Getting Started - NVIDIA Jetson setup

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RidgeRun Video Stabilization Library

Table of Contents [Sticky]

• Basics and Foundation
  • What is Video Stabilization
  • Video Stabilization Process using IMU
  • Stabilization Algorithms with IMU
• Getting Started
  • Supported Platforms, Sensors and Backends
  • Evaluating the Library
  • Getting the Code
  • Building the Library
• API Reference
  • Library Architecture
  • Adding New Sensors
  • Adding Algorithms
  • Adding Stabilization Algorithm
  • Adding Backends
  • API Documentation
  • Examples Guidebook
• Library Integration for IMU
  • Preparing the Video
  • Preparing the IMU Measurements
  • Measurement Integration
  • Interpolation
  • Computing the Stabilization
  • Video Undistortion
  • Calibration Container
  • Example Application
  • Calculate IMU and Camera Timestamp Offset
• GStreamer
  • Add Support for Video Timestamps
  • Add Support for IMU Sensors
  • Video Stabilizer Element
  • Example Pipelines
• Useful Links
  • BMI160 Setup
  • ICM42688 Setup
  • Performance
  • Jetson setup
• Contact Us

RidgeRun Video Stabilization Library setup on NVIDIA Jetson

The following steps setups the neccesary dependencies in Jetpack 36.6.4.3 after flash with initrd script as explained in ICM42688 Setup.

Depedencies

Package dependencies

sudo apt update
sudo apt install automake autoconf m4 -y
sudo apt install nvidia-l4t-jetson-multimedia-api nvidia-l4t-gstreamer -y
sudo apt install python3 python3-pip -y
sudo apt install ninja-build pkg-config -y

# For cal plotter
sudo apt install libboost-filesystem-dev libboost-system-dev libboost-iostreams-dev libgnuplot-iostream-dev -y

sudo pip3 install meson 
sudo apt install libgudev-1.0-dev -y
sudo apt install libv4l-dev -y
sudo apt install lbzip2 -y
sudo apt install cuda-toolkit-* -y
sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-base libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-good -y
sudo apt install nvidia-l4t-cuda -y
sudo usermod -aG i2c $USER

Install perf:

sudo apt install autogen -y
cd
git clone git@github.com:RidgeRun/gst-perf.git -b dev-0.4
cd gst-perf
./autogen.sh
./configure --prefix /usr/ --libdir /usr/lib/$(uname -m)-linux-gnu/
make
sudo make install
cd -

Add cuda PATH .bashrc:

export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH

Install gstcameradrivermeta:

cd
git clone https://gitlab.ridgerun.com/open/gstreamer/ridgerun-video-stabilization/gstcameradrivermeta.git
cd gstcameradrivermeta
make
sudo make install
sudo ldconfig

Install rrv4l2src:

cd
git clone https://gitlab.ridgerun.com/open/gstreamer/gst-v4l2src.git -b feature/add-timestamp-metadata
cd gst-v4l2src
export INSTALL_DIR=${HOME}/custom-gst-v4l2src # Add to .bashrc
mkdir -p ${INSTALL_DIR}
meson builddir --prefix=${INSTALL_DIR} --libdir=${INSTALL_DIR}/lib/$(uname -m)-linux-gnu
ninja -C builddir install
sudo ninja -C builddir install
export GST_PLUGIN_PATH=${INSTALL_DIR}/lib/aarch64-linux-gnu/gstreamer-1.0:$GST_PLUGIN_PATH # Add to .bashrc

Install custom nvarguscamerasrc:

cd
git clone https://gitlab.ridgerun.com/open/gstreamer/ridgerun-video-stabilization/gstnvarguscamerasrc
cd gstnvarguscamerasrc
git checkout jetpack-6.x
export INSTALL_DIR=${HOME}/custom-gst-nvarguscamerasrc # Add to .bashrc
export GST_INSTALL_DIR=${INSTALL_DIR}/lib/$(uname -m)-linux-gnu/gstreamer-1.0
mkdir -p ${INSTALL_DIR}/lib/$(uname -m)-linux-gnu/gstreamer-1.0
make
sudo -E make install
export GST_PLUGIN_PATH=${INSTALL_DIR}/lib/$(uname -m)-linux-gnu/gstreamer-1.0:${GST_PLUGIN_PATH} # Add to .bashrc
gst-inspect-1.0 nvarguscamerasrc

Install rvs:

cd ridgerun-video-stabilizer
meson build --optimization 3 --prefix /usr -Denable-docs=disabled -Ddeveloper-mode=false -Denable-opencl=disabled -Denable-gstreamer=enabled
ninja -C build
sudo ninja -C build install

For simplicity you can add the following to .bashrc:

export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH

export INSTALL_DIR=${HOME}/custom-gst-v4l2src
export GST_PLUGIN_PATH=${INSTALL_DIR}/lib/aarch64-linux-gnu/gstreamer-1.0:$GST_PLUGIN_PATH 
export INSTALL_DIR=${HOME}/custom-gst-nvarguscamerasrc
export GST_PLUGIN_PATH=${INSTALL_DIR}/lib/$(uname -m)-linux-gnu/gstreamer-1.0:${GST_PLUGIN_PATH}
export GST_PLUGIN_PATH=${INSTALL_DIR}/lib/aarch64-linux-gnu/gstreamer-1.0:$GST_PLUGIN_PATH

You can also follow the commands on RidgeRun Video Stabilization Library/Useful Links/ICM42688 Setup#Permissions to setup permissions for ICM42688 sensor.

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