROOT:-}" || -z "${OB_SDK_BUILD:-}" ]]; then
+    eval "$("$here/build_sdk.sh")"
+fi
+
+build="$repo/server/build"
+mkdir -p "$build"
+(
+    cd "$build"
+    cmake "$repo/server" \
+        -DCMAKE_BUILD_TYPE=Release \
+        -DOB_SDK_ROOT="$OB_SDK_ROOT" \
+        -DOB_SDK_BUILD="$OB_SDK_BUILD" \
+        -DOB_SDK_GENERATED="${OB_SDK_GENERATED:-$OB_SDK_ROOT/build/src/generated}" >&2
+    make -j"$(nproc)" >&2
+)
+
+bin="$build/ithaca_rgbd_server"
+[[ -x "$bin" ]] || { echo "build failed: $bin absent" >&2; exit 1; }
+echo "$bin"

scripts/detect_platform.sh

@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+# Prints the facts every other script branches on, one KEY=value per line, so a
+# caller can `eval "$(detect_platform.sh)"`.
+#
+# The point of the whole repo is that these differ between Jetsons and nothing is
+# assumed: the original Nano is tegra210 on L4T R32 (JetPack 4, Ubuntu 18.04,
+# CUDA 10.2), an Orin is tegra234 on R35/R36 (JetPack 5/6). One install procedure,
+# values read here, binaries built locally to match.
+set -euo pipefail
+
+# L4T release, e.g. "32.7.1" or "36.4.3". Two sources; the file is the reliable
+# one on every generation, the package is the cross-check.
+l4t=""
+if [[ -f /etc/nv_tegra_release ]]; then
+    # "# R32 (release), REVISION: 7.1, ..." -> 32.7.1
+    rel=$(sed -n 's/^# R\([0-9]*\).*REVISION: \([0-9.]*\).*/\1.\2/p' /etc/nv_tegra_release)
+    l4t="$rel"
+fi
+if [[ -z "$l4t" ]] && command -v dpkg-query >/dev/null 2>&1; then
+    l4t=$(dpkg-query --showformat='${Version}' -W nvidia-l4t-core 2>/dev/null \
+          | sed 's/-.*//') || true
+fi
+
+major="${l4t%%.*}"
+
+# SoC family, from the device tree — the ground truth for what can run here.
+soc="unknown"
+if [[ -r /proc/device-tree/compatible ]]; then
+    comp=$(tr '\0' '\n' < /proc/device-tree/compatible)
+    case "$comp" in
+        *tegra210*) soc="tegra210" ;;  # Nano, TX1
+        *tegra186*) soc="tegra186" ;;  # TX2
+        *tegra194*) soc="tegra194" ;;  # Xavier
+        *tegra234*) soc="tegra234" ;;  # Orin
+        *tegra264*) soc="tegra264" ;;  # Thor
+    esac
+fi
+
+model="unknown"
+[[ -r /proc/device-tree/model ]] && model=$(tr -d '\0' < /proc/device-tree/model)
+
+# JetPack generation follows from the L4T major, and it is what decides toolchain
+# and dependency names.
+case "$major" in
+    32) jetpack="4" ;;
+    35) jetpack="5" ;;
+    36) jetpack="6" ;;
+    38) jetpack="7" ;;
+    *)  jetpack="unknown" ;;
+esac
+
+echo "L4T=${l4t:-unknown}"
+echo "L4T_MAJOR=${major:-unknown}"
+echo "JETPACK=${jetpack}"
+echo "SOC=${soc}"
+echo "ARCH=$(uname -m)"
+echo "MODEL=${model}"

scripts/install_deps.sh

@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+# Installs the build- and run-time packages the node needs. Idempotent: apt is a
+# no-op for what is already there.
+#
+# The set is the same across Jetson generations — only the distro release behind
+# it changes (18.04 -> 22.04), and apt resolves the right versions itself. No
+# GStreamer: the direct preview route encodes no video.
+set -euo pipefail
+
+here=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
+eval "$("$here/detect_platform.sh")"
+
+echo ">> Dependances pour JetPack ${JETPACK} (L4T ${L4T}, ${SOC})"
+
+# python3 is present on every JetPack image; websockets is the only bridge dep and
+# is pure Python, so it works identically everywhere. Prefer apt's package, fall
+# back to pip when the distro is too old to carry it.
+sudo apt-get update -qq
+sudo apt-get install -y --no-install-recommends \
+    build-essential cmake pkg-config \
+    libusb-1.0-0-dev libudev-dev liblz4-dev libjpeg-turbo8-dev \
+    python3 python3-pip
+
+if ! python3 -c 'import websockets' 2>/dev/null; then
+    echo ">> websockets absent — installation via pip"
+    # 8.1 is what the Nano runs and what bridge.py was written against; anything
+    # >=8 keeps the same asyncio API surface the bridge uses.
+    python3 -m pip install --user "websockets>=8,<13" || \
+        sudo apt-get install -y python3-websockets
+fi
+
+echo ">> Dependances OK"

