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v2026.09.24: bench-tested Jetson vision build

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@allengregoryiv allengregoryiv released this 24 Sep 07:45
· 148 commits to main since this release
v2026.09.24
21b68a3

Bench-tested build of our Jetson Orin Nano Super vision coprocessor, as running on 2026-09-24. Everything here can be rebuilt from this tag with the scripts in the repo; these files are the backup, so the exact running versions don't have to be rebuilt.

What's running:

  • Two Thriftiest Cams detecting AprilTags on the GPU at 122 fps each, ~15 ms latency, 1.3 of 6 CPU cores.
  • Rewind (camera video recording on request).
  • Game-piece detection with TensorRT (capped at 30 fps).

Details are in the README.

Files

File What it is How to use it
photonvision-spectrum-v2026.09.24-linuxarm64.jar PhotonVision, built from FRC-Team-4143's fork (d8c9e8e) + upstream PhotonVision v2026.3.4 + our patches 00–14 Copy it to the Jetson, then run scripts/jetson/06-install-fork-jar.sh <jar>
libspectrumtrt.so Our TensorRT YOLO backend (game pieces), for JetPack 6.2.3 / L4T 36.5.2 / TensorRT 10.3 sudo install -m 755 libspectrumtrt.so /usr/lib/
uvcvideo-5.15.199-tegra-payload-cap.ko The USB camera driver with our bandwidth cap (4 cameras fit on the USB-A ports), for kernel 5.15.199-tegra only Normally built by scripts/jetson/11-uvcvideo-payload-cap.sh --install
photonvision-settings-2026-09-24.zip PhotonVision's settings database: camera names, pipelines, calibrations (TopLeft, TopRight), field layout, network settings PhotonVision web UI: Settings → Import Settings
SHA256SUMS Checksums sha256sum -c SHA256SUMS

Not included, on purpose

  • The CUDA AprilTag detector (lib971apriltag.so). Its source (frc971/bos) has no license file, so we don't publish binaries of it. Rebuild it on the Jetson with scripts/jetson/07-build-bos-detector.sh (a few minutes).
  • The FUEL game-piece models. They aren't ours to redistribute. Sources are in docs/GAME-PIECE-MODELS.md.
  • The full SSD image. It contains the Wi-Fi password and SSH keys, so it's kept privately (scripts/host/04-backup-ssd.sh).
  • Calibration snapshot images and logs from the settings export (the database already holds the calibrations).

Licenses

  • The PhotonVision jar and this repo are GPL-3.0, following PhotonVision; the source is this tag.
  • The driver module is GPL-2.0: kernel/uvcvideo-payload-cap.patch applied to stock Linux v5.15.199.
  • Credits for everything we built on are in the README's "Credits and licenses" section.
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