Moved some files.

extras/jetson/README.md

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+# Setup with Nvidia-Jetson-Orin
+
+Initial setup and installation of _RapidPoseTriangulation_ on a _Nvidia Jetson_ device. \
+Tested with a _Jetson AGX Orin Developer Kit_ module.
+
+<br>
+
+## Base installation
+
+- Install newest software image: \
+  (https://developer.nvidia.com/sdk-manager)
+
+- Initialize system: \
+  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
+
+- Install basic tools:
+  ```bash
+  sudo apt install -y curl nano wget git
+  sudo apt install -y terminator
+  ```
+
+- Test docker is working:
+
+  ```bash
+  sudo docker run --rm hello-world
+  ```
+
+- Enable _docker_ without _sudo_: \
+  (https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user)
+
+- Enable GPU-access for docker building:
+
+  Run `sudo nano /etc/docker/daemon.json` and add:
+
+  ```json
+  {
+    "runtimes": {
+      "nvidia": {
+        "args": [],
+        "path": "nvidia-container-runtime"
+      }
+    },
+    "default-runtime": "nvidia"
+  }
+  ```
+
+  Restart docker: `sudo systemctl restart docker`
+
+- Install _vs-code_: \
+  (https://code.visualstudio.com/docs/setup/linux)
+
+- Test docker is working:
+
+  ```bash
+  docker run --rm hello-world
+  docker run -it --rm --runtime=nvidia --network=host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/l4t-base:r36.2.0
+  docker run -it --rm --runtime=nvidia --network=host dustynv/l4t-pytorch:r36.4.0
+  ```
+
+- Check _cuda_ access in container:
+
+  ```bash
+  python3 -c 'import torch; print(torch.cuda.is_available());'
+  ```
+
+<br>
+
+## RPT installation
+
+- Build docker container:
+
+  ```bash
+  docker build --progress=plain -f extras/jetson/dockerfile -t rapidposetriangulation .
+  ./run_container.sh
+  ```
+
+- Build _rpt_ package inside container:
+
+  ```bash
+  cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
+  ```
+
+- Test with samples:
+  ```bash
+  python3 /RapidPoseTriangulation/scripts/test_triangulate.py
+  ```

extras/jetson/dockerfile

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+FROM dustynv/l4t-pytorch:r36.4.0
+
+ARG DEBIAN_FRONTEND=noninteractive
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+WORKDIR /
+
+RUN apt-get update && apt-get install -y --no-install-recommends feh
+RUN apt-get update && apt-get install -y --no-install-recommends python3-opencv
+
+# Show matplotlib images
+RUN apt-get update && apt-get install -y --no-install-recommends python3-tk
+
+# Install MMPose
+ENV FORCE_CUDA="1"
+ENV MMCV_WITH_OPS=1
+RUN pip3 install --upgrade --no-cache-dir openmim
+RUN mim install mmengine
+RUN mim install "mmcv>=2,<2.2.0"
+RUN mim install "mmdet>=3"
+RUN mim install "mmpose>=1.1.0"
+# Fix an error when importing mmpose
+RUN pip3 install --upgrade --no-cache-dir "numpy<2" scipy
+RUN git clone --depth=1 --branch=main https://github.com/open-mmlab/mmpose.git
+
+# Download pretrained model
+COPY scripts/utils_2d_pose.py /
+RUN python3 -c "from utils_2d_pose import load_model; load_model();"
+RUN python3 -c "from utils_2d_pose import load_wb_model; load_wb_model();"
+
+# Install swig and later dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends build-essential
+RUN apt-get update && apt-get install -y --no-install-recommends swig
+RUN apt-get update && apt-get install -y --no-install-recommends libopencv-dev
+
+COPY ./skelda/ /skelda/
+RUN pip3 install --no-cache-dir -e /skelda/
+
+WORKDIR /RapidPoseTriangulation/
+CMD ["/bin/bash"]