server/CMakeLists.txt

@@ -0,0 +1,93 @@
+# Copyright (c) French Touch Factory. All Rights Reserved.
+#
+# Builds the one preview server, ithaca_rgbd_server, against an already-built
+# OrbbecSDK v2. Deliberately outside the SDK tree: reconfiguring the SDK on an
+# older Jetson can break the recorder build that already works, so we link the
+# library it produced instead of building inside it.
+#
+# Portable across Jetson generations by construction: every SDK path comes from a
+# cache variable that build_server.sh fills from OB_SDK_ROOT, and nothing here is
+# tied to one L4T, one home directory, or one arm64 build folder name.
+#
+# The retired GStreamer/RTSP target is gone — the direct route encodes no video,
+# so GStreamer is not a dependency any more.
+
+cmake_minimum_required(VERSION 3.10)
+project(ithaca_node_server CXX)
+
+# Where the SDK source (headers) and its build output (libs, generated headers,
+# extensions) live. build_server.sh passes these; the defaults match the layout
+# build_sdk.sh produces.
+set(OB_SDK_ROOT "$ENV{HOME}/OrbbecSDK_v2" CACHE PATH
+    "OrbbecSDK v2 source root (headers)")
+set(OB_SDK_BUILD "" CACHE PATH
+    "OrbbecSDK v2 build output (lib/, lib/extensions/)")
+set(OB_SDK_GENERATED "" CACHE PATH
+    "OrbbecSDK generated headers, where Export.h lands")
+
+# The build folder is named per platform (linux_arm64, linux_aarch64, ...), so it
+# is discovered rather than assumed when the caller did not pass it.
+if(NOT OB_SDK_BUILD)
+    file(GLOB _ob_build_candidates "${OB_SDK_ROOT}/build/linux_*")
+    if(_ob_build_candidates)
+        list(GET _ob_build_candidates 0 OB_SDK_BUILD)
+    else()
+        set(OB_SDK_BUILD "${OB_SDK_ROOT}/build")
+    endif()
+endif()
+if(NOT OB_SDK_GENERATED)
+    set(OB_SDK_GENERATED "${OB_SDK_ROOT}/build/src/generated")
+endif()
+
+if(NOT EXISTS "${OB_SDK_ROOT}/include/libobsensor/ObSensor.hpp")
+    message(FATAL_ERROR "OrbbecSDK headers not found under ${OB_SDK_ROOT}/include "
+                        "— set OB_SDK_ROOT or run scripts/build_sdk.sh first.")
+endif()
+if(NOT EXISTS "${OB_SDK_BUILD}/lib/libOrbbecSDK.so")
+    message(FATAL_ERROR "libOrbbecSDK.so not found in ${OB_SDK_BUILD}/lib "
+                        "— build the SDK first (scripts/build_sdk.sh).")
+endif()
+if(NOT EXISTS "${OB_SDK_GENERATED}/Export.h")
+    message(FATAL_ERROR "Export.h not found in ${OB_SDK_GENERATED} "
+                        "— the SDK is not fully built yet.")
+endif()
+
+# Directory-scoped rather than target_link_directories(): that one needs CMake
+# >= 3.13 and the oldest supported Jetson (Nano, JetPack 4) ships 3.10.2. Must
+# precede add_executable().
+link_directories("${OB_SDK_BUILD}/lib")
+
+add_executable(ithaca_rgbd_server ithaca_rgbd_server.cpp)
+set_property(TARGET ithaca_rgbd_server PROPERTY CXX_STANDARD 14)
+target_compile_options(ithaca_rgbd_server PRIVATE -Wall -Wextra -O2)
+
+# Where the depth engine and filter plugins are loaded from at runtime.
+target_compile_definitions(ithaca_rgbd_server PRIVATE
+    OB_EXTENSIONS_DIR="${OB_SDK_BUILD}/lib/extensions")
+
+# SYSTEM: the SDK's public headers are not warning-clean and this builds -Wall
+# -Wextra. ObTypes.h includes Export.h, which the SDK generates into its build
+# tree rather than shipping in include/, hence both directories.
+target_include_directories(ithaca_rgbd_server SYSTEM PRIVATE
+    "${OB_SDK_ROOT}/include"
+    "${OB_SDK_GENERATED}")
+
+# libjpeg by absolute path, not -ljpeg: the SDK ships its own libjpeg.a in the
+# directory link_directories() adds above, built without its SIMD objects — the
+# linker would pick it first and fail on jsimd_* symbols. Only C2D alignment
+# needs an encoder at all.
+find_library(SYSTEM_JPEG NAMES jpeg PATHS
+    /usr/lib/aarch64-linux-gnu /usr/lib/arm-linux-gnueabihf NO_DEFAULT_PATH)
+if(NOT SYSTEM_JPEG)
+    message(FATAL_ERROR "system libjpeg not found — install libjpeg-turbo8-dev.")
+endif()
+
+target_link_libraries(ithaca_rgbd_server PRIVATE OrbbecSDK lz4 ${SYSTEM_JPEG} pthread)
+
+# The SDK lives outside any standard search path; without an rpath the binary
+# only runs from a shell that already exports LD_LIBRARY_PATH.
+set_target_properties(ithaca_rgbd_server PROPERTIES
+    BUILD_RPATH   "${OB_SDK_BUILD}/lib"
+    INSTALL_RPATH "${OB_SDK_BUILD}/lib")
+
+install(TARGETS ithaca_rgbd_server RUNTIME DESTINATION bin)

