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

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* 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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26
tools/CameraRGBD/main.cpp
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@@ -48,6 +48,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <stdio.h>
#include <signal.h>
#include <QApplication>
#include <QSurfaceFormat>
#include <vtkVersionMacros.h>
#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
#include <QVTKRenderWidget.h>
#endif
void showUsage(const char * executableName)
{
@@ -168,7 +173,6 @@ int main(int argc, char * argv[])
}
if (strcmp(argv[i], "-pcl") == 0)
{
++i;
usePCLViz = true;
continue;
}
@@ -370,6 +374,18 @@ int main(int argc, char * argv[])
exit(1);
}
#ifdef __APPLE__
if(usePCLViz)
{
// pcl::visualization::CloudViewer creates its render window on its own
// background thread, but macOS only allows NSWindow creation on the main
// thread, so it aborts. Fall back to the default (Qt) viewer.
printf("-pcl is not supported on macOS (pcl::visualization::CloudViewer creates its "
"window on a background thread, which macOS forbids). Using the default viewer instead.\n");
usePCLViz = false;
}
#endif
if(usePCLViz)
{
rtabmap::SensorData data = camera->takeData();
@@ -485,6 +501,14 @@ int main(int argc, char * argv[])
}
else // Use our own visualizer
{
#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
// Needed to ensure the appropriate OpenGL context is created for VTK
// rendering (QVTKOpenGLNativeWidget). Without it the embedded VTK widget
// gets an incompatible context and VTK calls a null GL function pointer
// (crash in vtkOpenGLVertexArrayObject::Bind on first paint). Must be set
// before QApplication is constructed.
QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
#endif
QApplication app(argc, argv);
rtabmap::CameraViewer cameraViewer;