AngePierreandClaude Opus 5
526d654f68
The recorder uses ob::Error::getStatus(), present in v2.8.6 (the Nano) but not v2.4.3 (the version pre-placed on the Orin), so pin the version the recorder is written against. Also configure from $root/build with 'cmake ..' — the SDK's cmake makes its own linux_<arch> output subdir, so creating one first put the libs at build/linux_aarch64/linux_arm64/lib where find_build could not see them. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
130 lines
5.2 KiB
Bash
Executable File
130 lines
5.2 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Makes sure an OrbbecSDK v2 build exists for THIS platform — INCLUDING the custom
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# MKV recorder example — and prints where it all is:
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#
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# OB_SDK_ROOT / OB_SDK_BUILD / OB_SDK_GENERATED the SDK
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# RECORDER_BIN the recorder binary, or empty
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#
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# Never ships a prebuilt binary between Jetsons: CUDA and glibc differ by
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# generation, so everything is built from source on the machine that runs it. The
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# heavy artifacts stay out of git.
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#
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# The recorder is FTF's own source (recorder/ in this repo), not a stock SDK
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# example, so it is injected into the SDK's examples tree before the build and
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# compiled there — it depends on the SDK's own cmake targets (ob::examples::utils).
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# It needs the Orbbec K4A wrapper's headers; build_k4a_wrapper.sh provides them.
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#
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# Order of preference for the SDK itself:
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# 1. $OB_SDK_ROOT if it already holds a build — reused, which keeps a working
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# node (the Nano) untouched.
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# 2. A build at a known location, likewise reused.
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# 3. A fresh clone + build.
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set -euo pipefail
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here=$(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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SDK_REPO="${OB_SDK_REPO:-https://github.com/orbbec/OrbbecSDK_v2.git}"
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# Pinned to the version the recorder source is written against: v2.4.3 (which came
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# pre-placed on the Orin) lacks ob::Error::getStatus() that the recorder uses. A
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# caller can override for a platform that needs a different tag.
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SDK_REF="${OB_SDK_REF:-v2.8.6}"
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find_build() {
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local root="$1" b
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[[ -f "$root/include/libobsensor/ObSensor.hpp" ]] || return 1
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b=$(ls -d "$root"/build/linux_* 2>/dev/null | head -1)
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[[ -z "$b" ]] && b="$root/build"
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[[ -f "$b/lib/libOrbbecSDK.so" ]] || return 1
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echo "$b"
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}
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recorder_bin_in() { # echoes the recorder path under a build dir if present
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local b="$1"
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[[ -x "$b/bin/ob_stream_depth_color_k4arec_pipeline" ]] \
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&& echo "$b/bin/ob_stream_depth_color_k4arec_pipeline"
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}
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emit() {
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local root="$1" build="$2"
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echo "OB_SDK_ROOT=$root"
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echo "OB_SDK_BUILD=$build"
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echo "OB_SDK_GENERATED=$root/build/src/generated"
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echo "RECORDER_BIN=$(recorder_bin_in "$build")"
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}
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# Drops the FTF recorder into the SDK examples tree and registers it, so a plain
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# example build picks it up. Idempotent.
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inject_recorder() {
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local root="$1"
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local dst="$root/examples/1.stream.depth_color.k4arec.pipeline"
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mkdir -p "$dst"
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cp "$repo/recorder/depth_color_k4arec_pipeline.cpp" "$dst/"
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cp "$repo/recorder/CMakeLists.txt" "$dst/"
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local ex_cmake="$root/examples/CMakeLists.txt"
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if [[ -f "$ex_cmake" ]] \
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&& ! grep -q "1.stream.depth_color.k4arec.pipeline" "$ex_cmake"; then
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echo "add_subdirectory(1.stream.depth_color.k4arec.pipeline)" >> "$ex_cmake"
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fi
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}
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# 1 & 2: reuse an existing SDK build. Only inject/rebuild the recorder if it is
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# missing there — never disturb the library build.
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for candidate in "${OB_SDK_ROOT:-}" \
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"$HOME/OrbbecSDK_v2" \
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"$HOME/OrbbecSDK_v2_jetson" \
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"$HOME/Downloads/OrbbecSDK_v2" \
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"$HOME/Downloads/OrbbecSDK_v2_jetson"; do
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[[ -z "$candidate" ]] && continue
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if b=$(find_build "$candidate" 2>/dev/null); then
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echo ">> SDK deja bati, reutilise: $candidate" >&2
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if [[ -z "$(recorder_bin_in "$b")" && -n "${K4A_WRAPPER_DIR:-}" ]]; then
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echo ">> Recorder absent de ce build — injection et compilation…" >&2
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inject_recorder "$candidate"
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( cd "$b" && cmake .. -DOB_BUILD_EXAMPLES=ON \
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-DK4A_WRAPPER_DIR="$K4A_WRAPPER_DIR" >&2 \
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&& make -j"$(nproc)" ob_stream_depth_color_k4arec_pipeline >&2 ) || true
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fi
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emit "$candidate" "$b"
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exit 0
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fi
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done
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# 3: clone + build from source, with examples and the recorder.
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root="${OB_SDK_ROOT:-$HOME/OrbbecSDK_v2}"
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echo ">> Aucun SDK bati — clone et compilation (JetPack ${JETPACK}, ${SOC})" >&2
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[[ -d "$root/.git" ]] || git clone --depth 1 --branch "$SDK_REF" "$SDK_REPO" "$root" >&2
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inject_recorder "$root"
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# The recorder needs the wrapper; without it the SDK still builds (its CMakeLists
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# skips the recorder with a warning), giving preview-only.
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cmake_k4a=()
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[[ -n "${K4A_WRAPPER_DIR:-}" ]] && cmake_k4a=(-DK4A_WRAPPER_DIR="$K4A_WRAPPER_DIR")
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# Build in $root/build and configure from there (cmake ..): the SDK's own
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# linux_config.cmake places its outputs in a build/linux_<arch> subdir itself.
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# Creating that subdir and configuring from inside it double-nests the outputs
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# (build/linux_aarch64/linux_arm64/lib), where find_build cannot see them.
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mkdir -p "$root/build"
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(
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cd "$root/build"
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cmake .. -DCMAKE_BUILD_TYPE=Release -DOB_BUILD_EXAMPLES=ON "${cmake_k4a[@]}" >&2
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make -j"$(nproc)" >&2
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)
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if ! b=$(find_build "$root" 2>/dev/null); then
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cat >&2 <<EOF
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!! La compilation du SDK ne s'est pas terminee comme attendu.
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!! Bâtis-le une fois a la main, puis relance install.sh en pointant dessus :
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!! OB_SDK_ROOT=$root ./install.sh
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EOF
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exit 1
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fi
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echo ">> SDK bati: $b" >&2
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[[ -z "$(recorder_bin_in "$b")" ]] && \
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echo ">> NOTE: recorder non produit (wrapper K4A absent) — preview seule." >&2
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emit "$root" "$b"
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