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remove detection from the node

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dora-zed publishes camera data only. The two engines under src/engines/, the
objects output, the ZED_ENGINE/ZED_DETECTION_*/ZED_ONNX_* variables and the
ZED_PC_MODE=ROI crop are gone, along with the standalone engine test and the
model export script.

This drops the unconditional ONNX Runtime requirement from CMakeLists, the
Dockerfile and the install scripts, so the node now configures on a machine
with no ONNX Runtime — which is what blocked the Jetson build, since there is
no official ARM64 GPU binary.

zed_native is dropped rather than kept: it is bound to the live camera handle
and cannot run in a node that receives images over a dataflow. The removed
code remains reachable at tag v0.1.0.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Y7g2cBJ5e3r15ZbJ9WZn8c
This commit is contained in:
cesar
2026-09-08 09:12:40 -03:00
co-authored by Claude Opus 5
parent a734692b60
commit 126dbf4f32
17 changed files with 18 additions and 1242 deletions
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scripts/install_linux_x64.sh
+1 -29
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@@ -6,7 +6,6 @@
set -euo pipefail
ZED_VERSION="5.2"
ORT_VERSION="1.24.4"
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
TMP_DIR="${SCRIPT_DIR}/../tmp"
@@ -34,32 +33,5 @@ else
sudo "${TMP_DIR}/ZED_SDK.run" -- silent skip_python skip_tools
fi
# --- ONNX Runtime (C++ GPU, installs to /usr/local) ---
if [ -f /usr/local/lib64/libonnxruntime.so ] && [ -d /usr/local/lib/cmake/onnxruntime ]; then
echo ">>> ONNX Runtime already installed — skipping."
else
echo ">>> Downloading ONNX Runtime ${ORT_VERSION} GPU..."
download \
"https://github.com/microsoft/onnxruntime/releases/download/v${ORT_VERSION}/onnxruntime-linux-x64-gpu-${ORT_VERSION}.tgz" \
"${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}.tgz"
echo ">>> Extracting..."
tar -xzf "${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}.tgz" -C "${TMP_DIR}"
echo ">>> Installing ONNX Runtime to /usr/local..."
sudo mkdir -p /usr/local/include/onnxruntime
sudo cp -r "${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}/include/"* /usr/local/include/onnxruntime/
sudo mkdir -p /usr/local/lib64
sudo cp -r "${TMP_DIR}/onnxruntime-linux-x64-gpu-${ORT_VERSION}/lib/"* /usr/local/lib64/
# onnxruntimeTargets.cmake resolves the library as <prefix>/lib64, but Ubuntu
# is multiarch: CMake does not search lib64 for packages and ld.so does not
# search /usr/local/lib64 at all. Move only the package files to lib/cmake
# and put lib64 on the linker path.
sudo mkdir -p /usr/local/lib/cmake
sudo rm -rf /usr/local/lib/cmake/onnxruntime
sudo mv /usr/local/lib64/cmake/onnxruntime /usr/local/lib/cmake/
sudo rmdir /usr/local/lib64/cmake
echo /usr/local/lib64 | sudo tee /etc/ld.so.conf.d/onnxruntime.conf > /dev/null
sudo ldconfig
fi
echo ">>> Done. You can now run: mkdir -p build && cd build && cmake .. && make install"
echo ">>> Done. You can now run: scripts/build.sh"
echo ">>> Downloaded files are in ${TMP_DIR}"