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

Browse Source 
* 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
This commit is contained in:
matlabbe
2026-07-01 18:11:28 -07:00
committed by GitHub
parent 9d30b174e6
commit cb34c4bd37
27 changed files with 1587 additions and 81 deletions
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corelib/src/camera/CameraDepthAI.cpp
+16 -1
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@@ -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);