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

* 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)

.github/actions/install-macos-source-deps/action.yml

@@ -203,6 +203,47 @@ runs:
         cmake --build build -j$NPROC
         DESTDIR="$STAGE" cmake --install build
 
+    # ----------------------------- g2o ------------------------------
+    - name: Cache g2o
+      id: cache-g2o
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/g2o
+        key: g2o-67cbe15c-${{ inputs.os }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build g2o
+      if: steps.cache-g2o.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        SRC="${{ runner.temp }}/src-deps/g2o"
+        STAGE="${{ runner.temp }}/deps-stage/g2o"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        # g2o pins a commit (not a tag), so clone then checkout.
+        git clone https://github.com/RainerKuemmerle/g2o.git "$SRC/g2o"
+        cd "$SRC/g2o"
+        git checkout 67cbe15c998737ac6705d3cd18201a72be0d073d
+        # CMAKE_INSTALL_PREFIX=/usr/local so it stages under usr/local like the
+        # other deps. Homebrew's libomp is keg-only and g2o does not propagate
+        # OpenMP's include/lib dirs, so with Apple clang <omp.h> isn't found and
+        # libomp isn't linked; add its include (-I) and lib (-L -lomp) explicitly.
+        LIBOMP=$(brew --prefix libomp)
+        cmake -B build \
+          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DCMAKE_PREFIX_PATH="$LIBOMP" \
+          -DCMAKE_C_FLAGS="-I$LIBOMP/include" \
+          -DCMAKE_CXX_FLAGS="-I$LIBOMP/include" \
+          -DCMAKE_EXE_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
+          -DCMAKE_SHARED_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
+          -DG2O_BUILD_APPS=OFF \
+          -DG2O_BUILD_EXAMPLES=OFF \
+          -DG2O_USE_OPENMP=ON \
+          -DG2O_USE_OPENGL=OFF
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
     # ------------------- install all units into /usr/local ----------
     - name: Install source dependencies into /usr/local
       shell: bash
@@ -213,7 +254,7 @@ runs:
         set -e
         STAGE="${{ runner.temp }}/deps-stage"
         found=0
-        for unit in gtsam pointmatcher orbbec depthai opengv; do
+        for unit in gtsam pointmatcher orbbec depthai opengv g2o; do
           if [ -d "$STAGE/$unit/usr/local" ]; then
             sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/
             found=1

.github/actions/install-windows-cuda-deps/action.yml

@@ -26,7 +26,7 @@ runs:
       uses: actions/cache@v4
       with:
         path: ${{ runner.workspace }}/vcpkg_installed
-        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v1
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v4
 
     - name: Download and Install vcpkg
       if: steps.cache-vcpkg.outputs.cache-hit != 'true'
@@ -35,10 +35,25 @@ runs:
         $install_dir = "${{ runner.workspace }}\vcpkg_installed"
         $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
 
-        # The file has been built locally with bundle-windows-deps.bat
+        # The 7z is built locally with bundle_windows_deps_cuda.bat and uploaded to a
-        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
+        # GitHub release. Resolve it by filename via the API (authenticated with the
-
+        # built-in token) so it works even from a *draft* release and regardless of
-        Invoke-WebRequest -Uri $url -OutFile $archivePath
+        # the (changing) asset id. Requires the workflow to run in-repo (github.token
+        # can't read introlab drafts from a fork PR).
+        $repo = "introlab/rtabmap"
+        $releaseTag = "0.23.8"
+        $assetName = "vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
+        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
+        # Select the release by tag_name (populated on drafts too, and unique), then
+        # take the asset from THAT release so concurrent releases can't be confused.
+        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
+               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
+        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
+        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
+        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
+        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
+        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
+        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
         & 7z x $archivePath "-o$install_dir" -y
 
     - name: Add vcpkg to PATH and env variable

.github/actions/install-windows-deps/action.yml

@@ -13,7 +13,7 @@ runs:
       uses: actions/cache@v4
       with:
         path: ${{ runner.workspace }}/vcpkg_installed
-        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v4
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v6
 
     - name: Download and Install vcpkg
       if: steps.cache-vcpkg.outputs.cache-hit != 'true'
@@ -22,10 +22,25 @@ runs:
         $install_dir = "${{ runner.workspace }}\vcpkg_installed"
         $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
 
-        # The file has been built locally with bundle-windows-deps.bat
+        # The 7z is built locally with bundle_windows_deps.bat and uploaded to a
-        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022.7z"
+        # GitHub release. Resolve it by filename via the API (authenticated with the
-
+        # built-in token) so it works even from a *draft* release and regardless of
-        Invoke-WebRequest -Uri $url -OutFile $archivePath
+        # the (changing) asset id. Requires the workflow to run in-repo (github.token
+        # can't read introlab drafts from a fork PR).
+        $repo = "introlab/rtabmap"
+        $releaseTag = "0.23.8"
+        $assetName = "vcpkg-export-66c0373d-x64-vs2022.7z"
+        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
+        # Select the release by tag_name (populated on drafts too, and unique), then
+        # take the asset from THAT release so concurrent releases can't be confused.
+        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
+               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
+        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
+        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
+        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
+        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
+        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
+        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
         & 7z x $archivePath "-o$install_dir" -y
 
     - name: Add vcpkg to PATH and env variable

.github/workflows/cmake-macos.yml

@@ -26,24 +26,19 @@ jobs:
         include:
         - build_name: macos-sequoia-intel
           os: macos-15-intel
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-sequoia-apple-silicon
           os: macos-15
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-tahoe-intel
           os: macos-26-intel
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-tahoe-apple-silicon
           os: macos-26
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
-
     steps:
     - uses: actions/checkout@v4
 
     - name: Install Brew Dependencies
       run: |
         # Update brew and install from Brewfile if present, or specific packages
-        brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb zlib
+        brew install pcl opencv octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
 
     - name: Install Source Dependencies
       # Build (and per-dependency cache) the source-only deps not available from
@@ -55,7 +50,21 @@ jobs:
 
     - name: Configure CMake
       run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
+        # Apple clang has no built-in OpenMP; point find_package(OpenMP) at
+        # Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of
+        # repeatedly logging "Could NOT find OpenMP".
+        LIBOMP=$(brew --prefix libomp)
+        cmake -B ${{github.workspace}}/build \
+          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
+          -DBUILD_AS_BUNDLE=ON \
+          -DWITH_ORBBEC_SDK=ON \
+          -DWITH_DEPTHAI=ON \
+          -DWITH_CERES=ON \
+          -DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
+          -DOpenMP_C_LIB_NAMES=omp \
+          -DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
+          -DOpenMP_CXX_LIB_NAMES=omp \
+          -DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib"
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

.github/workflows/cmake-windows.yml

@@ -74,6 +74,14 @@ jobs:
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
 
+    - name: Info
+      # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64),
+      # which need the NVIDIA driver; the GPU-less runner can't load the exe.
+      if: matrix.build_name != 'windows-2022-cuda'
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
     - name: Build Windows Package
       shell: pwsh
       run: |
@@ -88,11 +96,6 @@ jobs:
       shell: pwsh
       run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }
 
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        ./rtabmap-console --version
-
     - name: Upload RTABMap Artifacts (ZIP)
       uses: actions/upload-artifact@v4
       with:

app/src/CMakeLists.txt

@@ -151,14 +151,30 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
         IF(NOT OrbbecSDK_BIN_DIR)
             MESSAGE(FATAL_ERROR "OrbbecSDK.dll not found! Verify your PATH.")
         ENDIF(NOT OrbbecSDK_BIN_DIR)
-		MESSAGE(FATAL "OrbbecSDK_BIN_DIR=${OrbbecSDK_BIN_DIR}")
+        MESSAGE(STATUS "OrbbecSDK_BIN_DIR=${OrbbecSDK_BIN_DIR}")
         INSTALL(DIRECTORY "${OrbbecSDK_BIN_DIR}/extensions" 
           DESTINATION ${thirdparty_dest_dir} 
           COMPONENT runtime 
           FILES_MATCHING
           PATTERN "*.lib" EXCLUDE
           PATTERN "*")
-	ENDIF(WIN32)
+    ELSEIF(APPLE)
+        # OrbbecSDK loads its extensions (frame processor, filters like
+        # FrameUnpacker) via dlopen relative to libOrbbecSDK. fixup_bundle puts
+        # libOrbbecSDK in Contents/Frameworks, so the extensions must sit next to
+        # it in Frameworks/extensions (they reference @rpath/libOrbbecSDK, which
+        # resolves via the app executable's @executable_path/../Frameworks rpath).
+        # Without this the camera is detected but frame processing fails.
+        get_filename_component(OrbbecSDK_LIB_DIR "${OrbbecSDK_DIR}/../.." ABSOLUTE)
+        INSTALL(DIRECTORY "${OrbbecSDK_LIB_DIR}/extensions"
+          DESTINATION Frameworks
+          COMPONENT runtime)
+        IF(EXISTS "${OrbbecSDK_LIB_DIR}/OrbbecSDKConfig.xml")
+          INSTALL(FILES "${OrbbecSDK_LIB_DIR}/OrbbecSDKConfig.xml"
+            DESTINATION Frameworks
+            COMPONENT runtime)
+        ENDIF()
+    ENDIF(WIN32)
   ENDIF(OrbbecSDK_FOUND)
   
