MacOS and Windows binaries update (0.23.8) (#1726)

* Windows CI: more sensor drivers + Windows/macOS bundle scripts

* added opengv to mac build

* windows bundle fixes

* zed extra neural ddl in separate package

* OpenGV macos eigen version error

* opengv macos build issues

corelib/src/CMakeLists.txt

@@ -392,7 +392,6 @@ IF(depthai_FOUND)
 	SET(PUBLIC_LIBRARIES
 		${PUBLIC_LIBRARIES}
 		depthai::core
-		depthai::opencv
 	)
 ENDIF(depthai_FOUND)
 

corelib/src/camera/CameraDepthAI.cpp

@@ -729,6 +729,21 @@ std::string CameraDepthAI::getSerial() const
 	return "";
 }
 
+#ifdef RTABMAP_DEPTHAI
+namespace {
+// Convert the depthai depth ImgFrame to cv::Mat (similar to dai::ImgFrame::getCvFrame())
+cv::Mat depthImgFrameToCvMat(const std::shared_ptr<dai::ImgFrame> & frame)
+{
+	if(frame->getType() != dai::ImgFrame::Type::RAW16)
+	{
+		UERROR("Expected RAW16 depth ImgFrame but got type %d", (int)frame->getType());
+		return cv::Mat();
+	}
+	return cv::Mat((int)frame->getHeight(), (int)frame->getWidth(), CV_16UC1, frame->getData().data()).clone();
+}
+}
+#endif
+
 SensorData CameraDepthAI::captureImage(SensorCaptureInfo * info)
 {
 	SensorData data;
@@ -740,7 +755,7 @@ SensorData CameraDepthAI::captureImage(SensorCaptureInfo * info)
 
 	double stamp = std::chrono::duration<double>(depthOrRight->getTimestampDevice(dai::CameraExposureOffset::MIDDLE).time_since_epoch()).count();
 	if(outputMode_)
-		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_ANYCOLOR), depthOrRight->getCvFrame(), stereoModel_.left(), this->getNextSeqID(), stamp);
+		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_ANYCOLOR), depthImgFrameToCvMat(depthOrRight), stereoModel_.left(), this->getNextSeqID(), stamp);
 	else
 		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_GRAYSCALE), cv::imdecode(depthOrRight->getData(), cv::IMREAD_GRAYSCALE), stereoModel_, this->getNextSeqID(), stamp);
 

corelib/src/camera/CameraOrbbecSDK.cpp

@@ -220,6 +220,12 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
 #ifdef RTABMAP_ORBBEC_SDK
     this->close();
 
+    // The Orbbec SDK reports failures by throwing ob::Error (e.g. uvc_open
+    // access denied on macOS without camera permission, or unsupported config).
+    // Catch them here so init() logs the error and returns false instead of
+    // letting the exception propagate and abort the whole process.
+    try {
+
     std::shared_ptr<ob::Device> device;
 
     ob::Context context;
@@ -276,16 +282,20 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
     }
 
     if(device.get() == nullptr) {
+#ifdef __APPLE__
+        const std::string connectHint = "camera is correctly connected. On macOS the Orbbec "
+            "camera can only be accessed with root privileges, so run the application with sudo.";
+#else
+        const std::string connectHint = "camera is correctly connected and the udev rules are installed.";
+#endif
         if(deviceId_.empty()) {
-            UERROR( "Could not find any orbbec compatible devices! Verify that the "
-                    "camera is correctly connected and the udev rules are installed.");
+            UERROR("Could not find any orbbec compatible devices! Verify that the %s", connectHint.c_str());
         }
         else {
-            UERROR("Could not find an orbbec device with ID \"%s\"! Verify that the "
-                   "camera is correctly connected and the udev rules are installed. "
-                   "Unset the ID to choose the first camera found.");
+            UERROR("Could not find an orbbec device with ID \"%s\"! Verify that the %s "
+                   "Unset the ID to choose the first camera found.", deviceId_.c_str(), connectHint.c_str());
         }
-        
+
         return false;
     }
 
@@ -546,6 +556,22 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
         return false;
     }
     
+    }
+    catch(const ob::Error & e)
+    {
+#ifdef __APPLE__
+        UERROR("Failed to initialize Orbbec camera: %s. On macOS the Orbbec SDK accesses "
+               "the camera through libusb, which must take the USB interface from the system "
+               "UVC driver; this requires root privileges. If this is a USB access error "
+               "(e.g. \"uvc_open failed ... Return Code: -3\"), run the application with sudo.",
+               e.what());
+#else
+        UERROR("Failed to initialize Orbbec camera: %s", e.what());
+#endif
+        this->close();
+        return false;
+    }
+
     return true;
 #else
     UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
@@ -598,13 +624,19 @@ SensorData CameraOrbbecSDK::captureImage(SensorCaptureInfo * info)
         UERROR("Camera is not initialized!");
         return data;
     }
+
+    // The streaming calls below can throw ob::Error (transient frame/USB
+    // errors, filter or profile failures). Catch them so a bad frame is logged
+    // and skipped (empty SensorData) instead of aborting the whole process.
+    try {
+
     auto frameset = pipeline_->waitForFrameset();
     if(frameset == nullptr || frameset->getCount() == 0) {
         UWARN("No frame received!");
         return data;
     }
     if(frameset->getCount() != 2) {
-        UWARN("Received %s frames, expecting 2!", frameset->getCount());
+        UWARN("Received %u frames, expecting 2!", frameset->getCount());
         return data;
     }
 
@@ -733,6 +765,13 @@ SensorData CameraOrbbecSDK::captureImage(SensorCaptureInfo * info)
         }
     }
 
+    }
+    catch(const ob::Error & e)
+    {
+        UERROR("Error capturing Orbbec camera frame: %s", e.what());
+        return data;
+    }
+
 #else
     UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
 #endif

corelib/src/camera/CameraRealSense2.cpp

@@ -508,7 +508,14 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		rs2::device_list list = ctx_.query_devices();
 		if (0 == list.size())
 		{
+#ifdef __APPLE__
+			UERROR("No RealSense2 devices were found! On macOS the RealSense SDK accesses "
+			       "the camera through libusb, which must take the USB interface from the "
+			       "system driver; this requires root privileges. If a device is connected "
+			       "but not detected, run the application with sudo.");
+#else
 			UERROR("No RealSense2 devices were found!");
+#endif
 			return false;
 		}
 
@@ -546,7 +553,12 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		}
 		catch(const rs2::error & error)
 		{
+#ifdef __APPLE__
+			UWARN("%s. Is the camera already used with another app? On macOS, accessing a "
+			      "RealSense camera requires root privileges, so try running with sudo.", error.what());
+#else
 			UWARN("%s. Is the camera already used with another app?", error.what());
+#endif
 		}
 
 		if (!found)