# 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)

  - Use manual recovery mode setup for first installation

  - Find out the _ip-address_ of the _Jetson_ for the runtime component installation with:

    ```bash
    sudo nmap -sn $(ip route get 1 | awk '{print $(NF-2);exit}')/24
    ```

- Initialize system: \
  (https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)

  - Connect via _ssh_, because using _screen_ did not work, skip _oem-config_ step

  - Skip installation of _nvidia-jetpack_

- Install basic tools:

  ```bash
  sudo apt install -y curl nano wget git
  ```

- Update hostname:

  ```bash
  sudo nano /etc/hostname
  sudo nano /etc/hosts
  sudo reboot
  ```

- Enable maximum performance mode:

  ```bash
  sudo nvpmodel -m 0
  sudo jetson_clocks
  ```

- 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`

- Test docker is working:

  ```bash
  docker run --rm hello-world
  docker run -it --rm --runtime=nvidia --network=host dustynv/onnxruntime:1.20-r36.4.0
  ```

<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 ..

  cd /RapidPoseTriangulation/scripts/ && \
  g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
    -I /RapidPoseTriangulation/rpt/ \
    -isystem /usr/include/opencv4/ \
    -isystem /usr/local/include/onnxruntime/ \
    -L /usr/local/lib/ \
    test_skelda_dataset.cpp \
    /RapidPoseTriangulation/rpt/*.cpp \
    -o test_skelda_dataset.bin \
    -Wl,--start-group \
      -lonnxruntime_providers_tensorrt \
      -lonnxruntime_providers_shared \
      -lonnxruntime_providers_cuda \
      -lonnxruntime \
    -Wl,--end-group \
    $(pkg-config --libs opencv4) \
    -Wl,-rpath,/onnxruntime/build/Linux/Release/ \
  && cd ..
  ```

- Test with samples:

  ```bash
  python3 /RapidPoseTriangulation/scripts/test_triangulate.py
  ```

<br>

## ROS interface

- Build docker container:

  ```bash
  docker build --progress=plain -f extras/ros/dockerfile -t rapidposetriangulation_ros .
  ```

- Run and test:
  ```bash
  docker compose -f extras/jetson/docker-compose.yml up

  docker exec -it jetson-test_node-1 bash
  export ROS_DOMAIN_ID=18
  ```