Viam Ensenso Camera Module

C++ module implementing the rdk:component:camera API for IDS Ensenso stereo cameras.

Overview

This module allows you to integrate Ensenso 3D cameras into your Viam-managed robots, providing:

• Color/grayscale image capture
• Depth map generation
• 3D point cloud data
• Camera calibration support

Requirements

• Ensenso SDK 4.3+ installed (/opt/ensenso/)
• Viam C++ SDK
• CMake 3.20+
• C++17 compatible compiler

Building

Option 1: Conan Build (Recommended)

Conan automatically manages the Viam C++ SDK dependency:

# Install Conan if not already installed
pip install conan

# Build the module (Conan handles Viam SDK)
make conan-build

Option 2: Manual Build

Requires Viam C++ SDK to be pre-installed:

make setup      # Initialize build environment
make build      # Build the module
make module.tar.gz  # Create distributable package
make test       # Run tests
make clean      # Clean build artifacts

Configuration

Add this module to your robot configuration:

{
  "name": "ensenso",
  "namespace": "rdk",
  "type": "camera",
  "model": "viam:camera:ensenso",
  "attributes": {
    "serial_number": "",
    "width_px": 1280,
    "height_px": 1024,
    "enable_depth": true,
    "enable_point_cloud": true
  }
}

Supported Cameras

• Ensenso N series (N10, N20, N30, N35, N40, N45)
• Ensenso S series
• Ensenso X series
• Ensenso XR series

License

See LICENSE file for details.