i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

Windows CI: make vcpkg download compatible with draft release (#1727)

Browse Source 
* Windows CI: make vcpkg download compatible with draft release

* forcing nvdia driver dll to be ignored in fixup_bundle

* disabling opencv cudec and python

* disabling rtabmap-console --version on cuda build

* Added assert when bad imu data is provided. Added checks when zed sdk is returning nan imu data.

* Updated zed sdk5 resolution and quality

* Updated zed sdk5 resolution and quality

* Fixing parameters reloaded when testing camera. Also fixed app freezing when closing Preferences dialog after using test camera dialog

* cleanup and debug logs

* Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents

* renamed

* found a way to expose ZED model downloads

* Updated default config path on Windows

* Fixed extra endline in file logging (windows)

* Fixed camera local transform when used with lidar and odomSensor

* CI(macos): build g2o from source with OpenMP (libomp include/link fix)

* Mac: added ceres dep, fixed omp not found by cmake

* Mac: bundle orbbec extensions

* stripping rpath of orbbec's extensions

* cleanup

* Realsense2 error as error (not warning)

* Fixed config ownership changed to root when sarting in sudo. LidarVLP16: fixed crash on Mac by reimplementing our own socket threading

* LidarVLP16: own socket implementation only for Mac (linux and windows use original PCL's reader)
This commit is contained in:
matlabbe
2026-07-04 18:16:37 -07:00
committed by GitHub
parent cb34c4bd37
commit d069becc72
27 changed files with 982 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
corelib/include/rtabmap/core/SensorData.h
View File

@@ -344,7 +344,7 @@ public:
void setGPS(const GPS & gps) {gps_ = gps;}
const GPS & gps() const {return gps_;}
void setIMU(const IMU & imu) {imu_ = imu; }
void setIMU(const IMU & imu);
const IMU & imu() const {return imu_;}
void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}

15
corelib/include/rtabmap/core/camera/CameraStereoZed.h
View File

@@ -49,8 +49,8 @@ public:
public:
CameraStereoZed(
int deviceId,
int resolution = -1, // -1 = AUTO, 0=HD4K 1=HD2K 2=HD1080 3=HD1200 4=HD720 5=SVGA 6=VGA
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY
int resolution = -1, // -1 = AUTO, 0=HD4K 1=QHDPLUS 2=HD2K 3=HD1536 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA 9=XVGA 10=TXVGA
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
@@ -61,7 +61,7 @@ public:
int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
CameraStereoZed(
const std::string & svoFilePath,
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=NEURAL
int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
int sensingMode = 0,// 0=STANDARD, 1=FILL
int confidenceThr = 100,
bool computeOdometry = false,
@@ -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);

46
corelib/include/rtabmap/core/lidar/LidarVLP16.h
View File

@@ -29,10 +29,25 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// Should be first on windows to avoid "WinSock.h has already been included" error
#include <pcl/io/vlp_grabber.h>
#include <boost/version.hpp>
#include <boost/asio.hpp>
#include <rtabmap/core/Lidar.h>
#include <rtabmap/utilite/USemaphore.h>
#include <thread>
#include <atomic>
// On Apple, closing pcl::HDLGrabber's UDP socket while its read thread is blocked
// in receive_from returns EBADF, which pcl::HDLGrabber::readPacketsFromSocket()
// rethrows uncaught in its own thread, aborting the process on shutdown. There we
// run our own single-threaded UDP receive loop and own the socket lifecycle.
// Other platforms use the base pcl::VLPGrabber path (which also avoids needing
// boost::asio::io_context, absent from the Boost 1.65 on e.g. Ubuntu Bionic).
// Comment this out to force the base path everywhere (e.g. A/B testing on macOS).
#if defined(__APPLE__)
#define RTABMAP_VLP16_USE_CUSTOM_SOCKET
#endif
namespace rtabmap {
struct PointXYZIT {
@@ -68,9 +83,28 @@ public:
void setOrganized(bool enable);
#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
// Overridden only on Apple: in network mode we run our own UDP receive loop
// instead of pcl::HDLGrabber's, because on macOS/BSD closing the grabber's
// socket while its read thread is blocked in receive_from returns EBADF, a
// code that pcl::HDLGrabber::readPacketsFromSocket() rethrows uncaught (in
// its own thread), aborting the process on shutdown. Owning the socket lets
// us tear it down with the non-throwing receive_from overload. Like
// pcl::HDLGrabber, we bind to the given LOCAL interface address (to scope
// reception on a multi-homed host) and fall back to all interfaces (0.0.0.0)
// when it is unspecified or not a local address. In PCAP mode we delegate to
// the base grabber. On other platforms we inherit pcl::VLPGrabber directly.
virtual void start() override;
virtual void stop() override;
virtual bool isRunning() const override;
#endif
private:
void buildTimings(bool dualMode);
virtual void toPointClouds (HDLDataPacket *dataPacket) override;
#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
void readPackets();
#endif
protected:
virtual SensorData captureData(SensorCaptureInfo * info = 0) override;
@@ -88,6 +122,18 @@ private:
std::vector<std::vector<PointXYZIT> > accumulatedScans_;
USemaphore scanReady_;
UMutex lastScanMutex_;
// Own UDP receive path (network mode only).
bool networkMode_;
boost::asio::ip::address ipAddress_;
std::uint16_t port_;
bool receivedScan_; // set once the first scan is received
#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
boost::asio::io_context ioContext_;
boost::asio::ip::udp::socket * socket_;
std::thread * readThread_;
std::atomic<bool> terminate_;
#endif
};
} /* namespace rtabmap */