systemd/ithaca-bridge.service.in

@@ -0,0 +1,21 @@
+[Unit]
+Description=Ithaca WebSocket bridge (Jetson node)
+Documentation=file:@REPO@/bridge/bridge.py
+After=network.target usbfs-memory.service
+Wants=network.target
+
+[Service]
+Type=simple
+User=@USER@
+WorkingDirectory=@REPO@/bridge
+ExecStart=/usr/bin/python3 -u @REPO@/bridge/bridge.py @REPO@/bridge/config.json
+Restart=always
+RestartSec=5
+KillSignal=SIGINT
+TimeoutStopSec=20
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=ithaca-bridge
+
+[Install]
+WantedBy=multi-user.target

systemd/usbfs-memory.service

@@ -0,0 +1,12 @@
+[Unit]
+Description=Raise usbfs_memory_mb for Orbbec depth cameras
+After=sysinit.target
+Before=multi-user.target
+
+[Service]
+Type=oneshot
+RemainAfterExit=yes
+ExecStart=/bin/sh -c 'echo 1000 > /sys/module/usbcore/parameters/usbfs_memory_mb'
+
+[Install]
+WantedBy=multi-user.target

udev/99-obsensor-libusb.rules

@@ -0,0 +1,111 @@
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0501", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Bootloader Device"
+
+# UVC Modules
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0635", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0638", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto-w"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0668", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto-live"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0636", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra+"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0637", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra+s"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0536", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra+_rgb"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0537", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra+s_rgb"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0669", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto-mega"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="066b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Femto Bolt"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0660", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra 2"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0670", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0671", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 XL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0673", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0675", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 VL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0800", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0801", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 330"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0802", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini dm330"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0803", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0804", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0805", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 330L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0806", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini dm330L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0807", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336L"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080b", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335Lg"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080d", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336Lg"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="080e", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 335Le"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0810", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 336Le"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0674", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Orbbec Gemini 2 I"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="0701", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Dabai DCL"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="2bc5", ATTRS{idProduct}=="069d", MODE:="0666",  OWNER:="root", GROUP:="video", SYMLINK+="Astra Pro2"
+
+# OpenNI Modules
+SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0601", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_NH_GLST"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="deeyea"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="deeyea_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="petrel"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="petrel_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astro_pro_plus"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astro_pro_plus_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0610", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="bus_cl"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0603", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="atlas"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0510", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="atlas_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0614", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0511", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0616", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="u1s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0516", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="u1s_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0617", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="projector"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0517", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="projector_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0618", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="butterfly"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0518", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="butterfly_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="pavo"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="pavo_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="062b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="petrel_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="052b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="petrel_pro_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="062c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="petrel_plus"
+SUBSYSTEM=="usb", ATTR{idProduct}=="052c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="petrel_plus_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="062d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="pictor"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0632", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra+"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0532", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra+rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0633", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra+s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0533", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra+s_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0634", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_petal_b"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0534", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_petal_b_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0635", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="femto"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0636", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="jarvis"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0536", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="jarvis_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0637", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="jarvis+s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0537", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="jarvis+s_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0638", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="femto_w"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0639", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="argus"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0539", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="argus_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="063a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="u2"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0650", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0651", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0654", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="qi_long_zhu"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0554", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="qi_long_zhu_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0655", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_plus"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0656", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_mini"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0657", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dc1"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0557", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dc1_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0658", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_d1"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0657", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dc1"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0557", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dc1_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0659", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dcw"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0559", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dcw_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="065a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dw"
+SUBSYSTEM=="usb", ATTR{idProduct}=="065b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="065c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_e"
+SUBSYSTEM=="usb", ATTR{idProduct}=="055c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_e_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="065d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_e_lite"
+SUBSYSTEM=="usb", ATTR{idProduct}=="065e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_s_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0698", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="j1"
+SUBSYSTEM=="usb", ATTR{idProduct}=="069c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="TB2201"
+SUBSYSTEM=="usb", ATTR{idProduct}=="06a0", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dcw2"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0561", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dcw2_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="069f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_dw2"
+SUBSYSTEM=="usb", ATTR{idProduct}=="069a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_max"
+SUBSYSTEM=="usb", ATTR{idProduct}=="069e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_max_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0560", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_max_pro_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="06aa", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_gemini_uw"
+SUBSYSTEM=="usb", ATTR{idProduct}=="05aa", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="dabai_gemini_uw_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="06a6", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_ew"
+SUBSYSTEM=="usb", ATTR{idProduct}=="05a6", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_ew_rgb"
+SUBSYSTEM=="usb", ATTR{idProduct}=="06a7", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="gemini_ew_lite"