Add camera Picture in Picture to OVXR teleoperation

CMakeLists.txt

@@ -67,6 +67,7 @@ option(BUILD_PLUGIN_SHARPA_AVATAR "Build Sharpa AvatarExo Glove plugin (Linux; s
 option(BUILD_EXAMPLES "Build examples" ON)
 option(BUILD_EXAMPLE_TELEOP_ROS2 "Build only the teleop_ros2 ROS 2 reference integration (e.g. for Docker)" OFF)
 option(BUILD_TESTING "Build unit tests" ON)
+option(BUILD_OVXR_CAMERA_QUADS "Build optional application-owned OVXR camera quad support" OFF)
 # Televiz (src/viz) needs Vulkan, the CUDA Toolkit, and glslangValidator.
 # Only Vulkan and CUDA gate the default -- without them the machine cannot build
 # viz at all, so a core-only source build still configures. glslangValidator is

docs/source/getting_started/ovxr.rst

@@ -41,6 +41,34 @@ from the Isaac Capture wheel. These packages retain their own licenses:
 CloudXR native libraries are bundled in Isaac Capture wheels and remain subject
 to their separate NVIDIA license and CloudXR EULA acceptance.
 
+Optional camera panels
+----------------------
+
+Camera picture-in-picture panels require the native camera helper. Follow the
+source-build guide to configure a build for your application's Python version,
+then enable camera support and rebuild the wheel:
+
+.. code-block:: bash
+
+   cmake -S . -B build -DBUILD_OVXR_CAMERA_QUADS=ON
+   cmake --build build --target python_package python_stubs python_wheel --parallel
+
+Install the generated wheel with its ``ovxr`` extra using the instructions
+above. The extra requires CUDA 13 Python bindings for GPU camera output;
+``BUILD_OVXR_CAMERA_QUADS`` controls whether the wheel contains the native helper.
+The helper is disabled by default.
+
+Use a CUDA 13-compatible NVIDIA driver (R580 or newer), meeting any stricter
+requirements of the selected bindings and renderer. See the
+`CUDA compatibility requirements <https://docs.nvidia.com/deploy/cuda-compatibility/minor-version-compatibility.html>`_.
+Installing Python packages or a CUDA Toolkit does not update the host driver.
+
+Install the Vulkan development SDK before configuring camera support. Linux
+builds also require the CUDA Toolkit. CMake discovers these installed dependencies.
+Use ``CUDAToolkit_ROOT`` to select a CUDA Toolkit installation and ``VULKAN_SDK``
+to help locate a Vulkan SDK. The GPU driver and Vulkan runtime loader are required
+on the host.
+
 Use from another application
 ----------------------------
 

pyproject.toml

@@ -41,6 +41,7 @@ ui = [
 ]
 ovxr = [
     "ovxr==0.1.0.5842",
+    "cuda-bindings>=13,<14",
 ]
 retargeters = [
     "dex-retargeting>=0.4.6,<0.6.0",

scripts/check_camera_quad_wheel.py

@@ -0,0 +1,63 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+"""Check optional camera-helper delivery in an actual project wheel.
+
+Run against wheels built with BUILD_OVXR_CAMERA_QUADS ON and OFF, including
+ON -> OFF -> ON in the same build directory to detect stale packaged data.
+"""
+
+import argparse
+import hashlib
+import json
+from pathlib import Path, PurePosixPath
+from zipfile import ZipFile
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("wheel", type=Path)
+    parser.add_argument(
+        "--camera-quads", action=argparse.BooleanOptionalAction, required=True
+    )
+    args = parser.parse_args()
+    prefix = "isaaccapture/ovxr_session_manager/openxr_layer/"
+    expected = {
+        prefix + "libXrApiLayer_isaacteleop_pip.so",
+        prefix + "XrApiLayer_isaacteleop_pip.json",
+    }
+    with ZipFile(args.wheel) as wheel:
+        members = {
+            name
+            for name in wheel.namelist()
+            if name.startswith(prefix) and not name.endswith("/")
+        }
+        wanted = expected if args.camera_quads else set()
+        if members != wanted:
+            raise RuntimeError(
+                f"Camera helper package differs: expected {sorted(wanted)}, got {sorted(members)}"
+            )
+        if args.camera_quads:
+            manifest = json.loads(
+                wheel.read(prefix + "XrApiLayer_isaacteleop_pip.json")
+            )
+            library = manifest["api_layer"]["library_path"]
+            if str(PurePosixPath(library)) != "libXrApiLayer_isaacteleop_pip.so":
+                raise RuntimeError(
+                    f"Camera manifest selects an undeclared library: {library!r}"
+                )
+    print(
+        json.dumps(
+            {
+                "wheel": str(args.wheel),
+                "sha256": hashlib.sha256(args.wheel.read_bytes()).hexdigest(),
+                "camera_quads": args.camera_quads,
+                "result": "PASS",
+            },
+            indent=2,
+        )
+    )
+
+
+if __name__ == "__main__":
+    main()

src/core/CMakeLists.txt

@@ -38,6 +38,10 @@ add_subdirectory(deviceio_session)
 # Build MCAP library (depends on deviceio for DeviceIOSession and tracker interfaces)
 add_subdirectory(mcap)
 
