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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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guilib/src/MainWindow.cpp
+52 -1
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@@ -78,6 +78,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QFileInfo>
#include <QMessageBox>
#include <QFileDialog>
#include <QProgressDialog>
#include <QLabel>
#include <QGraphicsEllipseItem>
#include <QDockWidget>
#include <QtCore/QBuffer>
@@ -958,7 +960,7 @@ bool MainWindow::handleEvent(UEvent* anEvent)
else
{
Q_EMIT cameraInfoReceived(sensorEvent->info());
if (_odomThread == 0 && (_sensorCapture->odomProvided()) && _preferencesDialog->isRGBDMode())
if (_odomThread == 0 && _sensorCapture && _sensorCapture->odomProvided() && _preferencesDialog->isRGBDMode())
{
OdometryInfo odomInfo;
odomInfo.reg.covariance = sensorEvent->info().odomCovariance;
@@ -5528,6 +5530,10 @@ void MainWindow::saveConfigGUI()
_preferencesDialog->saveSettings();
this->saveFigures();
this->setWindowModified(false);
// If running under sudo, the above writes recreate rtabmap.ini as root;
// restore ownership so non-root runs can still save preferences.
PreferencesDialog::restoreConfigOwnership(_preferencesDialog->getIniFilePath());
}
void MainWindow::newDatabase()
@@ -5932,6 +5938,31 @@ void MainWindow::startDetection()
Camera * camera = 0;
Lidar * lidar = 0;
// Creating the sensors below opens the devices (createLidar/createCamera/createOdomSensor ->
// init(), a few seconds for ZED/RealSense) on the GUI thread; show a busy dialog (min==max==0
// => indeterminate) so the window isn't just frozen. Hidden once all sensors are created below.
QString startLabel = tr("Starting sensor...");
QString initWarn = _preferencesDialog->getSourceInitWarningMsg();
if(!initWarn.isEmpty())
{
startLabel += "\n\n" + initWarn;
}
QProgressDialog progress(startLabel, QString(), 0, 0, this);
if(!initWarn.isEmpty())
{
QLabel * wrapLabel = new QLabel(startLabel);
wrapLabel->setWordWrap(true);
progress.setLabel(wrapLabel); // QProgressDialog takes ownership
progress.setMinimumWidth(450);
}
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
if(_preferencesDialog->getLidarSourceDriver() != PreferencesDialog::kSrcUndef)
{
lidar = _preferencesDialog->createLidar();
@@ -5989,6 +6020,8 @@ void MainWindow::startDetection()
}
}
progress.hide(); // all sensors created/opened
_sensorCapture = new SensorCaptureThread(lidar, camera, odomSensor, extrinsics, poseTimeOffset, scaleFactor, waitTime, parameters);
_sensorCapture->setOdomAsGroundTruth(_preferencesDialog->isOdomSensorAsGt());
@@ -6229,6 +6262,24 @@ void MainWindow::stopDetection()
}
ULOGGER_DEBUG("");
// Closing the camera runs on the GUI thread in "delete _sensorCapture" below (via
// ~SensorCaptureThread -> ~Camera::close()) and can block for a while - e.g. the first 2-3
// RealSense closes per launch stall ~20s in the Motion Module stop() (librealsense warm-up).
// Show a busy dialog (min==max==0 => indeterminate) so the window isn't just frozen. It is
// declared here so it stays visible across the joins/deletes and closes on scope exit.
QProgressDialog progress(tr("Stopping sensor..."), QString(), 0, 0, this);
if(_sensorCapture)
{
progress.setWindowModality(Qt::ApplicationModal);
progress.setCancelButton(0);
progress.setMinimumDuration(0);
progress.setValue(0);
progress.show();
QApplication::processEvents();
QApplication::processEvents(); // make sure it is drawn
}
// kill the processes
if(_imuThread)
{