cesarandClaude Opus 5
126dbf4f32
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
63 lines
2.0 KiB
Bash
Executable File
63 lines
2.0 KiB
Bash
Executable File
#!/usr/bin/env bash
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# Install build dependencies for dora-zed on NVIDIA Jetson (ARM64 / L4T).
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# Skips any component that is already installed.
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# Uses aria2c for fast parallel downloads if available, otherwise falls back to wget.
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#
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# Supported JetPack versions for ZED SDK 5.x:
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# JetPack 6.0 GA (L4T 36.3) — Jetson Orin
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# JetPack 6.1/6.2 (L4T 36.4)
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# JetPack 6.2.2 (L4T 36.5)
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# JetPack 7.0 (L4T 38.2) — Jetson Thor
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# JetPack 7.1 (L4T 38.4)
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set -euo pipefail
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ZED_VERSION="5.2"
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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TMP_DIR="${SCRIPT_DIR}/../tmp"
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mkdir -p "$TMP_DIR"
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download() {
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local url="$1" dest="$2"
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if command -v aria2c &>/dev/null; then
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aria2c -x 16 -s 16 -d "$(dirname "$dest")" -o "$(basename "$dest")" "$url"
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else
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wget -O "$dest" "$url"
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fi
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}
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# --- Detect L4T version ---
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if [ ! -f /etc/nv_tegra_release ]; then
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echo "Error: /etc/nv_tegra_release not found. Is this a Jetson device?" >&2
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exit 1
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fi
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L4T_VERSION=$(head -1 /etc/nv_tegra_release | grep -oP 'R\K[0-9]+\.[0-9]+' | head -1)
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L4T_MAJOR=$(echo "$L4T_VERSION" | cut -d'.' -f1)
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echo ">>> Detected L4T ${L4T_VERSION} (major: ${L4T_MAJOR})"
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case "$L4T_MAJOR" in
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36) L4T_PATH="l4t36" ;;
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38) L4T_PATH="l4t38" ;;
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35) L4T_PATH="l4t35" ;;
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*)
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echo "Warning: L4T ${L4T_MAJOR} not tested. Attempting l4t${L4T_MAJOR}." >&2
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L4T_PATH="l4t${L4T_MAJOR}"
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;;
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esac
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# --- ZED SDK ---
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if [ -d /usr/local/zed ]; then
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echo ">>> ZED SDK already installed at /usr/local/zed — skipping."
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else
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echo ">>> Downloading ZED SDK ${ZED_VERSION} for Jetson (${L4T_PATH})..."
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download \
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"https://download.stereolabs.com/zedsdk/${ZED_VERSION}/${L4T_PATH}/jetsons" \
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"${TMP_DIR}/ZED_SDK.run"
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chmod +x "${TMP_DIR}/ZED_SDK.run"
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echo ">>> Installing ZED SDK (silent)..."
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sudo "${TMP_DIR}/ZED_SDK.run" -- silent skip_python skip_tools
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fi
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echo ">>> Done. You can now run: scripts/build.sh"
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echo ">>> Downloaded files are in ${TMP_DIR}"
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