[RSDK-12362] Provide Support for Orbbec Gemini 335LE Camera

CMakeLists.txt

@@ -23,7 +23,7 @@ else()
 endif()
 
 add_executable(orbbec-cli src/cli/main.cpp)
-add_executable(orbbec-module src/module/main.cpp src/module/orbbec.cpp src/module/discovery.cpp src/module/encoding.cpp)
+add_executable(orbbec-module src/module/main.cpp src/module/orbbec.cpp src/module/discovery.cpp src/module/encoding.cpp src/module/orbbec_firmware.cpp src/module/orbbec_windows_registry.cpp)
 
 target_compile_features(orbbec-cli PRIVATE cxx_std_17)
 target_compile_features(orbbec-module PRIVATE cxx_std_17)

Makefile

@@ -76,7 +76,7 @@ else
 	--build=missing
 endif
 
-module.tar.gz: conan-pkg meta.json
+module.tar.gz: lint conan-pkg meta.json
 ifeq ($(OS),Windows_NT)
 	cmd /C "refreshenv && IF EXIST .\venv\Scripts\activate.bat call .\venv\Scripts\activate.bat && conan install --requires=viam-orbbec/0.0.1 -o:a "viam-cpp-sdk/*:shared=False" -s:a build_type=Release -s:a compiler.cppstd=17 --deployer-package "^&" --envs-generation false"
 else

README.md

@@ -11,7 +11,7 @@ This module provides access to the color and depth sensors and creates pointclou
 
 ## Model viam:orbbec:astra2
 
-Use [Orbbec cameras](https://www.orbbec.com/products/structured-light-camera/astra-2/).
+[Official Orbbec Astra 2 Camera Webpage](https://www.orbbec.com/products/structured-light-camera/astra-2/).
 
