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>
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 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="${OB_SDK_REPO:-https://github.com/orbbec/OrbbecSDK_v2.git}"
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SDK_REF="${OB_SDK_REF:-main}"
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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"; 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="$root/build/linux_$(uname -m)"
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mkdir -p "$build"
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(
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cd "$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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