   IF(Torch_FOUND)
@@ -405,7 +421,17 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
   install(CODE "
     # Glob Qt Plugins
     file(GLOB_RECURSE ALL_LIBS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
-    
+
+    # OrbbecSDK loads its filter/frame-processor extensions via dlopen, and they
+    # link @rpath/libOrbbecSDK. Feed them to fixup_bundle so their reference is
+    # rewritten to the embedded libOrbbecSDK
+    file(GLOB ORBBEC_EXT_LIBS
+        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/Frameworks/extensions/filters/*${CMAKE_SHARED_LIBRARY_SUFFIX}\"
+        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/Frameworks/extensions/frameprocessor/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
+    if(ORBBEC_EXT_LIBS)
+        list(APPEND ALL_LIBS \${ORBBEC_EXT_LIBS})
+    endif()
+
     if(NOT \"${python_pyd_dir}\" STREQUAL \"\")
         file(GLOB_RECURSE PYD_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.pyd\")
         if(PYD_FILES)
@@ -421,6 +447,16 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
 	
     set(BU_CHMOD_BUNDLE_ITEMS ON)
     include(\"BundleUtilities\")
+    # nvcuvid.dll (NVDEC) and nvEncodeAPI64.dll (NVENC), and the CUDA driver API
+    # nvcuda.dll, ship with the NVIDIA GPU driver (System32), not the CUDA toolkit,
+    # so they are absent on driver-less CI runners and must never be bundled (they
+    # are resolved at runtime from the end user's driver). Mark them 'system' so
+    # fixup_bundle skips them instead of failing to resolve them.
+    function(gp_resolved_file_type_override resolved_file type_var)
+      if(resolved_file MATCHES \"(nvcuvid|nvEncodeAPI64|nvcuda)\")
+        set(\${type_var} \"system\" PARENT_SCOPE)
+      endif()
+    endfunction()
     fixup_bundle(\"${APPS}\" \"\${ALL_LIBS}\" \"${DIRS}\")
   " COMPONENT runtime)
 

app/src/main.cpp

@@ -52,6 +52,10 @@ int main(int argc, char* argv[])
 	ULogger::setLevel(ULogger::kWarning);
 
 #ifdef WIN32
+	// STA (single-threaded apartment) is required for the native file dialogs / File Explorer
+	// (see commit d75cc04, "Fixed File Explorer hanging (Qt 5.12)"). Do NOT switch to MTA
+	// (CoInitializeEx COINIT_MULTITHREADED): it deadlocks the
+	// native file dialogs.
 	CoInitialize(nullptr);
 #endif
 
@@ -60,6 +64,12 @@ int main(int argc, char* argv[])
     QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif
 
+	// Recommended by VTK when using QVTKOpenGLNativeWidget (a QOpenGLWidget): let all VTK
+	// render widgets share a single OpenGL context, which is needed for correct rendering
+	// when render widgets live in / move across multiple top-level windows. Must be set
+	// before QApplication is constructed.
+	QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
+
 	/* Create tasks */
 	QApplication * app = new QApplication(argc, argv);
 	app->setStyleSheet("QMessageBox { messagebox-text-interaction-flags: 5; }"); // selectable message box

bundle_windows_deps_cuda.bat

@@ -205,16 +205,15 @@ cmake -S . -B build -GNinja ^
   -DBUILD_PERF_TESTS=OFF ^
   -DOPENCV_ENABLE_NONFREE=ON ^
   -DBUILD_opencv_apps=OFF ^
-  -DBUILD_opencv_python3=ON ^
+  -DBUILD_opencv_cudacodec=OFF ^
-  -DPYTHON3_EXECUTABLE=%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe ^
+  -DBUILD_opencv_python3=OFF ^
-  -DPYTHON3_PACKAGES_PATH=bin/Lib/site-packages ^
+  -DBUILD_opencv_python_bindings_generator=OFF ^
+  -DBUILD_opencv_python_tests=OFF ^
   -DBUILD_opencv_java_bindings_generator=OFF ^
   -DWITH_CUDA=ON ^
   -DWITH_VTK=OFF ^
   -DWITH_TBB=ON || exit /b !errorlevel!
 cmake --build build --config Release --target install || exit /b !errorlevel!
-:: move cv2 package under tools/python3
-robocopy "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\Lib" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib" /E /MOVE /NFL /NDL /NJH /NC /NS /NP
 cd ..
 
 

corelib/include/rtabmap/core/SensorData.h

@@ -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;}

corelib/include/rtabmap/core/camera/CameraStereoZed.h

@@ -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 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
+			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);
 

corelib/include/rtabmap/core/lidar/LidarVLP16.h

@@ -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 */

corelib/src/Parameters.cpp

@@ -1247,7 +1247,12 @@ void readINIImpl(const CSimpleIniA & ini, const std::string & configFilePath, Pa
 				{
 					if(RTABMAP_VERSION_COMPARE(<, std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
 					{
-						if(configFilePath.find(".rtabmap") != std::string::npos)
+						// Detect the user's private config - matches both the legacy
+						// ~/.rtabmap/rtabmap.ini and the Windows %LOCALAPPDATA%/rtabmap/rtabmap.ini
+						// (".rtabmap/rtabmap.ini" also contains "rtabmap/rtabmap.ini"): downgrade-on-save is fine there.
+						// Accept both forward and backward slashes (native Windows paths).
+						if(configFilePath.find("rtabmap/rtabmap.ini") != std::string::npos ||
+						   configFilePath.find("rtabmap\\rtabmap.ini") != std::string::npos)
 						{
 							UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
 								   "current RTAB-Map version used (\"%s\"). The config file will be downgraded "

corelib/src/SensorCaptureThread.cpp

@@ -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);
+					std::vector<CameraModel> models = data.cameraModels();
-					CameraModel model = data.cameraModels()[0];
+					for(size_t i=0; i<models.size(); ++i)
-					model.setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera);
+					{
-					data.setCameraModel(model);
+						models[i].setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera*models[i].localTransform());
+					}
+					data.setCameraModels(models);
 				}
 				else if(!data.stereoCameraModels().empty())
 				{
-					UASSERT(data.stereoCameraModels().size()==1);
+					std::vector<StereoCameraModel> models = data.stereoCameraModels();
-					StereoCameraModel model = data.stereoCameraModels()[0];
+					for(size_t i=0; i<models.size(); ++i)
-					model.setLocalTransform(cameraCorrection*_extrinsicsOdomToCamera);
+					{
-					data.setStereoCameraModel(model);
+						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());

corelib/src/SensorData.cpp

@@ -952,6 +952,22 @@ void SensorData::setFeatures(const std::vector<cv::KeyPoint> & keypoints, const
 	_descriptors = descriptors;
 }
 