 ### Configuration
 The following attribute template can be used to configure this model:
@@ -35,7 +35,7 @@ The following attribute template can be used to configure this model:
 ```
 #### Configuration Attributes
 
-The following attributes are available for this model:
+The following attributes are available for the Astra 2 model:
 
 | Name          | Type   | Inclusion | Description                |
 |---------------|--------|-----------|----------------------------|
@@ -56,7 +56,7 @@ The following attributes are available for this model:
 | `depth` | `Y16` |
 
 
-#### `height`/`width` available combinations
+#### `width`/`height` available combinations
 | Color | Depth |
 |-------|-------|
 | `1920x1080` | `1600x1200`, `800X600`, `400X300` | 
@@ -66,8 +66,63 @@ The following attributes are available for this model:
 | `640X480` | `800X600`, `400X300` | 
 | `640X360` | `800X600`, `400X300` | 
 
+## Model viam:orbbec:gemini_335le
 
-### Attributes
+[Official Orbbec Gemini 335Le Camera Webpage](https://www.orbbec.com/gemini-335le/).
+
+### Configuration
+The following attribute template can be used to configure this model:
+
+```json
+{
+  "serial_number": "AARY14100EF",
+  "sensors": {
+    "depth": {
+      "height": 1200,
+      "width": 1600,
+      "format": "Y16"
+    },
+    "color": {
+      "width": 1920,
+      "height": 1080,
+      "format": "MJPG"
+    }
+  }
+}
+```
+#### Configuration Attributes
+
+The following attributes are available for the Gemini 335Le model:
+
+| Name          | Type   | Inclusion | Description                |
+|---------------|--------|-----------|----------------------------|
+| `serial_number` | string | **Required** | The serial number of the specific Orbbec camera to use. This number is printed on the device. The serial number of each plugged-in and available orbbec camera will be logged on module startup.  |
+|`sensors` | struct | **Optional** | The configuration of the color and depth sensors |
+
+#### `sensor` attributes:
+| Name | Type | Inclusion | Description |
+|------|------|-----------|-------------|
+| `height` | string | **Optional** | Native camera sensor height in pixels  |
+| `width` | string | **Optional** | Native camera sensor width in pixels |
+| `format` | string | **Optional** | Native camera format |
+
+#### `sensor` formats
+| Sensor | Formats |
+|--------|---------|
+| `color` | `MJPG`|
+| `depth` | `Y16` |
+
+
+#### `width`/`height` available combinations
+| Color | Depth |
+|-------|-------|
+| `1280X800` | `1280X800`, `848X530`, `640X400`, `424X266`, `320X200` |
+| `848X530` | `640X400`, `424X266`, `320X200` |
+| `640X400` | `640X400`, `424X266`, `320X200` |
+| `640X480` | `640X480` |
+
+
+## Attributes
 A call to get_attributes will return the camera attributes in [this struct](https://github.com/viamrobotics/viam-cpp-sdk/blob/43deea420f572e6b61b6fbd519e09b2520f05676/src/viam/sdk/components/camera.hpp#L58)
 
 Bear in mind that the distortion parameters contained in that struct are not named, i.e. they are contained in a vector of doubles. So they must be parsed following the order in which they are being stored, which is as follows:
@@ -83,10 +138,10 @@ Bear in mind that the distortion parameters contained in that struct are not nam
 |  6  |   k5    |
 |  7  |   k6    |
 
-### DoCommand
+## DoCommand
 You can use DoCommand to upgrade the firmware of your device to the required version.
 
-Update the firmware to v2.8.20. If running on macOS, you must unplug and replug the device after this returns.
+Update the astra 2 firmware to v2.8.20 and gemini_335le to v1.5.55. If running on macOS, you must manually unplug and replug the device after this returns.
 **WARNING**: Do not unplug the device while the firmware update is in progress.
 
 {

src/module/device_control.hpp

@@ -84,6 +84,32 @@ inline std::string propertyTypeToString(OBPropertyType type) {
     }
 }
 
+inline std::string distortionTypeToString(OBCameraDistortionModel model) {
+    switch (model) {
+        case OB_DISTORTION_NONE:
+            return "NONE";
+            break;
+        case OB_DISTORTION_MODIFIED_BROWN_CONRADY:
+            return "MODIFIED_BROWN_CONRADY";
+            break;
+        case OB_DISTORTION_INVERSE_BROWN_CONRADY:
+            return "INVERSE_BROWN_CONRADY";
+            break;
+        case OB_DISTORTION_BROWN_CONRADY:
+            return "BROWN_CONRADY";
+            break;
+        case OB_DISTORTION_BROWN_CONRADY_K6:
+            return "BROWN_CONRADY_K6";
+            break;
+        case OB_DISTORTION_KANNALA_BRANDT4:
+            return "KANNALA_BRANDT4";
+            break;
+        default:
+            return "UNKNOWN";
+            break;
+    }
+}
+
 viam::sdk::ProtoStruct getOrbbecSDKVersion(std::string const& command) {
     viam::sdk::ProtoStruct resp;
     std::stringstream ss;
@@ -539,6 +565,7 @@ viam::sdk::ProtoStruct getCameraParams(std::shared_ptr<PipelineT> pipe) {
             distortion_struct["k6"] = static_cast<double>(distortion.k6);
             distortion_struct["p1"] = static_cast<double>(distortion.p1);
             distortion_struct["p2"] = static_cast<double>(distortion.p2);
+            distortion_struct["model"] = distortionTypeToString(distortion.model);
             profile["distortion"] = distortion_struct;
 
             result[sensorName] = profile;
@@ -630,7 +657,7 @@ viam::sdk::ProtoStruct createModuleConfig(std::unique_ptr<ViamDeviceT>& dev) {
     }
 
     viam::sdk::ProtoStruct result;
-    result["serial_number"] = dev->serial_number;
+    result["serial_number"] = dev->serialNumber;
     result["sensors"] = sensors;
     result["post_process_depth_filters"] =
         getPostProcessDepthFilters(dev->postProcessDepthFilters, "create_module_config")["create_module_config"];

src/module/discovery.cpp

@@ -12,35 +12,91 @@ OrbbecDiscovery::OrbbecDiscovery(vsdk::Dependencies dependencies, vsdk::Resource
 std::vector<vsdk::ResourceConfig> OrbbecDiscovery::discover_resources(const vsdk::ProtoStruct& extra) {
     std::vector<vsdk::ResourceConfig> configs;
 
-    std::shared_ptr<ob::DeviceList> devList = ob_ctx_->queryDeviceList();
-    int devCount = devList->getCount();
-
-    if (devCount == 0) {
-        VIAM_SDK_LOG(warn) << "No Orbbec devices found during discovery";
-        return {};
+    // Enable network device enumeration for Ethernet cameras (like Gemini 335Le)
+    try {
+        ob_ctx_->enableNetDeviceEnumeration(true);
