AngePierreandClaude Opus 5
1efcaea64a
The wrapper enables the CUDA language, so it will not configure without a working CUDA — even though libk4arecord_v2.so does not use it. A non-interactive shell has no cuda/bin on PATH, so point cmake at nvcc and pass the architecture derived from the SoC (Orin = sm_87). Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
122 lines
4.6 KiB
Bash
Executable File
122 lines
4.6 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Makes sure the Orbbec K4A wrapper is built for THIS platform, INCLUDING FTF's
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# libk4arecord_v2.so, and prints K4A_WRAPPER_DIR=... for build_sdk.sh (the recorder
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# example needs the headers) and for the recorder's runtime rpath.
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#
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# This is the libk4a provider — Orbbec's own, NOT Microsoft's Azure Kinect SDK. It
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# bundles its own OrbbecSDK, so it builds standalone.
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#
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# The recorder does not dlopen the stock libk4a/libk4arecord. It dlopens a single
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# custom library, libk4arecord_v2.so: the wrapper's own MKV-writing sources linked
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# to a pure-data shim (k4a_shim.cpp) instead of libk4a — K4A-compatible recording
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# with no OrbbecSDK dependency. That target is FTF's (wrapper/recordv2/ in this
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# repo), not part of the stock wrapper, so it is injected and built here.
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#
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# Reuses an existing build; only adds the v2 target if it is missing.
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set -euo pipefail
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here=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
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repo=$(cd "$here/.." && pwd)
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eval "$("$here/detect_platform.sh")"
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REPO_URL="${OB_K4A_REPO:-https://github.com/orbbec/OrbbecSDK-K4A-Wrapper}"
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REF="${OB_K4A_REF:-v1.10.4}"
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# The wrapper enables the CUDA language (its bundled OrbbecSDK does), so it will
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# not even CONFIGURE without a working CUDA — regardless of libk4arecord_v2.so not
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# using it. A non-interactive shell has no cuda/bin on PATH, so point cmake at it
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# and give the architecture by SoC (cmake needs it explicit here). Empty when no
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# CUDA is found, letting cmake try its own detection.
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cuda_flags() {
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local nvcc
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for nvcc in /usr/local/cuda/bin/nvcc /usr/local/cuda-*/bin/nvcc; do
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[[ -x "$nvcc" ]] && break
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done
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[[ -x "$nvcc" ]] || return 0
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local arch
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case "$SOC" in
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tegra210) arch=53 ;; # Nano, TX1
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tegra186) arch=62 ;; # TX2
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tegra194) arch=72 ;; # Xavier
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tegra234) arch=87 ;; # Orin
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tegra264) arch=101 ;; # Thor
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*) arch=87 ;; # a reasonable modern default
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esac
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printf -- '-DCMAKE_CUDA_COMPILER=%s -DCMAKE_CUDA_ARCHITECTURES=%s' "$nvcc" "$arch"
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}
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# A usable wrapper base: headers and the stock libk4a. The v2 target is ensured
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# separately, so a wrapper built before this repo existed still qualifies.
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find_wrapper() {
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local d="$1"
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[[ -f "$d/include/k4a/k4a.h" ]] || return 1
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[[ -f "$d/build/lib/libk4a.so" ]] || return 1
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echo "$d"
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}
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# Injects FTF's recordv2 sources and builds libk4arecord_v2.so if it is not there.
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# Idempotent: the add_subdirectory line and the copy are guarded.
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ensure_recordv2() {
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local d="$1"
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[[ -f "$d/build/lib/libk4arecord_v2.so" ]] && return 0
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echo ">> libk4arecord_v2.so absent — injection de recordv2 et compilation…" >&2
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local dst="$d/src/orbbec/recordv2"
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mkdir -p "$dst"
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cp "$repo/wrapper/recordv2/CMakeLists.txt" "$dst/"
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cp "$repo/wrapper/recordv2/k4a_shim.cpp" "$dst/"
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local ob_cmake="$d/src/orbbec/CMakeLists.txt"
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if [[ -f "$ob_cmake" ]] && ! grep -q "add_subdirectory(recordv2)" "$ob_cmake"; then
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echo "add_subdirectory(recordv2)" >> "$ob_cmake"
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fi
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( cd "$d/build"
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cmake .. -DCMAKE_BUILD_TYPE=Release $(cuda_flags) >&2
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make -j"$(nproc)" k4arecord_v2 >&2 )
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[[ -f "$d/build/lib/libk4arecord_v2.so" ]]
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}
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# 1 & 2: reuse a wrapper base, then make sure the v2 target is present.
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for candidate in "${K4A_WRAPPER_DIR:-}" \
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"$HOME/OrbbecSDK-K4A-Wrapper" \
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"$HOME/Downloads/OrbbecSDK-K4A-Wrapper"; do
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[[ -z "$candidate" ]] && continue
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if find_wrapper "$candidate" >/dev/null 2>&1; then
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echo ">> Wrapper K4A trouve: $candidate" >&2
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if ensure_recordv2 "$candidate"; then
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echo "K4A_WRAPPER_DIR=$candidate"
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exit 0
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fi
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echo "!! libk4arecord_v2.so n'a pas pu etre bati dans $candidate" >&2
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exit 1
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fi
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done
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# 3: clone + build the wrapper base, then the v2 target.
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dir="${K4A_WRAPPER_DIR:-$HOME/OrbbecSDK-K4A-Wrapper}"
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echo ">> Wrapper K4A absent — clone et compilation (JetPack ${JETPACK}, ${SOC})" >&2
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echo ">> ${REPO_URL} @ ${REF} -> ${dir}" >&2
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if [[ ! -d "$dir/.git" ]]; then
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git clone --recursive --depth 1 --branch "$REF" "$REPO_URL" "$dir" >&2
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fi
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mkdir -p "$dir/build"
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( cd "$dir/build"
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cmake .. -DCMAKE_BUILD_TYPE=Release $(cuda_flags) >&2
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make -j"$(nproc)" k4a k4arecord >&2 )
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if ! find_wrapper "$dir" >/dev/null 2>&1 || ! ensure_recordv2 "$dir"; then
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cat >&2 <<EOF
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!! La compilation du wrapper K4A (ou de libk4arecord_v2.so) a echoue dans $dir.
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!! Bâtis-le une fois a la main, puis relance install.sh avec :
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!! K4A_WRAPPER_DIR=$dir ./install.sh
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EOF
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exit 1
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fi
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echo ">> Wrapper K4A + libk4arecord_v2.so batis: $dir" >&2
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echo "K4A_WRAPPER_DIR=$dir"
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