+void SensorData::setIMU(const IMU & imu)
+{
+	UASSERT(
+		uIsFinite(imu.orientation()[0]) && 
+		uIsFinite(imu.orientation()[1]) && 
+		uIsFinite(imu.orientation()[2]) && 
+		uIsFinite(imu.orientation()[3]) &&
+		uIsFinite(imu.angularVelocity()[0]) && 
+		uIsFinite(imu.angularVelocity()[1]) && 
+		uIsFinite(imu.angularVelocity()[2]) && 
+		uIsFinite(imu.linearAcceleration()[0]) &&
+		uIsFinite(imu.linearAcceleration()[1]) &&
+		uIsFinite(imu.linearAcceleration()[2]));
+	imu_ = imu;
+}
+
 unsigned long SensorData::getMemoryUsed() const // Return memory usage in Bytes
 {
 	return sizeof(SensorData) +

corelib/src/camera/CameraRealSense2.cpp

@@ -107,10 +107,14 @@ void CameraRealSense2::close()
 			{
 				if(!_sensor.get_active_streams().empty())
 				{
+					std::string sensorName = _sensor.supports(RS2_CAMERA_INFO_NAME) ? _sensor.get_info(RS2_CAMERA_INFO_NAME) : "?";
 					try
 					{
+						UDEBUG("stop() sensor \"%s\"...", sensorName.c_str());
 						_sensor.stop();
+						UDEBUG("stop() sensor \"%s\" done; close()...", sensorName.c_str());
 						_sensor.close();
+						UDEBUG("close() sensor \"%s\" done", sensorName.c_str());
 					}
 					catch(const rs2::error & error)
 					{
@@ -119,12 +123,15 @@ void CameraRealSense2::close()
 				}
 			}
 #ifdef WIN32
+			UDEBUG("Windows-only: Hardware reset (to avoid freezing when clearing devices)...");
 			dev_[i].hardware_reset(); // To avoid freezing on some Windows computers in the following destructor
 			// Don't do this on linux (tested on Ubuntu 18.04, realsense v2.41.0): T265 cannot be restarted
+			UDEBUG("Windows-only: Hardware reset... done");
 #endif
 		}
 		UDEBUG("Clearing devices...");
 		dev_.clear();
+		UDEBUG("Clearing devices... done!");
 	}
 	catch(const rs2::error & error)
 	{
@@ -554,10 +561,10 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		catch(const rs2::error & error)
 		{
 #ifdef __APPLE__
-			UWARN("%s. Is the camera already used with another app? On macOS, accessing a "
+			UERROR("%s. Is the camera already used with another app? On macOS, accessing a "
 			      "RealSense camera requires root privileges, so try running with sudo.", error.what());
 #else
-			UWARN("%s. Is the camera already used with another app?", error.what());
+			UERROR("%s. Is the camera already used with another app?", error.what());
 #endif
 		}
 

corelib/src/camera/CameraStereoZed.cpp

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UThread.h>
 #include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/utilite/UMath.h>
 
 #ifdef RTABMAP_ZED
 #include <sl/Camera.hpp>
@@ -77,7 +78,7 @@ static cv::Mat slMat2cvMat(sl::Mat& input) {
 #endif
 }
 
-Transform zedPoseToTransform(const sl::Pose & pose)
+static Transform zedPoseToTransform(const sl::Pose & pose)
 {
 	return Transform(
 			pose.pose_data.m[0], pose.pose_data.m[1], pose.pose_data.m[2], pose.pose_data.m[3],
@@ -86,7 +87,7 @@ Transform zedPoseToTransform(const sl::Pose & pose)
 }
 
 #if ZED_SDK_MAJOR_VERSION < 3
-IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform)
+static IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform)
 {
 	sl::Orientation orientation = imuData.pose_data.getOrientation();
 
@@ -124,7 +125,7 @@ IMU zedIMUtoIMU(const sl::IMUData & imuData, const Transform & imuLocalTransform
 			imuLocalTransform);
 }
 #else
-IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTransform)
+static IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTransform)
 {
     sl::Orientation orientation = sensorData.imu.pose.getOrientation();
 
@@ -161,6 +162,23 @@ IMU zedIMUtoIMU(const sl::SensorsData & sensorData, const Transform & imuLocalTr
             accCov,
             imuLocalTransform);
 }
+
+// sl::SensorsData::imu.is_available only means the camera has an IMU; a returned
+// sample can still contain NaN pose/accel/gyro (e.g. before the IMU fusion has
+// initialized, or in SVO/STREAM mode). Validate the actual measurements.
+static bool isImuValid(const sl::SensorsData & sensorData)
+{
+	if(!sensorData.imu.is_available)
+	{
+		return false;
+	}
+	const sl::float3 & acc = sensorData.imu.linear_acceleration;
+	const sl::float3 & gyr = sensorData.imu.angular_velocity;
+	const sl::Orientation ori = sensorData.imu.pose.getOrientation();
+	return uIsFinite(acc.v[0]) && uIsFinite(acc.v[1]) && uIsFinite(acc.v[2]) &&
+	       uIsFinite(gyr.v[0]) && uIsFinite(gyr.v[1]) && uIsFinite(gyr.v[2]) &&
+	       uIsFinite(ori.ox) && uIsFinite(ori.oy) && uIsFinite(ori.oz) && uIsFinite(ori.ow);
+}
 #endif
 
 class ZedIMUThread: public UThread
@@ -217,7 +235,7 @@ private:
 #else
         sl::SensorsData sensordata;
         sl::ERROR_CODE res = zed_->getSensorsData(sensordata, sl::TIME_REFERENCE::CURRENT);
-        if(res == sl::ERROR_CODE::SUCCESS && sensordata.imu.is_available)
+        if(res == sl::ERROR_CODE::SUCCESS && isImuValid(sensordata))
         {
         	camera_->postInterIMUPublic(zedIMUtoIMU(sensordata, imuLocalTransform_), double(sensordata.imu.timestamp.getNanoseconds())/10e8);
         }
@@ -251,6 +269,56 @@ int CameraStereoZed::sdkVersion()
 #endif
 }
 
+#ifdef RTABMAP_ZED
+static void backwardCompatibility(int & resolution, int & quality)
+{
+	// -1 = AUTO, 0=HD4K 1=QHDPLUS 2=HD2K 3=HD1536 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA 9=XVGA 10=TXVGA
+#if ZED_SDK_MAJOR_VERSION < 4
+	// Zed3 Supported: 2=HD2K 4=HD1080 6=HD720 8=VGA
+	if(resolution == 0 || resolution == 1) // 0=HD4K 1=QHDPLUS
+	{
+		UWARN("Zed SDK v3 doesn't support HD4K and QHDPLUS, setting HD2K.");
+		resolution = 2; // 2=HD2K
+	}
+	if(resolution == 3 || resolution == 5) // 3=HD1536 5=HD1200
+	{
+		UWARN("Zed SDK v3 doesn't support HD1536 and HD1200, setting HD1080.");
+		resolution = 4; // 4=HD1080
+	}
+	if(resolution == 7 || resolution >=9) // 7=SVGA 9=XVGA 10=TXVGA
+	{
+		UWARN("Zed SDK v3 doesn't support SVGA, XVGA and TXVGA, setting VGA.");
+		resolution = 8; // 8=VGA
+	}
+	if(quality == 4) { // 4=NEURAL_LIGHT 6=NEURAL_PLUS
+		UWARN("Zed SDK v3 doesn't support NEURAL_LIGHT and NEURAL PLUS, setting NEURAL.");
+		quality = 5; // NEURAL
+	}
+#else 
+	if(resolution == -1)
+	{
+		resolution = int(sl::RESOLUTION::AUTO); // AUTO
+	}
+#if ZED_SDK_MAJOR_VERSION < 5
+	// Zed4 Supported: 0=HD4K 1=QHDPLUS 2=HD2K 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA
+	if(resolution == 3) // 3=HD1536
+	{
+		UWARN("Zed SDK v4 doesn't support HD1536, setting HD1200.");
+		resolution_ = 5; // 5=HD1200
+	}
+	if(resolution >=9) // 9=XVGA 10=TXVGA
+	{
+		UWARN("Zed SDK v4 doesn't support XVGA and TXVGA, setting VGA.");
+		resolution = 8; // 8=VGA
+	}
+	if(quality > 5) { // NEURAL_PLUS
+		UWARN("Zed SDK v4 doesn't support NEURAL_LIGHT and NEURAL PLUS, setting NEURAL.");
+		quality = 5; // NEURAL
+	}
+#endif
+#endif
+}
+#endif
 
 CameraStereoZed::CameraStereoZed(
 		int deviceId,
@@ -285,29 +353,8 @@ CameraStereoZed::CameraStereoZed(
 {
 	UDEBUG("");
 #ifdef RTABMAP_ZED
-#if ZED_SDK_MAJOR_VERSION < 4
+	
-	if(resolution_ == 1 || resolution_ == 2) // HD2K, HD1080
+	backwardCompatibility(resolution_, quality_);
-	{
-		resolution_ -= 1; // HD2K=0, HD1080=1
-	}
-	if(resolution_ == 3) // HD1200
-	{
-		resolution_ = 1; // HD1080=1
-	}
-	if(resolution_ == 4 || resolution_ == -1)
-	{
-		resolution_ = 2; // HD720=2
-	}
-	else if(resolution_ == 5 || resolution_ == 6) // SVGA, VGA
-	{
-		resolution_ = 3; // VGA=3
-	}
-#else // ZED=4
-	if(resolution_ == -1)
-	{
-		resolution_ = int(sl::RESOLUTION::AUTO); // AUTO
-	}
-#endif
 
