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Add the EGO plugin with stereo camera, IMU, audio, calibration and device-state capture, structured MCAP recording, embedded media export and replay trackers. Integrate stereo GPU preview into camera_viz and add schema, Python recording APIs, software tests and CI coverage. Document plugin workflows while keeping shared example guides concise. Exclude local logs, editor files, SDK archives and acceptance records from version control. Validation: full pre-commit checks, clang-format-14, Sphinx documentation build and EGO component installation passed. Preserve recording.mp4 via Git LFS. Signed-off-by: obzhimin <zhimin@orbbec.com>
Preserve EGO and upstream tracker registrations while merging the latest release branch. Signed-off-by: obzhimin <zhimin@orbbec.com>
Publish EGO availability through the existing NVIDIA monitoring interfaces and add optional versioned diagnostic recording and sensor metadata. Add validated capture time alignment, offline synchronization analysis and calibration helpers, plus MCAP replay and merge validation. Improve EGO preview GPU selection, startup failure cleanup and configuration; regroup the EGO MCAP targets and document the current device workflow. BREAKING CHANGE: old EGO DeviceState v1 diagnostic recordings are not supported. The diagnostic schema golden is intentionally refreshed; the official monitoring schema v1 remains separate. Signed-off-by: obzhimin <zhimin@orbbec.com>
Integrate upstream SOMA schemas, logging updates, CloudXR fixes, and OpenXR session lifecycle changes while preserving the EGO integration. Restore AGENTS.md files and test_openxr_session.cpp to NVIDIA versions. Validate the EGO-enabled build, installation, native/Python bindings, core and EGO regression tests, and preview/record-replay regressions. Signed-off-by: obzhimin <zhimin@orbbec.com>
Signed-off-by: obzhimin <zhimin@orbbec.com>
Integrate the upstream SOMA HandSide schemas and consumers while preserving the Orbbec EGO integration. Use C++20 for the EGO preview extension, annotate the public EGO sync APIs, and adjust the Televiz heading for the pre-commit conflict check. Validation: native EGO and VIZ full builds and wheels; 354 native EGO and 538 VIZ CTest entries passed after environment repairs and supplemental checks. CUDA interop, pinned SOMA model tests, and Wuji mapping checks also passed, along with clang-format-14, documentation, and full pre-commit. Signed-off-by: obzhimin <zhimin@orbbec.com>
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✅ Preview deployed: https://NVIDIA.github.io/IsaacCapture/preview/pr-1252/ |
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Description
This PR replaces #1251 after the source branch was renamed. The submitted code and head commit are unchanged.
Add opt-in Orbbec EGO support for stereo camera capture and dataset recording
through IsaacCapture's existing DeviceIO, tracker, and MCAP interfaces.
This PR includes:
device health, and diagnostics.
structured-record replay.
and synchronization audits.
The camera plugin is disabled by default
(BUILD_PLUGIN_EGO_CAMERA=OFF) and requires an external OrbbecSDK v2 package
when enabled. BUILD_EGO_MEDIA_TOOLS enables the SDK-free tools independently.
Type of change
Testing
Local software validation was performed on Linux x86_64 with Python 3.11
and Release builds, with BUILD_PLUGIN_EGO_CAMERA and BUILD_TESTING enabled.
Both the native EGO configuration (BUILD_VIZ=OFF) and the VIZ configuration
with examples enabled (BUILD_VIZ=ON) were tested.
Native EGO and VIZ full builds, Python wheel packaging, and regression tests
passed. clang-format-14 checks, the documentation build, and full pre-commit
also passed. Final regression results include targeted reruns after repairing
the local test environments.
Representative build and test commands, using the local build directories:
NVIDIA CI results will be checked after this PR is opened.
Checklist
SKIP=check-copyright-year pre-commit run --all-filesgit commit -s) per the DCO