camera recording with depthai 3.3.0

.github/workflows/build-ubuntu.yml

@@ -39,7 +39,8 @@ jobs:
     - name: Install Apt dependencies
       run: |
         sudo apt-get update
-        sudo apt-get install -y build-essential cmake libx11-dev clang-format-14 ccache
+        sudo apt-get install -y build-essential cmake libx11-dev clang-format-14 ccache \
+          autoconf automake libtool pkg-config libudev-dev
 
     - name: Install patchelf (Release only)
       if: ${{ matrix.build_type == 'Release' }}
@@ -52,14 +53,24 @@ jobs:
       with:
         ngc-cli-api-key: ${{ secrets.NGC_TELEOP_CORE_GITHUB_SERVICE_KEY }}
 
-    # Hunter cache - caches depthai dependencies (OpenSSL, CURL, etc.)
-    - name: Cache Hunter packages
+    # vcpkg - required when BUILD_PLUGIN_OAK_CAMERA=ON for DepthAI v3.x deps
+    - name: Cache vcpkg
       uses: actions/cache@v4
       with:
-        path: ~/.hunter
-        key: hunter-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('cmake/SetupHunter.cmake') }}
+        path: |
+          ~/vcpkg
+          build/vcpkg_installed
+        key: vcpkg-${{ runner.os }}-${{ runner.arch }}-${{ hashFiles('vcpkg.json') }}
         restore-keys: |
-          hunter-${{ runner.os }}-${{ runner.arch }}-
+          vcpkg-${{ runner.os }}-${{ runner.arch }}-
+
+    - name: Setup vcpkg
+      run: |
+        if [ ! -f ~/vcpkg/vcpkg ]; then
+          git clone https://github.com/microsoft/vcpkg ~/vcpkg
+          ~/vcpkg/bootstrap-vcpkg.sh -disableMetrics
+        fi
+        echo "VCPKG_ROOT=$HOME/vcpkg" >> $GITHUB_ENV
 
     - name: Cache ccache
       uses: actions/cache@v4
@@ -75,7 +86,14 @@ jobs:
         ccache --show-config
 
     - name: Configure CMake
-      run: cmake -B build -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DISAAC_TELEOP_PYTHON_VERSION=${{ matrix.python_version }} -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DBUILD_PLUGIN_OAK_CAMERA=ON
+      run: >
+        cmake -B build
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -DISAAC_TELEOP_PYTHON_VERSION=${{ matrix.python_version }}
+        -DCMAKE_C_COMPILER_LAUNCHER=ccache
+        -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+        -DBUILD_PLUGIN_OAK_CAMERA=ON
+        -DCMAKE_TOOLCHAIN_FILE=${{ env.VCPKG_ROOT }}/scripts/buildsystems/vcpkg.cmake
 
     - name: Build
       run: cmake --build build --parallel 4

.github/workflows/build-windows.yml

@@ -36,15 +36,29 @@ jobs:
     - name: Install sccache
       run: choco install -y sccache
 
-    # Hunter cache - caches depthai dependencies
-    # Note: Hunter uses C:/.hunter on Windows (at drive root)
-    - name: Cache Hunter packages
+    # Put cl.exe and other build tools in PATH.
+    # Must run before vcpkg setup so our VCPKG_ROOT isn't overridden by vcvarsall.
+    - name: Setup MSVC (Developer Command Prompt)
+      uses: ilammy/msvc-dev-cmd@v1
+
+    # vcpkg - required when BUILD_PLUGIN_OAK_CAMERA=ON for DepthAI v3.x deps
+    - name: Cache vcpkg
       uses: actions/cache@v4
       with:
-        path: C:/.hunter
-        key: hunter-${{ runner.os }}-${{ hashFiles('cmake/SetupHunter.cmake') }}
+        path: |
+          C:\vcpkg
+          build\vcpkg_installed
+        key: vcpkg-${{ runner.os }}-${{ hashFiles('vcpkg.json') }}
         restore-keys: |
-          hunter-${{ runner.os }}-
+          vcpkg-${{ runner.os }}-
+
+    - name: Setup vcpkg
+      run: |
+        if (!(Test-Path C:\vcpkg\vcpkg.exe)) {
+          git clone https://github.com/microsoft/vcpkg C:\vcpkg
+          C:\vcpkg\bootstrap-vcpkg.bat -disableMetrics
+        }
+        echo "VCPKG_ROOT=C:\vcpkg" >> $env:GITHUB_ENV
 