 #if ZED_SDK_MAJOR_VERSION < 3
 	UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
@@ -371,6 +418,7 @@ CameraStereoZed::CameraStereoZed(
 {
 	UDEBUG("");
 #ifdef RTABMAP_ZED
+	backwardCompatibility(resolution_, quality_);
 #if ZED_SDK_MAJOR_VERSION < 3
 	UASSERT(resolution_ >= sl::RESOLUTION_HD2K && resolution_ <sl::RESOLUTION_LAST);
 	UASSERT(quality_ >= sl::DEPTH_MODE_NONE && quality_ <sl::DEPTH_MODE_LAST);
@@ -406,6 +454,33 @@ CameraStereoZed::~CameraStereoZed()
 #endif
 }
 
+std::string CameraStereoZed::getNeuralModelWarning(int quality)
+{
+	(void)quality;
+#if defined(RTABMAP_ZED) && ZED_SDK_MAJOR_VERSION >= 5
+	sl::DEPTH_MODE depthMode = (sl::DEPTH_MODE)quality;
+	if(depthMode == sl::DEPTH_MODE::NEURAL_LIGHT ||
+	   depthMode == sl::DEPTH_MODE::NEURAL ||
+	   depthMode == sl::DEPTH_MODE::NEURAL_PLUS)
+	{
+		sl::AI_MODELS aiModel =
+			depthMode == sl::DEPTH_MODE::NEURAL_LIGHT ? sl::AI_MODELS::NEURAL_LIGHT_DEPTH :
+			depthMode == sl::DEPTH_MODE::NEURAL_PLUS  ? sl::AI_MODELS::NEURAL_PLUS_DEPTH :
+			                                            sl::AI_MODELS::NEURAL_DEPTH;
+		sl::AI_Model_status status = sl::checkAIModelStatus(aiModel);
+		if(!status.downloaded || !status.optimized)
+		{
+			return uFormat("The selected ZED NEURAL depth model is not ready yet (downloaded=%s, "
+			               "optimized=%s): the first start may take significantly longer while the "
+			               "ZED SDK downloads and/or optimizes the model for your GPU. Subsequent "
+			               "starts will be faster.",
+			               status.downloaded?"true":"false", status.optimized?"true":"false");
+		}
+	}
+#endif
+	return std::string();
+}
+
 bool CameraStereoZed::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
 	UDEBUG("");
@@ -463,9 +538,35 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 		r = zed_->open(param);
 	}
 
+#if ZED_SDK_MAJOR_VERSION >= 3
+	// CORRUPTED_SDK_INSTALLATION on open() is typically a NEURAL depth mode whose optional
+	// neural/TensorRT runtime files aren't installed. Give a clear, actionable error.
+	if(r == sl::ERROR_CODE::CORRUPTED_SDK_INSTALLATION &&
+#if ZED_SDK_MAJOR_VERSION >= 5
+		param.depth_mode >= sl::DEPTH_MODE::NEURAL_LIGHT)
+#else
+		param.depth_mode >= sl::DEPTH_MODE::NEURAL)
+#endif
+	{
+		UERROR("ZED open() returned \"%s\": the optional NEURAL/TensorRT runtime files are "
+		       "likely missing. Install ZED SDK %d.%d, or select a non-NEURAL depth mode "
+		       "(e.g. PERFORMANCE).", toString(r).c_str(), ZED_SDK_MAJOR_VERSION, ZED_SDK_MINOR_VERSION);
+		// Do NOT delete zed_ here: after a CORRUPTED_SDK_INSTALLATION open failure (NEURAL depth
+		// mode selected but the TensorRT/neural runtime isn't installed) the ZED SDK is left in a
+		// bad state and ~sl::Camera() crashes inside sl_zed64.dll. Leak the object (one-time,
+		// terminal error path) so we fail gracefully with the message above instead of crashing.
+		zed_ = 0;
+		return false;
+	}
+#endif
+
 	if(r!=sl::ERROR_CODE::SUCCESS)
 	{
+#if ZED_SDK_MAJOR_VERSION >= 4
+		UERROR("Camera initialization failed: \"%s\": %s", toString(r).c_str(), toVerbose(r).c_str());
+#else
 		UERROR("Camera initialization failed: \"%s\"", toString(r).c_str());
+#endif
 		delete zed_;
 		zed_ = 0;
 		return false;
@@ -502,7 +603,11 @@ bool CameraStereoZed::init(const std::string & calibrationFolder, const std::str
 #endif
         if(r!=sl::ERROR_CODE::SUCCESS)
 		{
+#if ZED_SDK_MAJOR_VERSION >= 4
+			UERROR("Camera tracking initialization failed: \"%s\": %s", toString(r).c_str(), toVerbose(r).c_str());
+#else
 			UERROR("Camera tracking initialization failed: \"%s\"", toString(r).c_str());
+#endif
 		}
 	}
 
@@ -731,16 +836,24 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 			res = zed_->grab(rparam);
 			timestamp = zed_->getTimestamp(sl::TIME_REFERENCE::IMAGE);
 
-			// If the sensor supports IMU, wait IMU to be available before sending data.
+			// If the sensor supports IMU, wait for IMU to be available before sending data.
 			if(imuPublishingThread_ == 0 && !imuLocalTransform_.isNull())
 			{
 				 sl::SensorsData imudatatmp;
 				res = zed_->getSensorsData(imudatatmp, sl::TIME_REFERENCE::IMAGE);
-				imuReceived = res == sl::ERROR_CODE::SUCCESS && imudatatmp.imu.is_available && imudatatmp.imu.timestamp.getNanoseconds() != 0;
+				imuReceived = res == sl::ERROR_CODE::SUCCESS && isImuValid(imudatatmp) && imudatatmp.imu.timestamp.getNanoseconds() != 0;
 			}
 		}
 		while(src_ == CameraVideo::kUsbDevice && (res!=sl::ERROR_CODE::SUCCESS || !imuReceived) && timer.elapsed() < 2.0);
 
+		// If no valid IMU arrived within the 2 sec startup window, null the IMU transform so
+		// we don't re-wait 2 sec on every subsequent frame (camera likely has no working IMU).
+		if(imuPublishingThread_ == 0 && !imuLocalTransform_.isNull() && !imuReceived)
+		{
+			UWARN("No valid IMU received within 2 sec; ignoring IMU for the rest of this session.");
+			imuLocalTransform_.setNull();
+		}
+
         if(res==sl::ERROR_CODE::SUCCESS)
 #endif
 		{
@@ -794,7 +907,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 #endif
 			}
 
-			if(imuPublishingThread_ == 0)
+			if(imuPublishingThread_ == 0 && !imuLocalTransform_.isNull())
 			{
 #if ZED_SDK_MAJOR_VERSION < 3
 				sl::IMUData imudata;
@@ -803,7 +916,7 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 #else
                 sl::SensorsData imudata;
                 res = zed_->getSensorsData(imudata, sl::TIME_REFERENCE::IMAGE);
-                if(res == sl::ERROR_CODE::SUCCESS && imudata.imu.is_available)
+                if(res == sl::ERROR_CODE::SUCCESS && isImuValid(imudata))
 #endif
 				{
 					//ZED-Mini
@@ -876,7 +989,11 @@ SensorData CameraStereoZed::captureImage(SensorCaptureInfo * info)
 		}
 		else if(src_ == CameraVideo::kUsbDevice)
 		{
+#if ZED_SDK_MAJOR_VERSION >= 4
+			UERROR("CameraStereoZed: Failed to grab images after 2 seconds! (%s: %s)", toString(res).c_str(), toVerbose(res).c_str());
+#else
 			UERROR("CameraStereoZed: Failed to grab images after 2 seconds!");
+#endif
 		}
 		else
 		{

corelib/src/lidar/LidarVLP16.cpp

@@ -34,6 +34,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define VLP_DUAL_MODE 0x39
 #endif
 
+// RTABMAP_VLP16_USE_CUSTOM_SOCKET is defined (Apple only, and toggleable) in
+// LidarVLP16.h. When set, network mode uses our own single-threaded UDP receive
+// loop; otherwise start()/stop()/isRunning() delegate to pcl::VLPGrabber.
+
 namespace rtabmap {
 