+        VIAM_RESOURCE_LOG(info) << "Enabled network device enumeration for Ethernet cameras";
+    } catch (ob::Error& e) {
+        VIAM_RESOURCE_LOG(error) << "Failed to enable network device enumeration: " << e.what();
+    } catch (const std::exception& e) {
+        VIAM_RESOURCE_LOG(error) << "Failed to enable network device enumeration: " << e.what();
     }
 
-    VIAM_SDK_LOG(info) << "Discovered " << devCount << " devices";
+    try {
+        // Use SDK's native device discovery (works for both USB and network devices)
+        std::shared_ptr<ob::DeviceList> devList = ob_ctx_->queryDeviceList();
+        int devCount = devList->getCount();
+
+        if (devCount == 0) {
+            VIAM_RESOURCE_LOG(warn) << "No Orbbec devices found during discovery";
+            return {};
+        }
+
+        VIAM_RESOURCE_LOG(info) << "Discovered " << devCount << " Orbbec devices";
+
+        for (size_t i = 0; i < devCount; i++) {
+            try {
+                std::string deviceName = devList->name(i);
+                std::string serialNumber = devList->serialNumber(i);
+                std::string connectionType = devList->connectionType(i);
+                std::string ipAddress = devList->ipAddress(i);
 
-    for (size_t i = 0; i < devCount; i++) {
-        std::shared_ptr<ob::Device> dev = devList->getDevice(i);
-        std::shared_ptr<ob::DeviceInfo> info = dev->getDeviceInfo();
+                std::stringstream deviceInfoString;
+                deviceInfoString << "Device " << (i + 1) << " - Name: " << deviceName << ", Serial: " << serialNumber
+                                 << ", Connection: " << connectionType;
+                if (!ipAddress.empty()) {
+                    deviceInfoString << ", IP: " << ipAddress;
+                }
 
-        std::ostringstream name;
-        name << "orbbec-" << i + 1;
+                VIAM_RESOURCE_LOG(info) << deviceInfoString.str();
 
-        vsdk::ProtoStruct attributes;
-        attributes.emplace("serial_number", info->serialNumber());
+                std::ostringstream name;
+                name << "orbbec-" << i + 1;
 
-        vsdk::ResourceConfig config(
-            "camera", std::move(name.str()), "viam", attributes, "rdk:component:camera", orbbec::Orbbec::model, vsdk::log_level::info);
-        configs.push_back(config);
+                vsdk::ProtoStruct attributes;
+                attributes.emplace("serial_number", serialNumber);
+
+                // Detect model and create appropriate resource
+                std::string viamModelSuffix;
+                std::optional<orbbec::OrbbecModelConfig> modelConfig = orbbec::OrbbecModelConfig::forDevice(deviceName);
+                if (!modelConfig.has_value()) {
+                    VIAM_RESOURCE_LOG(error) << "Failed to determine model configuration for device " << deviceName;
+                    continue;
+                }
+                viamModelSuffix = modelConfig->viam_model_suffix;
+
+                vsdk::ResourceConfig config("camera",
+                                            std::move(name.str()),
+                                            "viam",
+                                            attributes,
+                                            "rdk:component:camera",
+                                            vsdk::Model("viam", "orbbec", viamModelSuffix),
+                                            vsdk::log_level::info);
+                configs.push_back(config);
+
+                VIAM_RESOURCE_LOG(info) << "Successfully configured device " << (i + 1) << " with serial: " << serialNumber;
+            } catch (ob::Error& deviceError) {
+                VIAM_RESOURCE_LOG(error) << "Failed to get device info for device " << (i + 1) << ": " << deviceError.what();
+                // Continue with other devices even if one fails
+            }
+        }
+    } catch (ob::Error& e) {
+        VIAM_RESOURCE_LOG(error) << "Failed to discover Orbbec devices: " << e.what() << " (function: " << e.getFunction()
+                                 << ", args: " << e.getArgs() << ", name: " << e.getName() << ", type: " << e.getExceptionType() << ")";
+        VIAM_RESOURCE_LOG(error) << "Discovery failed - check network connectivity for Ethernet cameras or USB connection for USB cameras";
+    } catch (const std::exception& e) {
+        VIAM_RESOURCE_LOG(error) << "Failed to discover Orbbec devices: " << e.what();
+        VIAM_RESOURCE_LOG(error) << "Discovery failed - check network connectivity for Ethernet cameras or USB connection for USB cameras";
+    } catch (...) {
+        VIAM_RESOURCE_LOG(error) << "Failed to discover Orbbec devices: unknown error";
+        VIAM_RESOURCE_LOG(error) << "Discovery failed - check network connectivity for Ethernet cameras or USB connection for USB cameras";
     }
+
     return configs;
 }
 
 vsdk::ProtoStruct OrbbecDiscovery::do_command(const vsdk::ProtoStruct& command) {
-    VIAM_SDK_LOG(error) << "do_command not implemented";
+    VIAM_RESOURCE_LOG(error) << "do_command not implemented";
     return vsdk::ProtoStruct{};
 }
 

src/module/main.cpp

@@ -17,17 +17,25 @@ std::vector<std::shared_ptr<vsdk::ModelRegistration>> create_all_model_registrat
 
     registrations.push_back(std::make_shared<vsdk::ModelRegistration>(
         vsdk::API::get<vsdk::Camera>(),
-        orbbec::Orbbec::model,
+        orbbec::Orbbec::model_astra2,
         [ctx](vsdk::Dependencies deps, vsdk::ResourceConfig config) {
             return std::make_unique<orbbec::Orbbec>(std::move(deps), std::move(config), ctx);
         },
-        orbbec::Orbbec::validate));
+        orbbec::Orbbec::validateAstra2));
+    registrations.push_back(std::make_shared<vsdk::ModelRegistration>(
+        vsdk::API::get<vsdk::Camera>(),
+        orbbec::Orbbec::model_gemini_335le,
+        [ctx](vsdk::Dependencies deps, vsdk::ResourceConfig config) {
+            return std::make_unique<orbbec::Orbbec>(std::move(deps), std::move(config), ctx);
+        },
+        orbbec::Orbbec::validateGemini335Le));
 
     registrations.push_back(std::make_shared<vsdk::ModelRegistration>(
         vsdk::API::get<vsdk::Discovery>(), discovery::OrbbecDiscovery::model, [ctx](vsdk::Dependencies deps, vsdk::ResourceConfig config) {
             return std::make_unique<discovery::OrbbecDiscovery>(std::move(deps), std::move(config), ctx);
         }));
 
+    // Return the registrations
     return registrations;
 }