143 lines
3.1 KiB
Markdown
143 lines
3.1 KiB
Markdown
# Setup with Nvidia-Jetson-Orin
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Initial setup and installation of _RapidPoseTriangulation_ on a _Nvidia Jetson_ device. \
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Tested with a _Jetson AGX Orin Developer Kit_ module.
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<br>
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## Base installation
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- Install newest software image: \
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(https://developer.nvidia.com/sdk-manager)
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- Use manual recovery mode setup for first installation
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- Find out the _ip-address_ of the _Jetson_ for the runtime component installation with:
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```bash
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sudo nmap -sn $(ip route get 1 | awk '{print $(NF-2);exit}')/24
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```
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- Initialize system: \
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(https://developer.nvidia.com/embedded/learn/get-started-jetson-agx-orin-devkit)
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- Connect via _ssh_, because using _screen_ did not work, skip _oem-config_ step
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- Skip installation of _nvidia-jetpack_
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- Install basic tools:
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```bash
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sudo apt install -y curl nano wget git
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```
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- Update hostname:
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```bash
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sudo nano /etc/hostname
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sudo nano /etc/hosts
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sudo reboot
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```
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- Enable maximum performance mode:
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```bash
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sudo nvpmodel -m 0
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sudo jetson_clocks
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```
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- Test docker is working:
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```bash
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sudo docker run --rm hello-world
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```
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- Enable _docker_ without _sudo_: \
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(https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user)
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- Enable GPU-access for docker building:
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- Run `sudo nano /etc/docker/daemon.json` and add:
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```json
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{
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"runtimes": {
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"nvidia": {
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"args": [],
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"path": "nvidia-container-runtime"
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}
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},
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"default-runtime": "nvidia"
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}
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```
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- Restart docker: `sudo systemctl restart docker`
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- Test docker is working:
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```bash
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docker run --rm hello-world
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docker run -it --rm --runtime=nvidia --network=host dustynv/onnxruntime:1.20-r36.4.0
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```
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<br>
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## RPT installation
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- Build docker container:
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```bash
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docker build --progress=plain -f extras/jetson/dockerfile -t rapidposetriangulation .
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./run_container.sh
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```
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- Build _rpt_ package inside container:
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```bash
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cd /RapidPoseTriangulation/swig/ && make all && cd ../tests/ && python3 test_interface.py && cd ..
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cd /RapidPoseTriangulation/scripts/ && \
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g++ -std=c++2a -fPIC -O3 -march=native -Wall -Werror -flto=auto -fopenmp -fopenmp-simd \
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-I /RapidPoseTriangulation/rpt/ \
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-isystem /usr/include/opencv4/ \
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-isystem /usr/local/include/onnxruntime/ \
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-L /usr/local/lib/ \
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test_skelda_dataset.cpp \
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/RapidPoseTriangulation/rpt/*.cpp \
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-o test_skelda_dataset.bin \
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-Wl,--start-group \
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-lonnxruntime_providers_tensorrt \
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-lonnxruntime_providers_shared \
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-lonnxruntime_providers_cuda \
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-lonnxruntime \
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-Wl,--end-group \
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$(pkg-config --libs opencv4) \
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-Wl,-rpath,/onnxruntime/build/Linux/Release/ \
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&& cd ..
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```
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- Test with samples:
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```bash
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python3 /RapidPoseTriangulation/scripts/test_triangulate.py
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```
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<br>
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## ROS interface
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- Build docker container:
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```bash
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docker build --progress=plain -f extras/ros/dockerfile -t rapidposetriangulation_ros .
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```
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- Run and test:
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```bash
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export CAMID="camera01" && export ROTATE="0" && docker compose -f extras/jetson/docker-compose-2d.yml up
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docker exec -it jetson-test_node-1 bash
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export ROS_DOMAIN_ID=18
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```
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