 /** @brief Function used to check that hour assigned to timestamp in conversion is
@@ -92,8 +96,17 @@ LidarVLP16::LidarVLP16(
 	startSweepTimeHost_(0),
 	organized_(organized),
 	useHostTime_(false),
-	stampLast_(stampLast)
+	stampLast_(stampLast),
+	networkMode_(false),
+	port_(0),
+	receivedScan_(false)
+#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
+	,socket_(0)
+	,readThread_(0)
+	,terminate_(false)
+#endif
 {
+	// ipAddress_ unused in PCAP mode (default-constructed / unspecified).
 	UDEBUG("Using PCAP file \"%s\"", pcapFile.c_str());
 }
 LidarVLP16::LidarVLP16(
@@ -111,7 +124,19 @@ LidarVLP16::LidarVLP16(
 	startSweepTimeHost_(0),
 	organized_(organized),
 	useHostTime_(useHostTime),
-	stampLast_(stampLast)
+	stampLast_(stampLast),
+	// networkMode_ = live network capture (vs PCAP playback), on all platforms;
+	// it drives the "no data received" warning below. The custom socket path it
+	// also selects in start()/stop() is Apple-only (RTABMAP_VLP16_USE_CUSTOM_SOCKET).
+	networkMode_(true),
+	ipAddress_(ipAddress),
+	port_(port),
+	receivedScan_(false)
+#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
+	,socket_(0)
+	,readThread_(0)
+	,terminate_(false)
+#endif
 {
 	UDEBUG("Using network lidar with IP=%s port=%d", ipAddress.to_string().c_str(), port);
 }
@@ -129,6 +154,132 @@ void LidarVLP16::setOrganized(bool enable)
 	organized_ = true;
 }
 
+#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
+void LidarVLP16::start()
+{
+	if(networkMode_)
+	{
+		if(readThread_ != 0)
+		{
+			// already running
+			return;
+		}
+
+		terminate_ = false;
+		// ipAddress_ is the LOCAL interface to listen on (as in pcl::HDLGrabber),
+		// not the sensor's address. Binding to a specific local IP scopes
+		// reception to that NIC on a multi-homed host. If it is unspecified
+		// (0.0.0.0) or not a local address (e.g. the sensor's IP was entered by
+		// mistake), fall back to listening on all interfaces, like pcl::HDLGrabber.
+		try
+		{
+			boost::asio::ip::udp::endpoint endpoint(
+					ipAddress_.is_unspecified() ? boost::asio::ip::address(boost::asio::ip::address_v4::any()) : ipAddress_,
+					port_);
+			// Unlike pcl::HDLGrabber, we read and process packets in a single
+			// thread instead of a producer/consumer queue. A large receive buffer
+			// lets the kernel hold a backlog (~800 VLP16 packets here) so a brief
+			// stall in toPointClouds() doesn't drop packets.
+			const int receiveBufferSize = 1024 * 1024; // 1 MB
+			try
+			{
+				socket_ = new boost::asio::ip::udp::socket(ioContext_);
+				socket_->open(boost::asio::ip::udp::v4());
+				socket_->set_option(boost::asio::socket_base::reuse_address(true));
+				socket_->set_option(boost::asio::socket_base::receive_buffer_size(receiveBufferSize));
+				socket_->bind(endpoint);
+			}
+			catch(const std::exception & e)
+			{
+				UWARN("Could not bind VLP16 socket to local address %s (%s); "
+					"falling back to listening on all interfaces (0.0.0.0).",
+					endpoint.address().to_string().c_str(), e.what());
+				delete socket_;
+				socket_ = new boost::asio::ip::udp::socket(ioContext_);
+				socket_->open(boost::asio::ip::udp::v4());
+				socket_->set_option(boost::asio::socket_base::reuse_address(true));
+				socket_->set_option(boost::asio::socket_base::receive_buffer_size(receiveBufferSize));
+				socket_->bind(boost::asio::ip::udp::endpoint(boost::asio::ip::address_v4::any(), port_));
+			}
+		}
+		catch(const std::exception & e)
+		{
+			UERROR("Failed to bind to VLP16 UDP port %d: %s", (int)port_, e.what());
+			delete socket_;
+			socket_ = 0;
+			return;
+		}
+		receivedScan_ = false;
+		readThread_ = new std::thread(&LidarVLP16::readPackets, this);
+		return;
+	}
+	// PCAP mode: use the base grabber.
+	pcl::VLPGrabber::start();
+}
+
+void LidarVLP16::stop()
+{
+	if(networkMode_)
+	{
+		terminate_ = true;
+		if(socket_ != 0)
+		{
+			// Closing the socket unblocks receive_from in the read thread. Because
+			// that call uses the non-throwing (error_code) overload, the EBADF that
+			// BSD/macOS returns here surfaces as an error code instead of an
+			// exception, so the thread exits cleanly rather than aborting.
+			boost::system::error_code ec;
+			socket_->close(ec);
+		}
+		if(readThread_ != 0)
+		{
+			readThread_->join();
+			delete readThread_;
+			readThread_ = 0;
+		}
+		delete socket_;
+		socket_ = 0;
+		return;
+	}
+	pcl::VLPGrabber::stop();
+}
+
+bool LidarVLP16::isRunning() const
+{
+	if(networkMode_)
+	{
+		return readThread_ != 0;
+	}
+	return pcl::VLPGrabber::isRunning();
+}
+
+void LidarVLP16::readPackets()
+{
+	std::uint8_t data[1500];
+	boost::asio::ip::udp::endpoint sender;
+	while(!terminate_)
+	{
+		boost::system::error_code ec;
+		std::size_t length = socket_->receive_from(boost::asio::buffer(data, sizeof(data)), sender, 0, ec);
+		if(ec)
+		{
+			// On stop() the socket is closed under us (bad_descriptor /
+			// operation_aborted); only warn if it wasn't an expected shutdown.
+			if(!terminate_)
+			{
+				UWARN("VLP16 socket receive error: %s", ec.message().c_str());
+			}
+			break;
+		}
+		// VLP-16 data packets are 1206 bytes; ignore anything shorter.
+		if(length >= 1206)
+		{
+			toPointClouds(reinterpret_cast<HDLDataPacket*>(data));
+		}
+	}
+}
+#endif // RTABMAP_VLP16_USE_CUSTOM_SOCKET
+
 bool LidarVLP16::init(const std::string &, const std::string &)
 {
 	UDEBUG("Init lidar");
@@ -365,8 +516,22 @@ SensorData LidarVLP16::captureData(SensorCaptureInfo * info)
 		{
 			data = lastScan_;
 			lastScan_ = SensorData();
+			receivedScan_ = true;
 		}
 	}
+	else if(networkMode_ && !receivedScan_)
+	{
+		// No packet has ever arrived: most likely the sensor isn't sending data
+		// to this computer. Point the user at the configured listening endpoint.
+		UWARN("Did not receive any VLP16 data packets for the past 5 seconds. "
+			"This computer is listening on %s:%d (%s). Make sure the LiDAR is "
+			"powered on and configured to send its data to this computer's IP "
+			"address on UDP port %d (set the data destination host in the "
+			"LiDAR's own web/configuration interface).",
+			ipAddress_.to_string().c_str(), (int)port_,
+			ipAddress_.is_unspecified() ? "all local interfaces" : "this interface only",
+			(int)port_);
+	}
 	else
 	{
 		UWARN("Did not receive any scans for the past 5 seconds.");

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -130,6 +130,12 @@ public:
 
 	virtual QString getIniFilePath() const;
 	virtual QString getTmpIniFilePath() const;
+	// When running under sudo, Qt's QSettings replaces the ini with a
+	// root-owned file (write-temp + rename), so later non-root runs can no
+	// longer save preferences. Restore the invoking user's ownership (from
+	// SUDO_UID/SUDO_GID) on the config file and its directory. No-op on Windows
+	// and when not running as root. Best-effort (ignores failures).
+	static void restoreConfigOwnership(const QString & filePath);
 	void init(const QString & iniFilePath = "");
 	void setCurrentPanelToSource();
 	virtual QString getDefaultWorkingDirectory() const;
@@ -263,6 +269,9 @@ public:
 	PreferencesDialog::Src getSourceDriver() const;
 	QString getSourceDriverStr() const;
 	QString getSourceDevice() const;
+	// Non-empty warning to show before opening the selected source when init() is expected to be
+	// unusually slow; empty otherwise.
+	QString getSourceInitWarningMsg() const;
 	PreferencesDialog::Src getLidarSourceDriver() const;
 	PreferencesDialog::Src getOdomSourceDriver() const;
 

