AngePierreandClaude Opus 5
23b30ac1e8
The recorder was the gap: it is FTF's own customised SDK example (a 1139-line K4A MKV writer), not a stock sample, and it lived only in one machine's build tree. Bring its source into the repo and build it as part of install. It writes K4A-format MKV — the format the rest of Ithaca reads — so it stays, and gets its libk4a from the Orbbec K4A wrapper rather than Microsoft's Azure Kinect SDK, which is set aside. build_k4a_wrapper.sh builds that wrapper; build_sdk.sh injects the recorder into the SDK examples tree and builds it there against the wrapper (it depends on the SDK's own cmake targets). Found by rpath at runtime, so no LD_LIBRARY_PATH. install.sh now builds wrapper -> SDK+recorder -> preview server, each reusing an existing build so the Nano is untouched. If the wrapper is unavailable the install still completes preview-only and says so. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
119 lines
5.0 KiB
Bash
Executable File
119 lines
5.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# One command, the same on every Jetson: installs the Ithaca capture node from this
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# checkout. Detects the platform, installs dependencies, builds the C++ against a
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# locally-built OrbbecSDK, generates a config and a service for the CURRENT user,
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# and starts the bridge.
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#
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# Idempotent: safe to re-run after a git pull. It rebuilds the server, rewrites the
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# config and unit, and restarts the service; it does not touch a working SDK build.
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#
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# Why a script and not a prebuilt image: the two Jetsons here have no common
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# JetPack — tegra210 caps at 4, tegra234 needs 5+ — so nothing binary is portable
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# between them. The source and this procedure are; the binaries are made locally.
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set -euo pipefail
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REPO=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
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USER_NAME=$(id -un)
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HOME_DIR="$HOME"
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echo "=============================================================="
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echo " Ithaca node install"
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eval "$("$REPO/scripts/detect_platform.sh")"
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echo " modele : $MODEL"
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echo " L4T : $L4T (JetPack $JETPACK, $SOC, $ARCH)"
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echo " user : $USER_NAME home: $HOME_DIR"
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echo " repo : $REPO"
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echo "=============================================================="
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if [[ "$ARCH" != "aarch64" ]]; then
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echo "!! Cette install vise les Jetson (aarch64). Arch detectee: $ARCH." >&2
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echo "!! Continue quand meme dans 3 s (Ctrl-C pour arreter)…" >&2
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sleep 3
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fi
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# ---- 1. dependencies ------------------------------------------------------
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"$REPO/scripts/install_deps.sh"
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# ---- 2. the K4A wrapper, the SDK (with the recorder), then the server ------
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# Three compiled pieces, in dependency order:
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# - the Orbbec K4A wrapper provides libk4a, which the recorder needs;
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# - the SDK builds the library AND the recorder example against that wrapper;
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# - the preview server links the built SDK.
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# Each script reuses an existing build, so a working node (the Nano) is untouched.
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echo ">> Localisation / compilation du wrapper K4A (libk4a, Orbbec)…"
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eval "$("$REPO/scripts/build_k4a_wrapper.sh")" || true
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if [[ -n "${K4A_WRAPPER_DIR:-}" ]]; then
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echo " K4A_WRAPPER_DIR = $K4A_WRAPPER_DIR"
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export K4A_WRAPPER_DIR
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else
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echo " !! wrapper K4A indisponible — le nœud fera la PREVIEW mais pas le RECORD."
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fi
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echo ">> Localisation / compilation de l'OrbbecSDK (+ recorder)…"
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eval "$("$REPO/scripts/build_sdk.sh")"
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echo " OB_SDK_ROOT = $OB_SDK_ROOT"
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echo " OB_SDK_BUILD = $OB_SDK_BUILD"
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if [[ -n "${RECORDER_BIN:-}" ]]; then
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echo " RECORDER_BIN = $RECORDER_BIN"
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else
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echo " !! recorder non produit — RECORD indisponible sur ce nœud."
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fi
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echo ">> Compilation du serveur de preview…"
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SERVER_BIN=$("$REPO/scripts/build_server.sh")
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echo " $SERVER_BIN"
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# ---- 3. config, generated for this user -----------------------------------
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# The tested bridge.py ships unchanged; portability lives here, in the config it
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# reads. @PLACEHOLDERS@ become real paths for the current user.
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CONFIG="$REPO/bridge/config.json"
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if [[ -f "$CONFIG" ]]; then
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echo ">> config.json existe deja — conserve (supprime-le pour regenerer)."
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else
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sed -e "s#@HOME@#$HOME_DIR#g" \
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-e "s#@REPO@#$REPO#g" \
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-e "s#@SDK_BUILD@#$OB_SDK_BUILD#g" \
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"$REPO/bridge/config.template.json" > "$CONFIG"
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echo ">> config.json genere: $CONFIG"
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fi
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mkdir -p "$HOME_DIR/IthacaRecordings"
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# ---- 4. udev + usbfs (need root, affect the whole machine) ----------------
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echo ">> Regles udev (acces camera sans root) + usbfs_memory…"
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# Prefer the SDK's own installer when it is there — it is the maintained source of
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# the rule set; fall back to the copy shipped here.
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if [[ -x "$OB_SDK_ROOT/scripts/env_setup/install_udev_rules.sh" ]]; then
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sudo bash "$OB_SDK_ROOT/scripts/env_setup/install_udev_rules.sh" || true
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else
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sudo install -m 0644 "$REPO/udev/99-obsensor-libusb.rules" \
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/etc/udev/rules.d/99-obsensor-libusb.rules
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fi
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sudo udevadm control --reload-rules && sudo udevadm trigger || true
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sudo install -m 0644 "$REPO/systemd/usbfs-memory.service" \
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/etc/systemd/system/usbfs-memory.service
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# So the camera is reachable without being root right now, not only after a
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# reboot: the video group is what the udev rules grant to.
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sudo usermod -aG video "$USER_NAME" || true
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# ---- 5. the bridge service, generated for this user -----------------------
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UNIT=/etc/systemd/system/ithaca-bridge.service
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sudo sed -e "s#@REPO@#$REPO#g" -e "s#@USER@#$USER_NAME#g" \
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"$REPO/systemd/ithaca-bridge.service.in" | sudo tee "$UNIT" >/dev/null
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sudo systemctl daemon-reload
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sudo systemctl enable --now usbfs-memory.service
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sudo systemctl enable ithaca-bridge.service
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sudo systemctl restart ithaca-bridge.service
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echo "=============================================================="
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echo " Installe. Etat du bridge :"
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systemctl is-active ithaca-bridge.service || true
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echo
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echo " Journal en direct : journalctl -u ithaca-bridge -f"
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echo " Si la camera n'est vue qu'apres reconnexion USB, c'est le"
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echo " groupe 'video' qui vient d'etre ajoute — deconnecte/reconnecte"
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echo " la session, ou rebranche la camera."
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echo "=============================================================="
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