+if(BUILD_OVXR_CAMERA_QUADS)
+    add_subdirectory(ovxr_pip_layer)
+endif()
+
 # CloudXR runtime helper (stages the vendored CloudXR runtime SDK bundle).
 # Its pure-Python source lives in src/python/isaaccapture/cloudxr/, as does the
 # retargeting engine's and the session manager's.

src/core/ovxr_pip_layer/CMakeLists.txt

@@ -0,0 +1,4 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+add_subdirectory(cpp)

src/core/ovxr_pip_layer/XrApiLayer_isaacteleop_pip.json

@@ -0,0 +1,10 @@
+{
+    "file_format_version": "1.0.0",
+    "api_layer": {
+        "name": "XR_APILAYER_ISAACTELEOP_camera_quad",
+        "library_path": "./libXrApiLayer_isaacteleop_pip.so",
+        "api_version": "1.1",
+        "implementation_version": "1",
+        "description": "Isaac Teleop application-owned camera quad on the borrowed OVXR session"
+    }
+}

src/core/ovxr_pip_layer/cpp/CMakeLists.txt

@@ -0,0 +1,42 @@
+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+find_package(Vulkan REQUIRED)
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    find_package(CUDAToolkit REQUIRED)
+endif()
+
+add_library(ovxr_pip_layer SHARED pip_layer.cpp)
+target_compile_features(ovxr_pip_layer PRIVATE cxx_std_20)
+target_include_directories(ovxr_pip_layer PRIVATE
+    $<TARGET_PROPERTY:openxr_loader,INTERFACE_INCLUDE_DIRECTORIES>)
+target_link_libraries(ovxr_pip_layer PRIVATE Vulkan::Vulkan log_bridge::log_bridge_core)
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    # Keep static logger/fmt symbols private to the helper's existing C ABI.
+    set(_pip_exports "${CMAKE_CURRENT_BINARY_DIR}/ovxr_pip_exports.map")
+    file(GENERATE OUTPUT "${_pip_exports}"
+        CONTENT "{ global: isaacteleop_pip_*; local: *; };\n")
+    target_link_options(ovxr_pip_layer PRIVATE "-Wl,--version-script,${_pip_exports}")
+    set_property(TARGET ovxr_pip_layer APPEND PROPERTY LINK_DEPENDS "${_pip_exports}")
+endif()
+if(CUDAToolkit_FOUND AND CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    target_compile_definitions(ovxr_pip_layer PRIVATE ISAAC_TELEOP_PIP_CUDA)
+    target_link_libraries(ovxr_pip_layer PRIVATE CUDA::cudart_static)
+endif()
+set_target_properties(ovxr_pip_layer PROPERTIES
+    OUTPUT_NAME XrApiLayer_isaacteleop_pip
+    LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/isaaccapture/ovxr_session_manager/openxr_layer")
+
+set(OVXR_PIP_LAYER_DIR
+    "${CMAKE_BINARY_DIR}/python_package/$<CONFIG>/isaaccapture/ovxr_session_manager/openxr_layer")
+add_custom_command(
+    OUTPUT "${OVXR_PIP_LAYER_DIR}/XrApiLayer_isaacteleop_pip.json"
+    COMMAND ${CMAKE_COMMAND} -E make_directory "${OVXR_PIP_LAYER_DIR}"
+    COMMAND ${CMAKE_COMMAND} -E copy
+        "${PROJECT_SOURCE_DIR}/src/core/ovxr_pip_layer/XrApiLayer_isaacteleop_pip.json"
+        "${OVXR_PIP_LAYER_DIR}/XrApiLayer_isaacteleop_pip.json"
+    DEPENDS "${PROJECT_SOURCE_DIR}/src/core/ovxr_pip_layer/XrApiLayer_isaacteleop_pip.json")
+set_source_files_properties("${OVXR_PIP_LAYER_DIR}/XrApiLayer_isaacteleop_pip.json"
+    PROPERTIES GENERATED TRUE HEADER_FILE_ONLY TRUE)
+target_sources(ovxr_pip_layer PRIVATE "${OVXR_PIP_LAYER_DIR}/XrApiLayer_isaacteleop_pip.json")
+add_library(ovxr_pip_layer::ovxr_pip_layer ALIAS ovxr_pip_layer)