guilib/src/DatabaseViewer.cpp

@@ -39,6 +39,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtCore/QTextStream>
 #include <QtCore/QDateTime>
 #include <QtCore/QSettings>
+#include <QtCore/QDir>
+#include <QtCore/QFile>
+#include <QtCore/QStandardPaths>
 #include <QThread>
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UDirectory.h>
@@ -583,12 +586,33 @@ QString DatabaseViewer::getIniFilePath() const
 	{
 		return iniFilePath_;
 	}
+#ifdef WIN32
+	// Windows: store settings in the standard per-user config location (%LOCALAPPDATA%\rtabmap)
+	// instead of a Unix-style dotfile in the home root. A fixed "rtabmap" folder (not the app name)
+	// is used so the main GUI and DatabaseViewer share the same rtabmap.ini. Other platforms keep
+	// ~/.rtabmap for consistency.
+	QString privatePath = QStandardPaths::writableLocation(QStandardPaths::GenericConfigLocation) + "/rtabmap";
+#else
 	QString privatePath = QDir::homePath() + "/.rtabmap";
+#endif
 	if(!QDir(privatePath).exists())
 	{
-		QDir::home().mkdir(".rtabmap");
+		QDir().mkpath(privatePath);
 	}
-	return privatePath + "/rtabmap.ini";
+	QString iniPath = privatePath + "/rtabmap.ini";
+#ifdef WIN32
+	// One-time migration: if there's no ini at the new location but the legacy ~/.rtabmap/rtabmap.ini
+	// exists, copy it over so users keep their existing settings.
+	if(!QFile::exists(iniPath))
+	{
+		QString legacyIni = QDir::homePath() + "/.rtabmap/rtabmap.ini";
+		if(QFile::exists(legacyIni))
+		{
+			QFile::copy(legacyIni, iniPath);
+		}
+	}
+#endif
+	return iniPath;
 }
 
 void DatabaseViewer::readSettings()

guilib/src/MainWindow.cpp

@@ -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)
 	{

guilib/src/PreferencesDialog.cpp

@@ -39,9 +39,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <QtCore/QSettings>
 #include <QtCore/QDir>
+#include <QtCore/QFile>
+#include <QtCore/QFileInfo>
+#include <QtCore/QStandardPaths>
 #include <QtCore/QTimer>
 #include <QUrl>
 
+#ifndef _WIN32
+#include <unistd.h>   // geteuid, chown
+#include <sys/types.h>
+#include <cstdlib>    // atoi, getenv
+#include <cerrno>
+#include <cstring>    // strerror
+#endif
+
 #include <QButtonGroup>
 #include <QFileDialog>
 #include <QInputDialog>
@@ -49,6 +60,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <QtGui/QStandardItemModel>
 #include <QMainWindow>
 #include <QProgressDialog>
+#include <QApplication>
+#include <QLabel>
+#include <functional>
 #include <QScrollBar>
 #include <QStatusBar>
 #include <QFormLayout>
@@ -437,12 +451,29 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 		_ui->comboBox_cameraStereo->setItemData(kSrcStereoZed - kSrcStereo, 0, Qt::UserRole - 1);
 		_ui->comboBox_odom_sensor->setItemData(2, 0, Qt::UserRole - 1);
 	}
-	else if(CameraStereoZed::sdkVersion() < 4)
+	else
 	{
-		_ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1);
+		if(CameraStereoZed::sdkVersion() < 5)
-		_ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1);
+		{
-		_ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1);
+			// SDK 4.X
-		_ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1);
+			_ui->comboBox_stereoZed_quality->setItemData(5, 0, Qt::UserRole - 1); // NEURAL_ULTRA
+			_ui->comboBox_stereoZed_resolution->setItemData(4, 0, Qt::UserRole - 1); //HD1536
+			_ui->comboBox_stereoZed_resolution->setItemData(10, 0, Qt::UserRole - 1); //XVGA
+			_ui->comboBox_stereoZed_resolution->setItemData(11, 0, Qt::UserRole - 1); //TXGA 
+		}
+		if(CameraStereoZed::sdkVersion() < 4)
+		{
+			// SDK 3.X
+			_ui->comboBox_stereoZed_quality->setItemData(3, 0, Qt::UserRole - 1); // NEURAL_LIGHT
+			_ui->comboBox_stereoZed_resolution->setItemData(1, 0, Qt::UserRole - 1); // HD4K
+			_ui->comboBox_stereoZed_resolution->setItemData(2, 0, Qt::UserRole - 1); // QHDPLUS
+			_ui->comboBox_stereoZed_resolution->setItemData(6, 0, Qt::UserRole - 1); // HD1200
+			_ui->comboBox_stereoZed_resolution->setItemData(8, 0, Qt::UserRole - 1); // SVGA
+		}
+		if(CameraStereoZed::sdkVersion() < 3)
+		{
+			_ui->comboBox_stereoZed_quality->setItemData(4, 0, Qt::UserRole - 1); // NEURAL
+		}
 	}
     if (!CameraStereoTara::available())
     {
@@ -985,7 +1016,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->lineEdit_vlp16_pcap_path, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_ip1, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_ip2, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->spinBox_vlp16_ip2, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
+	connect(_ui->spinBox_vlp16_ip3, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_ip4, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->spinBox_vlp16_port, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_vlp16_organized, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -2440,10 +2471,10 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 
 		_ui->lineEdit_lidar_local_transform->setText("0 0 0 0 0 0");
 		_ui->lineEdit_vlp16_pcap_path->clear();
-		_ui->spinBox_vlp16_ip1->setValue(192);
+		_ui->spinBox_vlp16_ip1->setValue(0);
-		_ui->spinBox_vlp16_ip2->setValue(168);
+		_ui->spinBox_vlp16_ip2->setValue(0);
-		_ui->spinBox_vlp16_ip3->setValue(1);
+		_ui->spinBox_vlp16_ip3->setValue(0);
-		_ui->spinBox_vlp16_ip4->setValue(201);
+		_ui->spinBox_vlp16_ip4->setValue(0);
 		_ui->spinBox_vlp16_port->setValue(2368);
 		_ui->checkBox_vlp16_organized->setChecked(false);
 		_ui->checkBox_vlp16_hostTime->setChecked(true);
@@ -2559,12 +2590,33 @@ QString PreferencesDialog::getWorkingDirectory() const
 
 QString PreferencesDialog::getIniFilePath() const
 {
+#ifdef WIN32
+	// Windows: store settings in the standard per-user config location (%LOCALAPPDATA%\rtabmap)
+	// instead of a Unix-style dotfile in the home root. A fixed "rtabmap" folder (not the app name)
+	// is used so the main GUI and DatabaseViewer share the same rtabmap.ini. Other platforms keep
+	// ~/.rtabmap for consistency.
+	QString privatePath = QStandardPaths::writableLocation(QStandardPaths::GenericConfigLocation) + "/rtabmap";
+#else
 	QString privatePath = QDir::homePath() + "/.rtabmap";
+#endif
 	if(!QDir(privatePath).exists())
 	{
-		QDir::home().mkdir(".rtabmap");
+		QDir().mkpath(privatePath);
 	}
-	return privatePath + "/rtabmap.ini";
+	QString iniPath = privatePath + "/rtabmap.ini";
+#ifdef WIN32
+	// One-time migration: if there's no ini at the new location but the legacy ~/.rtabmap/rtabmap.ini
+	// exists, copy it over so users keep their existing settings.
+	if(!QFile::exists(iniPath))
+	{
+		QString legacyIni = QDir::homePath() + "/.rtabmap/rtabmap.ini";
+		if(QFile::exists(legacyIni))
+		{
+			QFile::copy(legacyIni, iniPath);
+		}
+	}
+#endif
+	return iniPath;
 }
 
 QString PreferencesDialog::getTmpIniFilePath() const
@@ -2572,6 +2624,41 @@ QString PreferencesDialog::getTmpIniFilePath() const
 	return getIniFilePath()+".tmp";
 }
 
+void PreferencesDialog::restoreConfigOwnership(const QString & filePath)
+{
+#ifndef _WIN32
+	// Only relevant when the process is effectively root (e.g. launched with
+	// sudo). getenv("SUDO_UID"/"SUDO_GID") give the invoking user.
+	if(geteuid() == 0)
+	{
+		const char * sudoUid = getenv("SUDO_UID");
+		const char * sudoGid = getenv("SUDO_GID");
+		if(sudoUid && sudoGid)
+		{
+			uid_t uid = (uid_t)atoi(sudoUid);
+			gid_t gid = (gid_t)atoi(sudoGid);
+			// Restore the config file and its containing directory so the user
+			// can still write preferences without sudo afterwards.
+			if(!filePath.isEmpty() && QFile::exists(filePath))
+			{
+				if(chown(filePath.toStdString().c_str(), uid, gid) != 0)
+				{
+					UWARN("Could not restore ownership of \"%s\" to uid=%d (%s).",
+							filePath.toStdString().c_str(), (int)uid, strerror(errno));
+				}
+			}
+			QString dir = QFileInfo(filePath).absolutePath();
+			if(!dir.isEmpty())
+			{
+				chown(dir.toStdString().c_str(), uid, gid);
+			}
+		}
+	}
+#else
+	Q_UNUSED(filePath);
+#endif
+}
+
 void PreferencesDialog::loadConfigFrom()
 {
 	QString path = QFileDialog::getOpenFileName(this, tr("Load settings..."), this->getWorkingDirectory(), "*.ini");
@@ -3242,6 +3329,9 @@ void PreferencesDialog::writeSettings(const QString & filePath)
 	uInsert(_parameters, _modifiedParameters); // update cached parameters
 	_modifiedParameters.clear();
 	_obsoletePanels = kPanelDummy;
+
+	// Keep the ini writable by the invoking user even if we are running as root.
+	restoreConfigOwnership(filePath.isEmpty() ? getIniFilePath() : filePath);
 }
 
 void PreferencesDialog::writeGuiSettings(const QString & filePath) const
@@ -6635,6 +6725,16 @@ QString PreferencesDialog::getSourceDriverStr() const
 	return "";
 }
 
