feat: add configurable sensors, display depth color map

Author: HipsterBrown

README.md

@@ -1,18 +1,18 @@
 # Module orbbec-camera 
 
-Provide a description of the purpose of the module and any relevant information.
+Use [Orbbec cameras](https://www.orbbec.com/products/) compatible with [v2 of the Orbbec SDK](https://github.com/orbbec/pyorbbecsdk/tree/v2-main?tab=readme-ov-file#hardware-products-supported-by-python-sdk).
+This module provides access to the color and depth sensors.
 
 ## Model viam-labs:camera:orbbec
 
-Provide a description of the model and any relevant information.
+Use [Orbbec cameras](https://www.orbbec.com/products/) compatible with [v2 of the Orbbec SDK](https://github.com/orbbec/pyorbbecsdk/tree/v2-main?tab=readme-ov-file#hardware-products-supported-by-python-sdk).
 
 ### Configuration
 The following attribute template can be used to configure this model:
 
 ```json
 {
-"attribute_1": <float>,
-"attribute_2": <string>
+"sensors": ["color", "depth"]
 }
 ```
 
@@ -22,29 +22,31 @@ The following attributes are available for this model:
 
 | Name          | Type   | Inclusion | Description                |
 |---------------|--------|-----------|----------------------------|
-| `attribute_1` | float  | Required  | Description of attribute 1 |
-| `attribute_2` | string | Optional  | Description of attribute 2 |
+| `sensors` | array  | Optional  | An array that contains the strings `color` and/or `depth`, defaults to include both. The sensor that comes first in the array is designated the "main sensor" and will be the image that gets returned by `get_image` calls and what will appear in the Control tab on the [Viam app](https://app.viam.com). When both sensors are requested, `get_point_cloud` will be available for use, and `get_images` will return both the color and depth outputs. Additionally, color and depth outputs returned together will always be aligned, have the same height and width, and have the same timestamp. See [Viam's documentation on the Camera API](https://docs.viam.com/components/camera/#api) for more details. |
 
 #### Example Configuration
 
 ```json
 {
-  "attribute_1": 1.0,
-  "attribute_2": "foo"
+  "sensors": ["color"]
 }
 ```
 
-### DoCommand
+## Troubleshooting
 
-If your model implements DoCommand, provide an example payload of each command that is supported and the arguments that can be used. If your model does not implement DoCommand, remove this section.
+**Unable to connect to camera**
 
-#### Example DoCommand
+The `first_run.sh` script included in this module should automatically install the `udev` rules for connecting to the camera on Linux devices.
+If there is an issue, try copying `99-obsensor-libusb.rules` in the `scripts/` directory of this repo to `/etc/udev/rules.d/` on the Viam machine and calling the following command on the system:
 
-```json
-{
-  "command_name": {
-    "arg1": "foo",
-    "arg2": 1
-  }
-}
 ```
+sudo udevadm control --reload-rules && sudo udevadm trigger
+```
+
+## Development
+
+This module depends on the [v2-main branch of the pyorbbecsdk](https://github.com/orbbec/pyorbbecsdk/tree/v2-main) as a git submodule. So use the `--recursive` flag when cloning this repo or `git submodule update --init --recursive` if you've already cloned it.
+
+To build this module on the target device (aarch64 or amd64 Linux machines), run `make archive.tar.gz`.
+
+To build this module on another platform for a target device, use a tool like [canon](https://github.com/viamrobotics/canon) to run the Make command in the appropriate Docker container: `canon make archive.tar.gz`

build.sh

@@ -9,14 +9,9 @@ VENV_NAME=".venv"
 
 source "./$VENV_NAME/bin/activate"
 
-# if ! uv pip install pyinstaller -q; then
-#   exit 1
-# fi
-
 uv build --wheel
 
 cp ./pyorbbecsdk/dist/*.whl ./dist/
-cp -r ./scripts/ ./dist/
+cp ./scripts/* ./dist/
 
-# uv run pyinstaller --onefile -p src src/main.py
 tar -czvf archive.tar.gz ./dist/ meta.json first_run.sh run.sh

build_sdk.sh

@@ -12,6 +12,7 @@ sudo apt install -y cmake gcc clang
 
 # Build pyorbbecsdk
 cd pyorbbecsdk
+uv pip install -r requirements.txt
 if [ -d "build" ]; then
   rm -rf build
 fi
@@ -23,11 +24,7 @@ make install
 cd ..
 
 # Build wheel
-# uv pip install wheel
 python setup.py bdist_wheel
 
-# Install the wheel
-uv pip install dist/*.whl
-
-echo "pyorbbecsdk built and installed successfully!"
+echo "pyorbbecsdk built successfully!"
 cd ..

first_run.sh

@@ -28,9 +28,6 @@ fi
 
 source "$VENV_NAME/bin/activate"
 
-# if ! uv pip install -r requirements.txt; then
-#   echo "unable to sync requirements to venv"
-#   exit 1
-# fi
-
-# uv pip install
+echo "Installing dependencies"
+uv pip install ./dist/pyorbbecsdk-*.whl
+uv pip install ./dist/orbbec_camera-*.whl

meta.json

@@ -8,8 +8,8 @@
     {
       "api": "rdk:component:camera",
       "model": "viam-labs:camera:orbbec",
-      "short_description": "Provide a short (100 characters or less) description of this model here",
-      "markdown_link": "README.md#model-viam-labsorbbec-cameraorbbec"
+      "short_description": "Get color and depth images from Orbbec cameras",
+      "markdown_link": "README.md#model-viam-labscameraorbbec"
     }
   ],
   "markdown_link": "README.md",

pyproject.toml

@@ -1,14 +1,13 @@
 [project]
 name = "orbbec-camera"
 version = "0.1.0"
-description = "Add your description here"
+description = "Viam module for supporting Orbbec 3D cameras"
 readme = "README.md"
 requires-python = ">=3.10"
 dependencies = [
   "viam-sdk==0.45.2",
   "typing-extensions",
   "pillow",
-  "open3d",
   "opencv-python",
   "numpy<2",
 ]

requirements.txt

@@ -4,38 +4,10 @@ set -euo pipefail
 
 cd $(dirname $0)
 
-
-# echo "Installing udev rules"
-# Install udev rules
-# sudo bash ./dist/install_udev_rules.sh
-
 # Create a virtual environment to run our code
 VENV_NAME="${VIAM_MODULE_DATA}/.venv"
 PYTHON="$VENV_NAME/bin/python"
 
-export PATH=$PATH:$HOME/.local/bin
-
-if [ ! "$(command -v uv)" ]; then
-  if [ ! "$(command -v curl)" ]; then
-    echo "curl is required to install UV. please install curl on this system to continue."
-    exit 1
-  fi
-  echo "Installing uv command"
-  curl -LsSf https://astral.sh/uv/install.sh | sh
-fi
-
-echo "Creating virtual environment"
-if ! uv venv $VENV_NAME --python 3.10; then
-  echo "unable to create required virtual environment"
-  exit 1
-fi
-
-source $VENV_NAME/bin/activate
-
-echo "Installing dependencies"
-uv pip install ./dist/pyorbbecsdk-*.whl
-uv pip install ./dist/orbbec_camera-*.whl
-
 # Be sure to use `exec` so that termination signals reach the python process,
 # or handle forwarding termination signals manually
 echo "Starting module..."

run.sh

@@ -28,7 +28,7 @@ fi
 
 source "./$VENV_NAME/bin/activate"
 
-if ! uv pip install -r requirements.txt; then
+if ! uv sync; then
   echo "unable to sync requirements to venv"
   exit 1
 fi