[hougantc-nvda]

Description

Adds optional camera picture-in-picture panels to OVXR teleoperation. Applications select completed camera render products and display them as head-locked OpenXR quads alongside the headset view, using the existing renderer, device and XR session.

The camera layer manages its uploads, swapchains and spaces. Image buffers remain valid until copies complete, and partial initialization or completion failures preserve borrowed resources until cleanup is safe. Camera selection, panel placement and update rate are configurable.

Source builds enable the native helper with BUILD_OVXR_CAMERA_QUADS=ON. CMake discovers installed Vulkan and CUDA development SDKs, links the CUDA runtime statically and packages the helper in the wheel. Camera panels remain optional.

Camera presentation code and its packaged native helper live under isaaccapture.ovxr_session_manager, with matching tests under tests/python/core/ovxr_session_manager.

The ovxr extra requires CUDA 13 Python bindings (cuda-bindings>=13,<14), aligned with Isaac Lab. Use a CUDA 13-compatible NVIDIA driver that also meets the selected renderer's requirements.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update

Testing

CUDA 13 dependency alignment: source-install and wheel requirement inputs agree, reject CUDA 12/14, and accept the tested CUDA bindings 13.3.1. All 191 OVXR session-manager tests and CI-equivalent pre-commit checks passed; the existing environment passes its dependency check. This follow-up changes metadata and documentation only. No new wheel or headset run was performed. The local full documentation build could not run because its NVIDIA Sphinx theme is unavailable in the reused environment.

Linux x86-64, Python 3.12, with camera quads enabled.

• Teleoperation and OVXR session-manager tests: 341 passed against the installed wheel.
• Native camera-layer contract tests passed.
• SDK discovery checks reject missing dependencies when camera support is enabled; the core configures without those SDKs. The packaged helper loads without a shared CUDA runtime dependency and preserves its seven public functions.
• Camera-helper wheel packaging passed ON → OFF → ON in the same build directory; incorrect inclusion expectations were rejected.
• Wheel-content and metadata checks: 6 passed. The 2 plugin-binary checks do not apply to the build with plugins disabled.
• Required pre-commit checks and the warning-as-error documentation build passed.

Physical-headset checks before the API rename, with the complete PR stack passed single-camera GR1T2 and G1 locomanipulation, plus fixed-base G1 with head and both wrist camera panels. Reset, Play and clean shutdown were confirmed.

Checklist

• I have read and understood the contribution guidelines
• I have run the linter and formatter with SKIP=check-copyright-year pre-commit run --all-files
• I have made corresponding changes to the documentation
• I have added tests that prove my fix/feature works (or explained why not)
• I have signed off all my commits per the DCO

Summary by CodeRabbit

• New Features
  • OVXR sessions can optionally display up to three auxiliary camera feeds as OpenXR picture-in-picture panels. Configure each feed’s source, placement, size, and update rate.
  • Linux x86-64 source builds can enable camera panels with optional SDK downloads; camera support remains disabled by default.
  • The ovxr extra now includes CUDA bindings for GPU-based camera output.
  • AuxiliaryRasterConfig is available from the session manager package.
• Documentation
  • Added setup guidance for enabling camera panels and meeting Vulkan, CUDA, and runtime requirements.

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Walkthrough

The change adds optional support for presenting up to three completed OVXR camera outputs as OpenXR quad layers. It adds build and wheel packaging controls, a native Vulkan/OpenXR layer with CPU and CUDA upload paths, Python output mapping and mailbox handling, and session configuration and frame integration. The feature is disabled by default.

