agrippa-stereocam

Installation

Core dependencies

Required for the base build:

• Aravis 0.8
• SDL2
• pkg-config
• a C toolchain compatible with the repo Makefile

Optional dependencies

These enable additional runtime backends and features:

• apriltag for AprilTag detection in stream
• OpenCV 4 for --stereo-backend sgbm
• ONNX Runtime for --stereo-backend onnx

If apriltag is not installed system-wide, the repo can fall back to the vendored copy in vendor/apriltag.

For ONNX Runtime, the build can discover it through either:

• pkg-config libonnxruntime
• ONNXRUNTIME_HOME=/path/to/onnxruntime

Build

git submodule update --init --recursive
make

Install the binary and shell completions:

sudo make install

Shell completions

make install installs bash and zsh completions. You can also source them manually during development:

source completions/ag-cam-tools.bash
source completions/ag-cam-tools.zsh

Notes for macOS

Interface selection

Aravis may prefer Wi-Fi instead of the Ethernet NIC. If discovery or capture fails, force the correct interface:

ag-cam-tools capture -a 192.168.0.201 -i en0 -e png -o ./frames

Jumbo frames

The tool auto-negotiates packet size, but MTU 9000 substantially reduces packet count and helps throughput.

Firewall

The macOS application firewall can block incoming GVSP packets. If capture hangs while traffic is visible on the wire, add the binary explicitly:

sudo /usr/libexec/ApplicationFirewall/socketfilterfw --add ./bin/ag-cam-tools
sudo /usr/libexec/ApplicationFirewall/socketfilterfw --unblockapp ./bin/ag-cam-tools

PF_PACKET

macOS does not provide PF_PACKET sockets. The tool falls back to standard UDP automatically.

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