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FRC-Team-4143/FRCJetsonApril
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Currently setup for 36H11 tags and Innovision ov9281 camera Optional install on SSD with instructions here: https://jetsonhacks.com/2023/05/30/jetson-orin-nano-tutorial-ssd-install-boot-and-jetpack-setup/ Or use SD card image Compile OpenCV with CUDA support with instructions here: https://github.com/mdegans/nano_build_opencv ./build_opencv.sh 4.8.0 jtop should show something like this on INFO tab: OpenCV: 4.8.0 with CUDA: YES Get NVIDIA apriltag library from: https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros/blob/main/isaac_ros_nitros/lib/cuapriltags/lib_aarch64_jetpack51/libcuapriltags.a committed on Aug 1,2023 commit dc959fb download kernel sources and apply patch for Innovision ov9281 camera. kernel sources are here https://developer.nvidia.com/downloads/embedded/l4t/r35_release_v3.1/sources/public_sources.tbz2/ apply orinov9281working8bitkernel35.3.1.patch to nvidia kernel sources run rjsorinkernelbuild.sh to build and install -tegra4143 modify /boot/extlinux/extlinux.conf to allow custom kernel booting build and install https://github.com/wpilibsuite/allwpilib from source cmake .. -DWITH_JAVA=OFF -DWITH_GUI=OFF -DWITH_EXAMPLES=OFF -DWITH_TESTS=OFF use cmake to build capture-cuda must run sudo ./debugcamera.sh to increase clock speeds on every boot see rc.local capture-cuda is setup for 36H11 tags and Innovision camera ov9281 with custom kernel #THE FOLLOWING LIBRARIES DO NOT SUPPORT ORIN https://github.com/NVIDIA-AI-IOT/isaac_ros_apriltag/blob/main/isaac_ros_apriltag/nvapriltags/lib_aarch64_jetpack44/libapril_tagging.a --- and --- https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_apriltag/blob/release-ea3/isaac_ros_apriltag/nvapriltags/lib_aarch64_jetpack44/libapril_tagging.a
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