Add Orbbec EGO capture, recording, and replay support

.github/workflows/test-ego-software.yaml

@@ -0,0 +1,115 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+name: Test EGO Software
+
+on:
+  push:
+    branches: [main, 'release/*.*.x', feature/Orbbec-Ego-stereo-camera, feature/Orbbec-EgoPro-quad-camera]
+    paths: &ego_paths
+    - '.github/workflows/test-ego-software.yaml'
+    - 'CMakeLists.txt'
+    - 'pyproject.toml'
+    - 'cmake/**'
+    - 'src/plugins/CMakeLists.txt'
+    - 'src/plugins/ego/**'
+    - 'src/core/schema/**'
+    - 'src/core/codegen/**'
+    - 'src/core/mcap/**'
+    - 'src/core/deviceio_base/**'
+    - 'src/core/deviceio_session/**'
+    - 'src/core/deviceio_trackers/**'
+    - 'src/core/live_trackers/**'
+    - 'src/core/replay_trackers/**'
+    - 'src/core/plugin_manager/**'
+    - 'src/core/python/**'
+    - 'src/compat/**'
+    - 'src/python/isaaccapture/**'
+    - 'examples/camera_viz/**'
+    - 'examples/mcap_record_replay/**'
+    - 'tests/**'
+  pull_request:
+    paths: *ego_paths
+  workflow_dispatch:
+
+concurrency:
+  group: ego-software-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+permissions:
+  contents: read
+
+jobs:
+  test-ego-software:
+    # The SDK runner must never execute untrusted fork code.
+    if: >-
+      github.event_name != 'pull_request'
+      || github.event.pull_request.head.repo.full_name == github.repository
+    # Verify repository/workflow access and an online runner with all labels.
+    # A blocked or unassigned job provides no build or test result.
+    runs-on: [self-hosted, linux, orbbec-sdk]
+    timeout-minutes: 45
+    env:
+      ORBBEC_SDK_ROOT: ${{ vars.ORBBEC_SDK_ROOT }}
+      UV_CACHE_DIR: /tmp/isaaccapture-ego-uv-cache
+
+    steps:
+    - uses: actions/checkout@v6
+      with:
+        persist-credentials: false
+
+    - name: Install pinned uv
+      uses: ./.github/actions/setup-uv
+
+    - name: Check runner SDK
+      shell: bash
+      run: |
+        set -euo pipefail
+        if [[ -z "${ORBBEC_SDK_ROOT}" ]]; then
+          echo "Set the protected ORBBEC_SDK_ROOT Actions variable for the orbbec-sdk runner."
+          exit 1
+        fi
+        for required in \
+          "${ORBBEC_SDK_ROOT}/include/libobsensor/ObSensor.hpp" \
+          "${ORBBEC_SDK_ROOT}/lib/OrbbecSDKConfig.cmake" \
+          "${ORBBEC_SDK_ROOT}/lib/libOrbbecSDK.so.2"; do
+          [[ -f "${required}" ]] || { echo "Missing Orbbec SDK file: ${required}"; exit 1; }
+        done
+        printf 'EGO_BUILD_DIR=%s\n' "${RUNNER_TEMP}/ego-software-${GITHUB_RUN_ID}-${GITHUB_RUN_ATTEMPT}" >> "${GITHUB_ENV}"
+
+    - name: Configure and build
+      shell: bash
+      run: |
+        set -euo pipefail
+        env -u PYTHONPATH -u AMENT_PREFIX_PATH -u COLCON_PREFIX_PATH \
+          cmake -S . -B "${EGO_BUILD_DIR}" \
+          -DISAAC_TELEOP_PYTHON_VERSION=3.11 \
+          -DBUILD_VIZ=OFF \
+          -DBUILD_TESTING=ON \
+          -DBUILD_PLUGIN_EGO_CAMERA=ON \
+          -DORBBEC_SDK_ROOT="${ORBBEC_SDK_ROOT}"
+        cmake --build "${EGO_BUILD_DIR}" --parallel 4
+
+    - name: Run hardware-free EGO tests
+      shell: bash
+      run: |
+        set -euo pipefail
+        env -u PYTHONPATH -u AMENT_PREFIX_PATH -u COLCON_PREFIX_PATH \
+          ctest --test-dir "${EGO_BUILD_DIR}" --output-on-failure --parallel 4 \
+          --no-tests=error -R '[Ee][Gg][Oo]'
+
+    - name: Run full software suite
+      shell: bash
+      run: |
+        set -euo pipefail
+        env -u PYTHONPATH -u AMENT_PREFIX_PATH -u COLCON_PREFIX_PATH \
+          ctest --test-dir "${EGO_BUILD_DIR}" --output-on-failure --parallel 4
+
+    - name: Upload CTest failure logs
+      if: failure()
+      uses: actions/upload-artifact@v6
+      with:
+        name: ego-software-ctest-logs
+        path: ${{ env.EGO_BUILD_DIR }}/Testing/Temporary
+        if-no-files-found: warn
+        retention-days: 14

.gitignore

@@ -4,6 +4,17 @@
 # macOS
 .DS_Store
 
+# Local editor state and runtime logs
+/.vscode/
+/Log/
+
+# External Orbbec SDK downloads and extracts
+OrbbecSDK*/
+OrbbecSDK*.zip
+OrbbecSDK*.tar.gz
+OrbbecSDK*.tgz
+OrbbecSDK*.7z
+
 # Node.js
 node_modules/
 package-lock.json
@@ -25,6 +36,9 @@ __pycache__/
 *.pyc
 *.pyo
 *.pyd
+.ruff_cache/
+.pytest_cache/
+.mypy_cache/
 # Python virtual environments
 .venv/
 venv/
@@ -37,6 +51,7 @@ uv.lock
 # Compiled files
 *.o
 *.so
+*.so.*
 *.a
 *.exe
 

CMakeLists.txt

@@ -60,6 +60,8 @@ endif()
 option(BUILD_PLUGINS "Build plugins" ON)
 option(BUILD_PYTHON_BINDINGS "Build Python bindings" ON)
 option(BUILD_PLUGIN_OAK_CAMERA "Build OAK camera plugin (requires vcpkg for DepthAI v3.x)" OFF)
+option(BUILD_PLUGIN_EGO_CAMERA "Build EGO camera plugin (requires Orbbec SDK v2)" OFF)
+option(BUILD_EGO_MEDIA_TOOLS "Build SDK-free EGO MCAP media tools" OFF)
 option(BUILD_PLUGIN_NOITOM_MOCAP "Build Noitom mocap plugin (downloads MocapApi SDK)" OFF)
 option(BUILD_PLUGIN_OGLO "Build OGLO tactile glove plugin (BLE, Linux only; fetches SimpleBLE + nlohmann/json)" OFF)
 option(BUILD_PLUGIN_WUJI_GLOVE "Build Wuji glove plugin (requires the wuji_sdk C SDK)" OFF)

docs/source/device/cameras/index.rst

@@ -12,3 +12,4 @@ camera feeds to clients, see :doc:`/references/camera_streaming`.
    :titlesonly:
 
    oak
+   ../ego