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found a way to expose ZED model downloads

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This commit is contained in:
matlabbe
2026-07-03 20:58:19 -07:00
parent 66aefa8efd
commit b5876e4fb7
6 changed files with 111 additions and 17 deletions
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app/src/CMakeLists.txt
+1 -3
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@@ -42,9 +42,7 @@ IF(APPLE AND BUILD_AS_BUNDLE)
MACOSX_BUNDLE_GUI_IDENTIFIER "com.introlab.rtabmap"
MACOSX_BUNDLE_BUNDLE_NAME "${CMAKE_BUNDLE_NAME}")
ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
# not using WIN32 keyword to see fatal errors in the console
# (in particular when zed's neural dlls are not found)
ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
ELSE()
ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
ENDIF()
corelib/include/rtabmap/core/camera/CameraStereoZed.h
+9
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@@ -81,6 +81,15 @@ public:
void postInterIMUPublic(const IMU & imu, double stamp);
void setRightGrayScale(bool enabled = true);
/**
* If the given ZED depth mode (quality: same encoding as the constructor) is a NEURAL mode
* whose AI model isn't yet downloaded/optimized for the GPU, returns a human-readable warning
* that the first start will be slower (the ZED SDK downloads/optimizes the model during
* init()). Returns an empty string when the model is ready, the mode isn't neural, or the
* SDK/build doesn't support the check.
*/
static std::string getNeuralModelWarning(int quality);
protected:
virtual SensorData captureImage(SensorCaptureInfo * info = 0);
corelib/src/camera/CameraStereoZed.cpp
+43 -1
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@@ -454,6 +454,33 @@ CameraStereoZed::~CameraStereoZed()
#endif
}
std::string CameraStereoZed::getNeuralModelWarning(int quality)
{
(void)quality;
#if defined(RTABMAP_ZED) && ZED_SDK_MAJOR_VERSION >= 5
sl::DEPTH_MODE depthMode = (sl::DEPTH_MODE)quality;
if(depthMode == sl::DEPTH_MODE::NEURAL_LIGHT ||
depthMode == sl::DEPTH_MODE::NEURAL ||
depthMode == sl::DEPTH_MODE::NEURAL_PLUS)
{
sl::AI_MODELS aiModel =
depthMode == sl::DEPTH_MODE::NEURAL_LIGHT ? sl::AI_MODELS::NEURAL_LIGHT_DEPTH :
depthMode == sl::DEPTH_MODE::NEURAL_PLUS ? sl::AI_MODELS::NEURAL_PLUS_DEPTH :
sl::AI_MODELS::NEURAL_DEPTH;
sl::AI_Model_status status = sl::checkAIModelStatus(aiModel);
if(!status.downloaded || !status.optimized)
{
return uFormat("The selected ZED NEURAL depth model is not ready yet (downloaded=%s, "
"optimized=%s): the first start may take significantly longer while the "
"ZED SDK downloads and/or optimizes the model for your GPU. Subsequent "
"starts will be faster.",
status.downloaded?"true":"false", status.optimized?"true":"false");
}
}
#endif
return std::string();
}
bool CameraStereoZed::init(const std::string & calibrationFolder, const std::string & cameraName)
{
UDEBUG("");
@@ -524,7 +551,10 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
UERROR("ZED open() returned \"%s\": the optional NEURAL/TensorRT runtime files are "
"likely missing. Install ZED SDK %d.%d, or select a non-NEURAL depth mode "
"(e.g. PERFORMANCE).", toString(r).c_str(), ZED_SDK_MAJOR_VERSION, ZED_SDK_MINOR_VERSION);
delete zed_;
// Do NOT delete zed_ here: after a CORRUPTED_SDK_INSTALLATION open failure (NEURAL depth
// mode selected but the TensorRT/neural runtime isn't installed) the ZED SDK is left in a
// bad state and ~sl::Camera() crashes inside sl_zed64.dll. Leak the object (one-time,
// terminal error path) so we fail gracefully with the message above instead of crashing.
zed_ = 0;
return false;
}
@@ -532,7 +562,11 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
if(r!=sl::ERROR_CODE::SUCCESS)
{
#if ZED_SDK_MAJOR_VERSION >= 4
UERROR("Camera initialization failed: \"%s\": %s", toString(r).c_str(), toVerbose(r).c_str());
#else
UERROR("Camera initialization failed: \"%s\"", toString(r).c_str());
#endif
delete zed_;
zed_ = 0;
return false;
@@ -569,7 +603,11 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
#endif
if(r!=sl::ERROR_CODE::SUCCESS)
{
#if ZED_SDK_MAJOR_VERSION >= 4
UERROR("Camera tracking initialization failed: \"%s\": %s", toString(r).c_str(), toVerbose(r).c_str());
#else
UERROR("Camera tracking initialization failed: \"%s\"", toString(r).c_str());
#endif
}
}
@@ -951,7 +989,11 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
}
else if(src_ == CameraVideo::kUsbDevice)
{
#if ZED_SDK_MAJOR_VERSION >= 4
UERROR("CameraStereoZed: Failed to grab images after 2 seconds! (%s: %s)", toString(res).c_str(), toVerbose(res).c_str());
#else
UERROR("CameraStereoZed: Failed to grab images after 2 seconds!");
#endif
}
else
{
guilib/include/rtabmap/gui/PreferencesDialog.h
+3
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@@ -263,6 +263,9 @@ public:
PreferencesDialog::Src getSourceDriver() const;
QString getSourceDriverStr() const;
QString getSourceDevice() const;
// Non-empty warning to show before opening the selected source when init() is expected to be
// unusually slow; empty otherwise.
