189 lines
6.1 KiB
Bash
189 lines
6.1 KiB
Bash
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#!/bin/bash
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# Builds the Intel Realsense library librealsense on a Jetson Nano Development Kit
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# Copyright (c) 2016-21 Jetsonhacks
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# MIT License
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LIBREALSENSE_DIRECTORY=${HOME}/librealsense
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INSTALL_DIR=$PWD
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NVCC_PATH=/usr/local/cuda/bin/nvcc
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USE_CUDA=true
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function usage ()
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{
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echo "Usage: ./build-librealsense.sh [-n | -no_cuda] [-v | -version <version>] [-j | --jobs <number of jobs>] [-h | --help] "
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echo "-n | --no_cuda Build with no CUDA (Defaults to with CUDA)"
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echo "-v | --version Version of librealsense to build
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(defaults to latest release)"
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echo "-j | --jobs Number of concurrent jobs (Default 1 on <= 4GB RAM
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#of cores-1 otherwise)"
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echo "-h | --help This message"
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exit 2
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}
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PARSED_ARGUMENTS=$(getopt -a -n build-librealsense.sh -o nv:j:h --longoptions version:,no_cuda,jobs:,help -- "$@" )
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VALID_ARGUMENTS=$?
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if [ "$VALID_ARGUMENTS" != "0" ]; then
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echo ""
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usage
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fi
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eval set -- "$PARSED_ARGUMENTS"
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LIBREALSENSE_VERSION=""
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USE_CUDA=true
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NUM_PROCS=""
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while :
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do
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case "$1" in
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-n | --build_no_cuda) USE_CUDA=false ; shift ;;
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-v | --version ) LIBREALSENSE_VERSION="$2" ; shift 2 ;;
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-j | --jobs) NUM_PROCS="$2" ;
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shift 2 ;
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re_isanum='^[0-9]+$'
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if ! [[ $NUM_PROCS =~ $re_isanum ]] ; then
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echo "Number of jobs must be a positive, whole number"
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usage
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else
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if [ $NUM_PROCS -eq "0" ]; then
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echo "Number of jobs must be a positive, whole number"
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fi
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fi ;
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;;
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-h | --help ) usage ; shift ;;
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# -- means the end of arguments
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--) shift; break ;;
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esac
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done
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# From lukechilds gist discussion: https://gist.github.com/lukechilds/a83e1d7127b78fef38c2914c4ececc3c
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# We use wget instead of curl here
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# Sample usage:
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# VERSION_STRINGS=$(get_latest_release IntelRealSense/librealsense)
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function get_latest_release () {
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# redirect wget to standard out and grep out the tag_name
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wget -qO- https://api.github.com/repos/$1/releases/latest |
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grep -Po '"tag_name": "\K.*?(?=")'
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}
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if [[ $LIBREALSENSE_VERSION == "" ]] ; then
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echo "Getting latest librealsense version number"
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LIBREALSENSE_VERSION=$(get_latest_release IntelRealSense/librealsense)
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fi
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echo "Build with CUDA: "$USE_CUDA
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echo "Librealsense Version: $LIBREALSENSE_VERSION"
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red=`tput setaf 1`
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green=`tput setaf 2`
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reset=`tput sgr0`
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# e.g. echo "${red}The red tail hawk ${green}loves the green grass${reset}"
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if [ ! -d "$LIBREALSENSE_DIRECTORY" ] ; then
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# clone librealsense
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cd ${HOME}
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echo "${green}Cloning librealsense${reset}"
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git clone https://github.com/IntelRealSense/librealsense.git
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fi
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# Is the version of librealsense current enough?
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cd $LIBREALSENSE_DIRECTORY
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VERSION_TAG=$(git tag -l $LIBREALSENSE_VERSION)
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if [ ! $VERSION_TAG ] ; then
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echo ""
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tput setaf 1
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echo "==== librealsense Version Mismatch! ============="
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tput sgr0
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echo ""
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echo "The installed version of librealsense is not current enough for these scripts."
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echo "This script needs librealsense tag version: "$LIBREALSENSE_VERSION "but it is not available."
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echo "Please upgrade librealsense or remove the librealsense folder before attempting to install again."
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echo ""
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exit 1
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fi
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# Checkout version the last tested version of librealsense
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git checkout $LIBREALSENSE_VERSION
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# Install the dependencies
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cd $INSTALL_DIR
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cd $LIBREALSENSE_DIRECTORY
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git checkout $LIBREALSENSE_VERSION
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# Now compile librealsense and install
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mkdir build
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cd build
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# Build examples, including graphical ones
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echo "${green}Configuring Make system${reset}"
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# Build with CUDA (default), the CUDA flag is USE_CUDA, ie -DUSE_CUDA=true
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export CUDACXX=$NVCC_PATH
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export PATH=${PATH}:/usr/local/cuda/bin
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export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/cuda/lib64
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/usr/bin/cmake ../ -DBUILD_EXAMPLES=true -DFORCE_RSUSB_BACKEND=true -DBUILD_WITH_CUDA="$USE_CUDA" -DCMAKE_BUILD_TYPE=release -DBUILD_PYTHON_BINDINGS=bool:true
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# The library will be installed in /usr/local/lib, header files in /usr/local/include
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# The demos, tutorials and tests will located in /usr/local/bin.
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echo "${green}Building librealsense, headers, tools and demos${reset}"
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# If user didn't set # of jobs and we have > 4GB memory then
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# set # of jobs to # of cores-1, otherwise 1
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if [[ $NUM_PROCS == "" ]] ; then
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TOTAL_MEMORY=$(free | awk '/Mem\:/ { print $2 }')
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if [ $TOTAL_MEMORY -gt 4051048 ] ; then
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NUM_CPU=$(nproc)
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NUM_PROCS=$(($NUM_CPU - 1))
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else
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NUM_PROCS=1
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fi
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fi
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time make -j$NUM_PROCS
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if [ $? -eq 0 ] ; then
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echo "librealsense make successful"
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else
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# Try to make again; Sometimes there are issues with the build
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# because of lack of resources or concurrency issues
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echo "librealsense did not build " >&2
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echo "Retrying ... "
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# Single thread this time
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time make
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if [ $? -eq 0 ] ; then
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echo "librealsense make successful"
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else
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# Try to make again
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echo "librealsense did not successfully build" >&2
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echo "Please fix issues and retry build"
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exit 1
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fi
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fi
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echo "${green}Installing librealsense, headers, tools and demos${reset}"
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sudo make install
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if grep -Fxq 'export PYTHONPATH=$PYTHONPATH:/usr/local/lib' ~/.bashrc ; then
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echo "PYTHONPATH already exists in .bashrc file"
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else
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echo 'export PYTHONPATH=$PYTHONPATH:/usr/local/lib' >> ~/.bashrc
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echo "PYTHONPATH added to ~/.bashrc. Pyhon wrapper is now available for importing pyrealsense2"
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fi
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cd $LIBREALSENSE_DIRECTORY
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echo "${green}Applying udev rules${reset}"
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# Copy over the udev rules so that camera can be run from user space
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sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
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sudo udevadm control --reload-rules && udevadm trigger
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echo "${green}Library Installed${reset}"
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echo " "
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echo " -----------------------------------------"
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echo "The library is installed in /usr/local/lib"
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echo "The header files are in /usr/local/include"
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echo "The demos and tools are located in /usr/local/bin"
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echo " "
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echo " -----------------------------------------"
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echo " "
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