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

Update hostname:

sudo nano /etc/hostname
sudo nano /etc/hosts
sudo reboot

Enable maximum performance mode:
```
sudo nvpmodel -m 0
sudo jetson_clocks
```
Test docker is working:
```
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:

{
  "runtimes": {
    "nvidia": {
      "args": [],
      "path": "nvidia-container-runtime"
    }
  },
  "default-runtime": "nvidia"
}

Restart docker: sudo systemctl restart docker

Test docker is working:

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

RPT installation

Build docker container:

docker build --progress=plain -f extras/jetson/dockerfile -t rapidposetriangulation .
./run_container.sh

Build rpt package inside container:

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:

python3 /RapidPoseTriangulation/scripts/test_triangulate.py

ROS interface

Build docker container:

docker build --progress=plain -f extras/ros/dockerfile -t rapidposetriangulation_ros .
./run_container.sh

Run and test:

docker compose -f extras/jetson/docker-compose.yml up

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