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- Added LibraryLoader methods to load NVIDIA AprilTag libraries. - Created AprilTagBackendManager to manage backend selection for AprilTag detection. - Introduced AprilTagBackendSelection and AprilTagDetectorBackend enums for backend handling. - Developed NvidiaAprilTagDetector class for utilizing NVIDIA's CUDA for AprilTag detection. - Implemented JNI bindings for NVIDIA AprilTag detection in NvidiaAprilTagJNI. - Added native API header for NVIDIA AprilTag functionality. - Created unit tests for AprilTagBackendManager to validate backend selection logic. - Added benchmark tests for performance comparison between CPU and NVIDIA backends.
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What changed
scripts/generatePiImage.shconfigurable withPV_ROOT_PARTITION,PV_PHOTON_DIR, andPV_SYSTEMD_UNIT_DIRWhy
The existing helper and docs only described Raspberry Pi-oriented image generation. That made the Jetson path unclear even though the same basic jar-injection workflow can be reused for custom Linux ARM64 images.
Impact
Developers can now adapt the image helper for Jetson-style layouts without editing the script first, and the docs now make it explicit that a Jetson base
.img.xzmust be supplied separately.Validation
bash -n scripts/generatePiImage.shgit diff --check