found a way to expose ZED model downloads

app/src/CMakeLists.txt

@@ -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
+  ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
-   # (in particular when zed's neural dlls are not found)
-  ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ELSE()
   ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ENDIF()

corelib/include/rtabmap/core/camera/CameraStereoZed.h

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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.
+	QString startLabel = tr("Starting camera...");
-	// Declared here so it outlives cameraThread below and stays visible while cameraThread's
+	QString initWarn = getSourceInitWarningMsg();
-	// destructor closes the device at function scope end.
+	if(!initWarn.isEmpty())
-	QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
+	{
+		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.
+	QString startLabel = tr("Starting camera...");
-	// min==max==0 => indeterminate/busy bar. Declared in this outer scope so it outlives
+	QString initWarn = getSourceInitWarningMsg();
-	// cameraThread below and stays visible while cameraThread's destructor closes the device.
+	if(!initWarn.isEmpty())
-	QProgressDialog progress(tr("Starting camera..."), QString(), 0, 0, this);
+	{
+		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.
+	QProgressDialog progress(tr("Starting lidar..."), QString(), 0, 0, this);
-	// 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);
 	progress.setWindowModality(Qt::ApplicationModal);
 	progress.setCancelButton(0);
 	progress.setMinimumDuration(0);