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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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corelib/include/rtabmap/core/camera/CameraStereoZed.h
+9
View File
@@ -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
View File
@@ -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
{