Merge pull request #2 from bhaney/main

RSDK-4180, RSDK-3053, RSDK-3417, RSDK-3884 Create Intel RealSense C++ Module

Makefile

@@ -0,0 +1,70 @@
+# compile the binary
+SDK_LOCATION = /usr/local
+CPP_COMPILER = g++
+THIRD_PARTY_SOURCES = third_party/fpng.cpp third_party/lodepng.cpp
+SERVER_TARGETS = $(THIRD_PARTY_SOURCES) camera_realsense.cpp
+
+GCC_FLAGS = -O4 -pthread -Wredundant-move -Wpessimizing-move -Wl,-ldl
+ifeq ($(shell arch), x86_64)
+   GCC_FLAGS += -mpclmul -msse2 -msse4.2
+endif
+
+SDK_INCLUDE = -I$(SDK_LOCATION)/include -I$(SDK_LOCATION)/include/viam/api -L$(SDK_LOCATION)/lib
+SDK_FLAGS = -lviamsdk -lviam_rust_utils -lviamapi 
+
+LIB_FLAGS = $(shell PKG_CONFIG_PATH=$(PKG_CONFIG_PATH) pkg-config --cflags grpc++ realsense2 --libs protobuf grpc++ libturbojpeg realsense2)
+
+camera-module: $(SERVER_TARGETS)
+	$(CPP_COMPILER) -std=c++17 -o viam-camera-realsense camera_realsense.cpp $(THIRD_PARTY_SOURCES) $(SDK_INCLUDE) $(LIB_FLAGS) $(SDK_FLAGS) $(GCC_FLAGS)
+
+default: camera-module
+
+format: *.cpp
+	clang-format -i --style="{BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 100}" *.cpp
+
+all: default
+
+clean:
+	rm -rf viam-camera-realsense
+
+clean-all: clean
+	git clean -fxd
+
+# Docker
+TAG_VERSION := latest
+
+# Module
+# Creates appimage cmake build.
+# Builds docker image with viam-cpp-sdk and camera-realsense installed.
+.PHONY: build
+build:
+	docker build -t viam-camera-realsense:$(TAG_VERSION) \
+		--memory=16g \
+		--build-arg TAG=$(TAG_VERSION) \
+		-f ./etc/Dockerfile.debian.bookworm ./
+
+# Runs docker image with shell.
+run-docker: build
+	docker run \
+		--device /dev/fuse \
+		--cap-add SYS_ADMIN \
+		-it viam-camera-realsense:$(TAG_VERSION)
+
+package:
+	cd etc && \
+	appimage-builder --recipe viam-camera-realsense-aarch64.yml
+
+
+# Copies binary and AppImage from container to host.
+copy-bin:
+	rm -rf bin | true && \
+	mkdir -p bin && \
+	docker rm viam-camera-realsense-bin | true && \
+	docker run -d -it --name viam-camera-realsense-bin viam-camera-realsense:$(TAG_VERSION) && \
+	docker exec --workdir /root/opt/src/viam-camera-realsense viam-camera-realsense-bin make package
+	docker cp viam-camera-realsense-bin:/root/opt/src/viam-camera-realsense/etc/viam-camera-realsense-latest-aarch64.AppImage ./bin && \
+	docker stop viam-camera-realsense-bin && \
+	docker rm viam-camera-realsense-bin
+
+appimage: build copy-bin
+

README.md

@@ -1,2 +1,69 @@
-# camera-realsense
-C++ camera module for the RealSense
+# Intel RealSense Modular Component
+
+## Getting Started
+For Linux Distros, the simplest way of getting the camera server is by using Docker. The command
+
+```
+git clone https://github.com/viamrobotics/viam-camera-realsense/
+cd viam-camera-realsense/
+make appimage
+```
+
+will build a Docker image and compile a binary for the `aarch64` architecture, which will be placed in the `bin/` directory.
+
+## Building From Source
+
+It's first best to try to build from source within Docker. Try to do the following commands:
+
+```
+make build
+make run-docker
+# within Docker
+cd ~/opt/src/viam-camera-realsense
+make camera-module
+# if you want to make the AppImage, then also do
+make package
+```
+
+If you would like to try to gather all of the dependencies yourself and not use Docker, you will need:
+
+- [librealsense](https://github.com/IntelRealSense/librealsense)
+  - `git checkout` and install from source. 
+  - be sure to use cmake flags `cmake .. -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false -DCMAKE_BUILD_TYPE=Release`
+- [libjpegturbo](https://github.com/libjpeg-turbo/libjpeg-turbo)
+- [libprotobuf](https://github.com/protocolbuffers/protobuf)
+- [Viam C++ SDK](https://github.com/viamrobotics/viam-cpp-sdk/)
+  - specifically `libviamsdk`, `libviamapi`, and `libviam_rust_utils`
+
+then do `make camera-module` to compile the binary, and `make package` to create the AppImage.
+
+## Attributes and Sample Config
+
+The attributes for the module are as follows:
+- `sensors` (required): a list that contain the strings `color` and/or `depth`. The sensor that comes first in the list 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 app.viam.
+- `width_px`, `height_px`: the width and height of the output images. If the RealSense cannot produce the requested resolution, the component will fail to be built.
+- `little_endian_depth`: a bool that specifices whether raw depth data should be encoded in a little-endian byte order. By default it is `false`, and encodes the raw depth data in a big-endian byte order.
+```
+{
+  "components": [
+    {
+      "name": "myRealSense",
+      "attributes": {
+        "sensors": ["color","depth"],
+        "width_px": 640,
+        "height_px": 480,
+        "little_endian_depth": false,
+      },
+      "namespace": "rdk",
+      "type": "camera",
+      "model": "viam:camera:realsense"
+    }
+  ],
+  "modules": [
+    {
+      "executable_path": "/home/user/viam-camera-realsense",
+      "name": "intel"
+    }
+  ],
+}
+```