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

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* 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
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corelib/src/SensorCaptureThread.cpp
+28 -13
View File
@@ -114,7 +114,6 @@ SensorCaptureThread::SensorCaptureThread(
_camera(camera),
_odomSensor(odomSensor),
_lidar(lidar),
_extrinsicsOdomToCamera(extrinsics * CameraModel::opticalRotation()),
_odomAsGt(false),
_poseTimeOffset(poseTimeOffset),
_poseScaleFactor(poseScaleFactor),
@@ -153,10 +152,14 @@ SensorCaptureThread::SensorCaptureThread(
{
if(_camera)
{
if(_odomSensor == _camera && _extrinsicsOdomToCamera.isNull())
if(_odomSensor == _camera && extrinsics.isNull())
{
_extrinsicsOdomToCamera.setIdentity();
}
else
{
_extrinsicsOdomToCamera = extrinsics * CameraModel::opticalRotation();
}
UASSERT(!_extrinsicsOdomToCamera.isNull());
UDEBUG("_extrinsicsOdomToCamera=%s", _extrinsicsOdomToCamera.prettyPrint().c_str());
}
@@ -492,20 +495,26 @@ void SensorCaptureThread::mainLoop()
}
}
// Adjust local transform of the camera based on the pose frame
// Adjust local transform of the camera(s) based on the pose frame. The correction
// and odom->camera extrinsics are frame-level, so apply the same prefix to each
// camera while keeping its own local transform (multi-camera supported).
if(!data.cameraModels().empty())
{
UASSERT(data.cameraModels().size()==1);
CameraModel model = data.cameraModels()[0];
model.setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera);
data.setCameraModel(model);
std::vector<CameraModel> models = data.cameraModels();
for(size_t i=0; i<models.size(); ++i)
{
models[i].setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera*models[i].localTransform());
}
data.setCameraModels(models);
}
else if(!data.stereoCameraModels().empty())
{
UASSERT(data.stereoCameraModels().size()==1);
StereoCameraModel model = data.stereoCameraModels()[0];
model.setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera);
data.setStereoCameraModel(model);
std::vector<StereoCameraModel> models = data.stereoCameraModels();
for(size_t i=0; i<models.size(); ++i)
{
models[i].setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera*models[i].localTransform());
}
data.setStereoCameraModels(models);
}
}
@@ -530,15 +539,21 @@ void SensorCaptureThread::mainLoop()
info.odomPose.setNull();
}
if(!data.imageCompressed().empty() || !data.imageRaw().empty() || !data.laserScanRaw().empty() || (dynamic_cast<DBReader*>(_camera) != 0 && data.id()>0)) // intermediate nodes could not have image set
if(this->isKilled())
{
// A kill was requested (e.g. while we were blocked capturing this frame): don't
// publish anything so we never deliver events to handlers that are being torn down.
}
else if(!data.imageCompressed().empty() || !data.imageRaw().empty() || !data.laserScanRaw().empty() || (dynamic_cast<DBReader*>(_camera) != 0 && data.id()>0)) // intermediate nodes could not have image set
{
postUpdate(&data, &info);
info.cameraName = _lidar?_lidar->getSerial():_camera->getSerial();
info.timeTotal = totalTime.ticks();
this->post(new SensorEvent(data, info));
}
else if(!this->isKilled())
else
{
// Not killed but no data: end of stream. Signal consumers once, then stop.
UWARN("no more data...");
this->kill();
this->post(new SensorEvent());