     - name: Cache sccache
       uses: actions/cache@v4
@@ -58,10 +72,6 @@ jobs:
       run: |
         sccache --version
 
-    # Put cl.exe and other build tools in PATH
-    - name: Setup MSVC (Developer Command Prompt)
-      uses: ilammy/msvc-dev-cmd@v1
-
     - name: Configure CMake
       # Note:
       # sccache does not work with VSBuild, so we use Ninja generator here.
@@ -77,6 +87,7 @@ jobs:
         -DCMAKE_CXX_COMPILER="cl.exe"
         -DCMAKE_MSVC_DEBUG_INFORMATION_FORMAT=Embedded
         -DBUILD_PLUGIN_OAK_CAMERA=ON
+        -DCMAKE_TOOLCHAIN_FILE=${{ env.VCPKG_ROOT }}/scripts/buildsystems/vcpkg.cmake
 
     - name: Build
       run: cmake --build build --parallel

CMakeLists.txt

@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-FileCopyrightText: Copyright (c) 2025-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.20...3.25)
@@ -10,22 +10,12 @@ include(cmake/IsaacTeleopVersion.cmake)
 isaac_teleop_read_version("${CMAKE_CURRENT_SOURCE_DIR}/VERSION" ISAAC_TELEOP_VERSION ISAAC_TELEOP_PYPROJECT_VERSION)
 
 # ==============================================================================
-# Install Prefix Setup (must be before HunterGate)
+# Install Prefix Setup
 # ==============================================================================
-# Set default install prefix early, before HunterGate which may affect
-# CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT
 if(NOT DEFINED CMAKE_INSTALL_PREFIX OR CMAKE_INSTALL_PREFIX STREQUAL "" OR CMAKE_INSTALL_PREFIX MATCHES "^/usr/local")
     set(CMAKE_INSTALL_PREFIX "${CMAKE_CURRENT_SOURCE_DIR}/install" CACHE PATH "Install prefix" FORCE)
 endif()
 
-# OAK camera plugin uses Hunter/DepthAI; optional so builds like teleop_ros2 can skip it.
-option(BUILD_PLUGIN_OAK_CAMERA "Build OAK camera plugin (uses Hunter/DepthAI)" OFF)
-# ==============================================================================
-
-# HunterGate Setup (must be before project())
-# Defines BUILD_PLUGINS option and initializes Hunter for DepthAI dependencies
-include(cmake/SetupHunter.cmake)
-
 project(IsaacTeleop VERSION ${ISAAC_TELEOP_VERSION} LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 20)
@@ -51,13 +41,9 @@ if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)
 endif()
 
-# Note: CMAKE_INSTALL_PREFIX is set early (before HunterGate) to avoid issues
-# with CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT being affected by Hunter's
-# internal project() call.
-
 # Options
-# Note: BUILD_PLUGINS is defined in cmake/SetupHunter.cmake before project()
-# Note: BUILD_PYTHON_BINDINGS is defined in cmake/SetupPython.cmake
+option(BUILD_PLUGINS "Build plugins" ON)
+option(BUILD_PLUGIN_OAK_CAMERA "Build OAK camera plugin (requires vcpkg for DepthAI v3.x)" OFF)
 option(BUILD_EXAMPLES "Build examples" ON)
 option(BUILD_EXAMPLE_TELEOP_ROS2 "Build only the teleop_ros2 example (e.g. for Docker)" OFF)
 option(BUILD_TESTING "Build unit tests" ON)