+QString PreferencesDialog::getSourceInitWarningMsg() const
+{
+	if(getSourceDriver() == kSrcStereoZed)
+	{
+		return QString::fromStdString(
+			CameraStereoZed::getNeuralModelWarning(_ui->comboBox_stereoZed_quality->currentIndex()));
+	}
+	return QString();
+}
+
 QString PreferencesDialog::getSourceDevice() const
 {
 	return _ui->lineEdit_sourceDevice->text();
@@ -6820,11 +6920,11 @@ double PreferencesDialog::getSourceScanForceGroundNormalsUp() const
 Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 {
 	return createCamera(
-		this->getSourceDriver(), 
+		this->getSourceDriver(),
-		_ui->lineEdit_sourceDevice->text(), 
+		_ui->lineEdit_sourceDevice->text(),
-		_ui->lineEdit_calibrationFile->text(), 
+		_ui->lineEdit_calibrationFile->text(),
-		useRawImages, 
+		useRawImages,
-		useColor, 
+		useColor,
 		false,
 		false);
 }
@@ -7728,7 +7828,30 @@ void PreferencesDialog::setSLAMMode(bool enabled)
 
 void PreferencesDialog::testOdometry()
 {
+	QString startLabel = tr("Starting camera...");
+	QString initWarn = 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
+
 	Camera * camera = this->createCamera();
+	progress.hide();
 	if(!camera)
 	{
 		return;
@@ -7776,12 +7899,13 @@ void PreferencesDialog::testOdometry()
 			_ui->odom_dataBufferSize->value());
 	odomThread.registerToEventsManager();
 
+	// parent = 0 (not 'this'): see testCamera() - avoids the nested-modality crash.
 	OdometryViewer * odomViewer = new OdometryViewer(10,
 					_ui->spinBox_decimation_odom->value(),
 					0.0f,
 					_ui->doubleSpinBox_maxDepth_odom->value(),
 					this->getOdomQualityWarnThr(),
-					this,
+					0,
 					this->getAllParameters());
 	odomViewer->setWindowTitle(tr("Odometry viewer"));
 	odomViewer->resize(1280, 480+QPushButton().minimumHeight());
@@ -7843,25 +7967,79 @@ void PreferencesDialog::testOdometry()
 	}
 
 	odomViewer->exec();
-	delete odomViewer;
+	UDEBUG("Dialog closed, stopping sensor...");
+
+	// Tear down the pipes first so no more events are routed to the threads/viewer being
+	// destroyed, then stop the threads, then delete the viewer. This avoids delivering
+	// events to a handler that is being torn down.
+	UEventsManager::removePipe(&cameraThread, &odomThread, "SensorEvent");
+	if(imuThread)
+	{
+		UEventsManager::removePipe(imuThread, &odomThread, "IMUEvent");
+	}
+	UEventsManager::removePipe(&odomThread, odomViewer, "OdometryEvent");
+	UEventsManager::removePipe(odomViewer, &odomThread, "OdometryResetEvent");
 
 	if(imuThread)
 	{
 		imuThread->join(true);
-		delete imuThread;
 	}
+
+	// Reuse the same dialog for the close. The device close() runs in cameraThread's destructor
+	// at function scope end (not in join()), so 'progress' stays visible across it. On Windows
+	// the first 2-3 RealSense closes per launch stall ~20s in the Motion Module stop().
+	progress.setLabelText(tr("Closing camera..."));
+	progress.show();
+	QApplication::processEvents();
+	QApplication::processEvents(); // make sure it is drawn
 	cameraThread.join(true);
 	odomThread.join(true);
+
+	// deleteLater() (not delete): see testCamera() - avoids a dangling OpenGL platform
+	// window that crashes in QWindowsWindow::alertWindow when Preferences later closes.
+	odomViewer->deleteLater();
+	if(imuThread)
+	{
+		delete imuThread;
+	}
 }
 
 void PreferencesDialog::testCamera()
 {
-	CameraViewer * window = new CameraViewer(this, this->getAllParameters());
+	// Not parented to 'this': the Preferences dialog is itself application-modal, and making
+	// the viewer a modal *child* of it (nested modality) with an OpenGL/VTK native window
+	// crashes Qt (QWindowsWindow::alertWindow, this==nullptr) when Preferences later closes.
+	// exec() below still makes the viewer application-modal, so interaction stays blocked.
+	CameraViewer * window = new CameraViewer(nullptr, this->getAllParameters());
 	window->setWindowTitle(tr("Camera viewer"));
 	window->resize(1280, 480+QPushButton().minimumHeight());
 	window->registerToEventsManager();
 
+	QString startLabel = tr("Starting camera...");
+	QString initWarn = 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
+
+	// createCamera() init()s the device on the GUI thread (required by ZED) and takes a few seconds.
 	Camera * camera = this->createCamera();
+	progress.hide();
 	if(camera)
 	{
 		SensorCaptureThread cameraThread(camera, this->getAllParameters());
@@ -7906,12 +8084,26 @@ void PreferencesDialog::testCamera()
 
 		cameraThread.start();
 		window->exec();
-		delete window;
+		UDEBUG("Dialog closed, stopping sensor...");
-		cameraThread.join(true);
+		UEventsManager::removePipe(&cameraThread, window, "SensorEvent");
+
+		// Reuse the same dialog for the close. The device close() runs in cameraThread's
+		// destructor at scope end (not in join()), so 'progress' - declared in the outer scope -
+		// stays visible across it. On Windows the first 2-3 RealSense closes per launch stall
+		// ~20s in the Motion Module stop() (librealsense warm-up); this keeps the user informed.
+		progress.setLabelText(tr("Closing camera..."));
+		progress.show();
+		QApplication::processEvents();
+		QApplication::processEvents(); // make sure it is drawn
+		cameraThread.join(true); // cameraThread's destructor (scope end) closes the device
+		// deleteLater() (not delete): defer destruction to the event loop so Qt finishes
+		// tearing down the OpenGL widget's context and window-proc subclass and drains
+		// pending activation messages first.
+		window->deleteLater();
 	}
 	else
 	{
-		delete window;
+		window->deleteLater();
 	}
 }
 
@@ -8377,14 +8569,25 @@ void PreferencesDialog::calibrateOdomSensorExtrinsics()
 
 void PreferencesDialog::testLidar()
 {
-	CameraViewer * window = new CameraViewer(this, this->getAllParameters());
+	// Not parented to 'this': see testCamera() - avoids the nested-modality crash.
+	CameraViewer * window = new CameraViewer(nullptr, this->getAllParameters());
 	window->setWindowTitle(tr("Lidar viewer"));
 	window->setWindowFlags(Qt::Window);
 	window->resize(1280, 480+QPushButton().minimumHeight());
 	window->registerToEventsManager();
 	window->setDecimation(1);
 