QString getSourceInitWarningMsg() const;
PreferencesDialog::Src getLidarSourceDriver() const;
PreferencesDialog::Src getOdomSourceDriver() const;
guilib/src/MainWindow.cpp
+15 -1
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@@ -79,6 +79,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QMessageBox>
#include <QFileDialog>
#include <QProgressDialog>
#include <QLabel>
#include <QGraphicsEllipseItem>
#include <QDockWidget>
#include <QtCore/QBuffer>
@@ -5936,7 +5937,20 @@ void MainWindow::startDetection()
// Creating the sensors below opens the devices (createLidar/createCamera/createOdomSensor ->
// init(), a few seconds for ZED/RealSense) on the GUI thread; show a busy dialog (min==max==0
// => indeterminate) so the window isn't just frozen. Hidden once all sensors are created below.
QProgressDialog progress(tr("Starting sensor..."), QString(), 0, 0, this);
QString startLabel = tr("Starting sensor...");
QString initWarn = _preferencesDialog->getSourceInitWarningMsg();
if(!initWarn.isEmpty())
{
startLabel += "\n\n" + initWarn;
}
QProgressDialog progress(startLabel, QString(), 0, 0, this);
if(!initWarn.isEmpty())
{
QLabel * wrapLabel = new QLabel(startLabel);
wrapLabel->setWordWrap(true);
progress.setLabel(wrapLabel); // QProgressDialog takes ownership
progress.setMinimumWidth(450);
}
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
guilib/src/PreferencesDialog.cpp
+40 -12
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@@ -50,6 +50,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QMainWindow>
#include <QProgressDialog>
#include <QApplication>
#include <QLabel>
#include <functional>
#include <QScrollBar>
#include <QStatusBar>
@@ -6654,6 +6655,16 @@ QString PreferencesDialog::getSourceDriverStr() const
return "";
}
QString PreferencesDialog::getSourceInitWarningMsg() const
{
if(getSourceDriver() == kSrcStereoZed)
{
return QString::fromStdString(
CameraStereoZed::getNeuralModelWarning(_ui->comboBox_stereoZed_quality->currentIndex()));
}
return QString();
}
QString PreferencesDialog::getSourceDevice() const
{
return _ui->lineEdit_sourceDevice->text();
@@ -7747,10 +7758,20 @@ void PreferencesDialog::setSLAMMode(bool enabled)
void PreferencesDialog::testOdometry()
{
// One progress dialog, reused for both the (slow) camera init and the (slow) close.
// Declared here so it outlives cameraThread below and stays visible while cameraThread's
// destructor closes the device at function scope end.
QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
QString startLabel = tr("Starting camera...");
QString initWarn = getSourceInitWarningMsg();
if(!initWarn.isEmpty())
{
startLabel += "\n\n" + initWarn;
}
QProgressDialog progress(startLabel, QString(), 0, 0, this);
if(!initWarn.isEmpty())
{
QLabel * wrapLabel = new QLabel(startLabel);
wrapLabel->setWordWrap(true);
progress.setLabel(wrapLabel); // QProgressDialog takes ownership
progress.setMinimumWidth(450);
}
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
@@ -7924,10 +7945,20 @@ void PreferencesDialog::testCamera()
window->resize(1280, 480+QPushButton().minimumHeight());
window->registerToEventsManager();
// One progress dialog, reused for both the (slow) camera init and the (slow) close.
// min==max==0 => indeterminate/busy bar. Declared in this outer scope so it outlives
// cameraThread below and stays visible while cameraThread's destructor closes the device.
QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
QString startLabel = tr("Starting camera...");
QString initWarn = getSourceInitWarningMsg();
if(!initWarn.isEmpty())
{
startLabel += "\n\n" + initWarn;
}
QProgressDialog progress(startLabel, QString(), 0, 0, this);
if(!initWarn.isEmpty())
{
QLabel * wrapLabel = new QLabel(startLabel);
wrapLabel->setWordWrap(true);
progress.setLabel(wrapLabel); // QProgressDialog takes ownership
progress.setMinimumWidth(450);
}
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
@@ -8476,10 +8507,7 @@ void PreferencesDialog::testLidar()
window->registerToEventsManager();
window->setDecimation(1);
// One progress dialog, reused for both the (slow) sensor init and the (slow) close.
// Declared in this outer scope so it outlives lidarThread below and stays visible while
// lidarThread's destructor closes the device.
QProgressDialog progress(tr("Starting sensor..."), QString(), 0, 0, this);
QProgressDialog progress(tr("Starting lidar..."), QString(), 0, 0, this);
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);