Priority: Normal

Estimated code review effort: 5 (Critical) | ~120 minutes

Sequence Diagram(s)

sequenceDiagram
  participant OvxrSession
  participant OVRTXRenderer
  participant CompletedCameraMailbox
  participant OpenXRCameraQuad
  participant NativePIPLayer
  participant OpenXRFrame
  OvxrSession->>OVRTXRenderer: observe completed outputs
  OvxrSession->>CompletedCameraMailbox: forward output callback
  CompletedCameraMailbox-->>OvxrSession: return image snapshot
  OvxrSession->>OpenXRCameraQuad: publish snapshot
  OpenXRCameraQuad->>NativePIPLayer: upload image
  OvxrSession->>OpenXRFrame: submit additional quad layer

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Merge Risk: Low · up to c6efd

Camera picture-in-picture panels are optional and disabled by default. When enabled, they may fail to appear on hosts with CUDA 12-era drivers if the newest CUDA bindings are installed. Pinning the bindings to the CUDA 12 major before merging avoids this.

Pre-merge checks: 4 · 1

Failed checks: 1 warning

Check name	Status	Explanation	Resolution
Docstring Coverage		Docstring coverage is 10.53% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 152 functions across 12 files. (13 skippe…	Write docstrings for the functions missing them to satisfy the coverage threshold.

Passed checks: 4 passed

Check name	Status	Explanation
Description Check		Check skipped - CodeRabbit’s high-level summary is enabled.
Title check		The title "Add camera Picture in Picture to OVXR teleoperation" matches the main change. The PR adds optional head-locked camera picture-in-picture quads to OVXR teleoperation. The summaries show the …
Linked Issues check		Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check		Check skipped because no linked issues were found for this pull request.

Full details: Title check

Explanation

The title "Add camera Picture in Picture to OVXR teleoperation" matches the main change. The PR adds optional head-locked camera picture-in-picture quads to OVXR teleoperation. The summaries show the new OpenXR quad classes, the native pip layer, the build option, and the packaging changes that support this feature. The title is concise, specific, and free of noise.

Full details: Docstring Coverage

Explanation

Docstring coverage is 10.53% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 152 functions across 12 files. (13 skipped: 13 unsupported.)

Resolution

Write docstrings for the functions missing them to satisfy the coverage threshold.

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Actionable comments posted: 1

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Inline comments:
Review comments at @src/core/python/requirements-ovxr.txt:
- Line 7: Update the cuda-bindings constraint in requirements-ovxr.txt to
exclude CUDA 13 while retaining the existing CUDA 12 lower bound. Apply the
matching constraint change in pyproject.toml so both dependency declarations
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⚙️ Run configuration

• Source mode: Auto
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• Branch: hougantc/ovxr-borrowed-renderer
• File: .coderabbit.yaml
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📥 Commits

Reviewing files that changed from the base of the PR and between 908205f and c6efde9.

📒 Files selected for processing: 25

• CMakeLists.txt
• cmake/SetupOVXRCameraDependencies.cmake
• docs/source/getting_started/ovxr.rst
• pyproject.toml
• scripts/check_camera_quad_wheel.py
• src/core/CMakeLists.txt
• src/core/ovxr_pip_layer/CMakeLists.txt
• src/core/ovxr_pip_layer/XrApiLayer_isaacteleop_pip.json
• src/core/ovxr_pip_layer/cpp/CMakeLists.txt
• src/core/ovxr_pip_layer/cpp/pip_layer.cpp
• src/core/python/CMakeLists.txt
• src/core/python/pyproject.toml.in
• src/core/python/requirements-ovxr.txt
• src/core/python/setup.py
• src/python/isaaccapture/ovxr_session_manager/__init__.py
• src/python/isaaccapture/ovxr_session_manager/camera_mailbox.py
• src/python/isaaccapture/ovxr_session_manager/gpu_output.py
• src/python/isaaccapture/ovxr_session_manager/openxr_quad.py
• src/python/isaaccapture/ovxr_session_manager/ovxr_session.py
• tests/cpp/core/CMakeLists.txt
• tests/cpp/core/ovxr_pip_layer/CMakeLists.txt
• tests/cpp/core/ovxr_pip_layer/pip_layer_contract_test.cpp
• tests/python/core/ovxr_session_manager/test_camera_mailbox.py
• tests/python/core/ovxr_session_manager/test_openxr_quad.py
• tests/python/core/ovxr_session_manager/test_ovxr_session.py

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