+	QProgressDialog progress(tr("Starting lidar..."), QString(), 0, 0, this);
+	progress.setWindowModality(Qt::ApplicationModal);
+	progress.setCancelButton(0);
+	progress.setMinimumDuration(0);
+	progress.setValue(0);
+	progress.show();
+	QApplication::processEvents();
+	QApplication::processEvents(); // make sure it is drawn
+
 	Lidar * lidar = this->createLidar();
+	progress.hide();
 	if(lidar)
 	{
 		SensorCaptureThread lidarThread(lidar, this->getAllParameters());
@@ -8403,12 +8606,24 @@ void PreferencesDialog::testLidar()
 
 		lidarThread.start();
 		window->exec();
-		delete window;
+		UDEBUG("Dialog closed, stopping sensor...");
-		lidarThread.join(true);
+		UEventsManager::removePipe(&lidarThread, window, "SensorEvent");
+
+		// Reuse the same dialog for the close. The device close() runs in lidarThread's
+		// destructor at scope end (not in join()), so 'progress' - declared in the outer
+		// scope - stays visible across it.
+		progress.setLabelText(tr("Closing sensor..."));
+		progress.show();
+		QApplication::processEvents();
+		QApplication::processEvents(); // make sure it is drawn
+		lidarThread.join(true); // lidarThread's destructor (scope end) closes the device
+		// deleteLater() (not delete): see testCamera() - avoids a dangling OpenGL platform
+		// window that crashes in QWindowsWindow::alertWindow when Preferences later closes.
+		window->deleteLater();
 	}
 	else
 	{
-		delete window;
+		window->deleteLater();
 	}
 }
 

guilib/src/ui/preferencesDialog.ui

@@ -5740,11 +5740,21 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                          <string>ULTRA</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>NEURAL LIGHT</string>
+                                        </property>
+                                       </item>
                                        <item>
                                         <property name="text">
                                          <string>NEURAL</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>NEURAL PLUS</string>
+                                        </property>
+                                       </item>
                                       </widget>
                                      </item>
                                      <item row="5" column="1">
@@ -5903,11 +5913,21 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                          <string>HD4K</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>QHDPLUS</string>
+                                        </property>
+                                       </item>
                                        <item>
                                         <property name="text">
                                          <string>HD2K</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>HD1536</string>
+                                        </property>
+                                       </item>
                                        <item>
                                         <property name="text">
                                          <string>HD1080</string>
@@ -5933,6 +5953,16 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                          <string>VGA</string>
                                         </property>
                                        </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>XVGA</string>
+                                        </property>
+                                       </item>
+                                       <item>
+                                        <property name="text">
+                                         <string>TXVGA</string>
+                                        </property>
+                                       </item>
                                       </widget>
                                      </item>
                                     </layout>
@@ -9387,9 +9417,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                <layout class="QHBoxLayout" name="horizontalLayout_18">
                                 <item>
                                  <widget class="QSpinBox" name="spinBox_vlp16_ip1">
-                                  <property name="toolTip">
-                                   <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                                  </property>
                                   <property name="buttonSymbols">
                                    <enum>QAbstractSpinBox::NoButtons</enum>
                                   </property>
@@ -9400,15 +9427,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                    <number>255</number>
                                   </property>
                                   <property name="value">
-                                   <number>192</number>
+                                   <number>0</number>
                                   </property>
                                  </widget>
                                 </item>
                                 <item>
                                  <widget class="QSpinBox" name="spinBox_vlp16_ip2">
-                                  <property name="toolTip">
-                                   <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                                  </property>
                                   <property name="buttonSymbols">
                                    <enum>QAbstractSpinBox::NoButtons</enum>
                                   </property>
@@ -9419,15 +9443,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                    <number>255</number>
                                   </property>
                                   <property name="value">
-                                   <number>168</number>
+                                   <number>0</number>
                                   </property>
                                  </widget>
                                 </item>
                                 <item>
                                  <widget class="QSpinBox" name="spinBox_vlp16_ip3">
-                                  <property name="toolTip">
-                                   <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                                  </property>
                                   <property name="buttonSymbols">
                                    <enum>QAbstractSpinBox::NoButtons</enum>
                                   </property>
@@ -9438,15 +9459,12 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                    <number>250</number>
                                   </property>
                                   <property name="value">
-                                   <number>1</number>
+                                   <number>0</number>
                                   </property>
                                  </widget>
                                 </item>
                                 <item>
                                  <widget class="QSpinBox" name="spinBox_vlp16_ip4">
-                                  <property name="toolTip">
-                                   <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                                  </property>
                                   <property name="buttonSymbols">
                                    <enum>QAbstractSpinBox::NoButtons</enum>
                                   </property>
@@ -9457,7 +9475,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                                    <number>250</number>
                                   </property>
                                   <property name="value">
-                                   <number>201</number>
+                                   <number>0</number>
                                   </property>
                                  </widget>
                                 </item>
@@ -9498,8 +9516,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                               </item>
                               <item row="0" column="2">
                                <widget class="QLabel" name="label_743">
+                                <property name="toolTip">
+                                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Local network interface (IP address of &lt;span style=&quot; font-weight:600;&quot;&gt;this&lt;/span&gt; computer) on which to listen for VLP16 packets. Use 0.0.0.0 to listen on all interfaces (recommended). This is NOT the sensor's IP address; the sensor decides where to send its data (configure its destination host in the sensor's own web interface).&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                                </property>
                                 <property name="text">
-                                 <string>IP Address.</string>
+                                 <string>Local IP to listen on (0.0.0.0 = all interfaces). See tooltip.</string>
                                 </property>
                                 <property name="wordWrap">
                                  <bool>true</bool>
@@ -9554,8 +9575,11 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                               </item>
                               <item row="1" column="2">
                                <widget class="QLabel" name="label_744">
+                                <property name="toolTip">
+                                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Local UDP port on this computer to listen for VLP16 data packets (default 2368). The LiDAR must be configured to send its data to this port.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                                </property>
                                 <property name="text">
-                                 <string>Port.</string>
+                                 <string>Port to listen on (default 2368).</string>
                                 </property>
                                 <property name="wordWrap">
                                  <bool>true</bool>
@@ -9567,9 +9591,6 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
                               </item>
                               <item row="1" column="1">
                                <widget class="QSpinBox" name="spinBox_vlp16_port">
-                                <property name="toolTip">
-                                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;KITTI: 130 000 points&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-                                </property>
                                 <property name="buttonSymbols">
                                  <enum>QAbstractSpinBox::NoButtons</enum>
                                 </property>

tools/CameraRGBD/main.cpp

@@ -97,7 +97,7 @@ void sighandler(int sig)
 int main(int argc, char * argv[])
 {
 	ULogger::setType(ULogger::kTypeConsole);
-	ULogger::setLevel(ULogger::kInfo);
+	ULogger::setLevel(ULogger::kDebug);
 	//ULogger::setPrintTime(false);
 	//ULogger::setPrintWhere(false);
 
@@ -272,7 +272,7 @@ int main(int argc, char * argv[])
 			UERROR("Not built with ZED sdk support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId), -1, 1, 100, false, rate);
+		camera = new rtabmap::CameraStereoZed(deviceId.empty()?0:uStr2Int(deviceId), -1, 1, 0, 100, false, rate);
 	}
 	else if (driver == 9)
 	{
@@ -523,5 +523,6 @@ int main(int argc, char * argv[])
 		cameraViewer.exec();
 		cameraThread.join(true);
 	}
+	printf("Exiting cleanly.\n");
 	return 0;
 }

tools/DatabaseViewer/main.cpp

@@ -53,6 +53,12 @@ int main(int argc, char * argv[])
     QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif
 
+	// Recommended by VTK when using QVTKOpenGLNativeWidget (a QOpenGLWidget): let all VTK
+	// render widgets share a single OpenGL context, which is needed for correct rendering
+	// when render widgets live in / move across multiple top-level windows. Must be set
+	// before QApplication is constructed.
+	QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
+
 #ifdef RTABMAP_PYTHON
 	rtabmap::PythonInterface pythonInterface;
 #endif

tools/LidarViewer/main.cpp

@@ -58,7 +58,7 @@ void showUsage()
 {
 	printf("\nUsage:\n"
 			"rtabmap-lidar_viewer IP PORT driver\n"
-			"  driver       Driver number to use: 0=VLP16 (default IP and port are 192.168.1.201 2368)\n");
+			"  driver       Driver number to use: 0=VLP16 (default IP and port are 0.0.0.0 2368)\n");
 	exit(1);
 }
 

tools/OdometryViewer/main.cpp

@@ -404,13 +404,16 @@ int main (int argc, char * argv[])
 		{
 			printf("The camera is not calibrated! You should calibrate the camera first.\n");
 			delete camera;
+			return 1;
 		}
 	}
 	else
 	{
 		printf("Failed to initialize the camera! Please select another driver (see \"--help\").\n");
 		delete camera;
+		return 1;
 	}
 
+	printf("Exiting cleanly.\n");
 	return 0;
 }

utilite/src/ULogger.cpp

@@ -139,10 +139,13 @@ protected:
 			fileToClear.close();
 		}
 
+        // Open in binary mode: the log formatter already emits "\r\n" line endings explicitly.
+        // On Windows, text mode ("a") would translate the "\n" of that "\r\n" into "\r\n" again,
+        // producing "\r\r\n" on disk - i.e. an extra blank line between entries.
 #ifdef _MSC_VER
-        fopen_s(&fout_, fileName_.c_str(), "a");
+        fopen_s(&fout_, fileName_.c_str(), "ab");
 #else
-        fout_ = fopen(fileName_.c_str(), "a");
+        fout_ = fopen(fileName_.c_str(), "ab");
 #endif
 
         if(!fout_) {