Add continuous TensorRT camera inference and ready-to-run Orin package

2026-09-23 11:28:29 +08:00
commit 71723ef3b4
53 changed files with 27755 additions and 0 deletions
@@ -0,0 +1,22 @@
+# Orin 可直接运行目录
+
+本目录包含实际在 Jetson AGX Orin 上编译的 aarch64 程序和 TensorRT FP16 引擎。
+目标环境：L4T R35.4.1 / JetPack 5.1.2，CUDA 11.4，TensorRT 8.5.2，OpenCV 4.5.4。
+使用系统安装的 CUDA、TensorRT、OpenCV 共享库；不适用于任意 JetPack 版本或 x86 主机。
+
+```bash
+cd orin
+sha256sum -c SHA256SUMS
+./scripts/initialize_camera.sh
+./run.sh
+```
+
+可视化可选：`./run.sh --visualize`，需要板端本地桌面 DISPLAY。
+默认持续推理直到 Ctrl+C / SIGTERM；正常退出没有统计输出。
+预览窗口关闭后推理继续。结果通过 C++ CameraPipeline::latest() 获取，不通过端口或结果文件传递。
+
+程序为 build/camera_risk，配置为 config/camera.json，引擎为 engines/*.engine。
+./run.sh 从所在目录解析路径，也可以在其他工作目录通过绝对路径调用。
+
+bin/drivers 中 GMSL 模块对应内核 5.10.120-tegra。初始化脚本检查内核版本；加载模块需要 root 或现有 sudo 权限。
+门区保留当前室内联调设置，door.calibration_verified=false。
@@ -0,0 +1,11 @@
+926a5165a4ebffe9568cf694018afb097cfb69b6e696a19939e5d364a9e3dfa5  README.md
+6d5e874fd27fcfd75d303d7e35d9672028af71041f52dcc82a1e83676faefa65  bin/drivers/max9295.ko
+8a78d04ef8be44e9b62a5e4ee315d3d6d679e34aedff02a234bbf4d40e222933  bin/drivers/max9296.ko
+3da628587477cc35d5e3f8aee86e718e2ddf16808e893e00ba6e164b2307e843  bin/drivers/sgx-yuv-gmsl2.ko
+b5102fe0a529349bb8e9700ae1d8e8ddeaa7c4279cb28e7826c5cc32dce2bb1d  build/camera_risk
+f2334c43e6a48480260c770d46a3ab0edb855f6f52bc8b91d1559e69edfad043  config/camera.json
+9ba768d559fd3b64e833b50c62c70f2adfd6c169620aea5fba32cfb1b4c5b0e9  config/door_mask.json
+ebcd09e8c2e35008adbb0c1d222e580b17e0df1c8093df3481ba3374cd9a8174  engines/rtmw_l_384.engine
+f6a65b926ac1144484f4aa93cd26d7997d32d62310ab93fe867f2bd4412222e9  engines/yolo11s.engine
+7f42b0e7f9396e0d82313a892fc62c153261dab1206a206a466bce6376f58a36  run.sh
+54e1d63e3aa72ad9b056a224d55968d4947ca6703a8d1c405570de5707a7e7ef  scripts/initialize_camera.sh
@@ -0,0 +1,22 @@
+{
+  "camera": {
+    "device": "/dev/video5",
+    "width": 1920,
+    "height": 1536,
+    "fps": 30,
+    "buffers": 4,
+    "timeout_ms": 2000
+  },
+  "inference": {
+    "engine_directory": "../engines",
+    "detector_confidence": 0.30,
+    "max_people": 3,
+    "queue_capacity": 2
+  },
+  "door": {
+    "mask": "door_mask.json",
+    "warning_relative": 0.30,
+    "release_relative": 0.45,
+    "calibration_verified": false
+  }
+}
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+{
+  "version": "x-anylabeling",
+  "flags": {},
+  "shapes": [
+    {
+      "label": "door",
+      "points": [
+        [
+          212.86,
+          145.919
+        ],
+        [
+          378.891,
+          851.857
+        ],
+        [
+          468.293,
+          996.446
+        ],
+        [
+          536.408,
+          1294.131
+        ],
+        [
+          553.437,
+          1404.7
+        ],
+        [
+          561.951,
+          1532.279
+        ],
+        [
+          51.086,
+          1532.279
+        ],
+        [
+          8.514,
+          1515.268
+        ],
+        [
+          0.0,
+          1468.489
+        ],
+        [
+          8.514,
+          26.845
+        ],
+        [
+          25.543,
+          5.582
+        ],
+        [
+          131.973,
+          -2.924
+        ],
+        [
+          191.574,
+          1.329
+        ],
+        [
+          208.603,
+          145.919
+        ]
+      ],
+      "group_id": null,
+      "shape_type": "polygon",
+      "flags": {}
+    }
+  ],
+  "imagePath": "constant_door_mask_reference.jpg",
+  "imageData": null,
+  "imageHeight": 1536,
+  "imageWidth": 1920,
+  "sourceVideo": "D:\\huang.xuewei\\CMS\\video\\20260921104502\\segment_009.mp4",
+  "sourceFrameIndex": 244,
+  "constantDoorMask": true
+}
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+#!/usr/bin/env bash
+set -euo pipefail
+root="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+exec "$root/build/camera_risk" --config "$root/config/camera.json" "$@"
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+#!/usr/bin/env bash
+set -euo pipefail
+root="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")/.." && pwd)"
+device=/dev/video5
+loaded() { test -d "/sys/module/$1"; }
+root_command() { if [[ $EUID -eq 0 ]]; then "$@"; else sudo -n "$@"; fi; }
+if [[ -c "$device" ]] && loaded max9295 && loaded max9296 && loaded sgx_yuv_gmsl2; then
+  echo "Camera already initialized: $device"
+  exit 0
+fi
+for driver in max9295 max9296 sgx-yuv-gmsl2; do
+  file="$root/bin/drivers/$driver.ko"
+  [[ -f "$file" ]] || { echo "Missing driver: $file" >&2; exit 1; }
+  [[ "$(modinfo -F vermagic "$file")" == "$(uname -r) "* ]] || { echo "Kernel mismatch: $file" >&2; exit 1; }
+done
+loaded max9295 || root_command insmod "$root/bin/drivers/max9295.ko"
+loaded max9296 || root_command insmod "$root/bin/drivers/max9296.ko"
+loaded sgx_yuv_gmsl2 || root_command insmod "$root/bin/drivers/sgx-yuv-gmsl2.ko" gmsl_mode=2,2,2,2
+for _ in {1..20}; do [[ -c "$device" ]] && break; sleep 0.25; done
+[[ -c "$device" ]] || { echo "$device was not created; verify camera/DTB" >&2; exit 1; }
+v4l2-ctl -d "$device" -c sensor_mode=1,trig_pin=0xffff0007