[fix] Make Rerun-enabled tests safe without viewer or camera intrinsics (#64)

* [fix] Skip viewer spawn for disabled Rerun streams

Honor the unit-test disabled state before invoking the Rerun API that searches for an external viewer executable.

* [fix] Handle missing PNP intrinsics in Rerun visualization

Keep normalized-coordinate PNP callers valid by skipping pixel-space landmark logging when camera intrinsics are unavailable.

Author: vikuznetsov-nvidia

libs/pnp/multicam_pnp.cpp

@@ -219,7 +219,7 @@ bool PNPSolver::solve(Isometry3T& rig_from_world, Matrix6T& static_info_exp,
 
   // log landmark_for_observation_ with initial guess in rerun visualizer
   [[maybe_unused]] Isometry3T camera_from_world = rig_.camera_from_rig[0] * rig_from_world;
-  RERUN(logLandmarks, landmark_for_observation_, camera_from_world, *rig_.intrinsics[0],
+  RERUN(logLandmarks, landmark_for_observation_, camera_from_world, rig_.intrinsics[0],
         "world/camera_0/images/landmarks_pnp_initial", Color(0, 0, 255));
 
   Matrix6T H;
@@ -230,7 +230,7 @@ bool PNPSolver::solve(Isometry3T& rig_from_world, Matrix6T& static_info_exp,
     // Nothing to minimize. We have a "pendulum" effect on still frames otherwise.
     static_info_exp.setIdentity();
     // log landmark_for_observation_ with final result in rerun visualizer
-    RERUN(logLandmarks, landmark_for_observation_, camera_from_world, *rig_.intrinsics[0],
+    RERUN(logLandmarks, landmark_for_observation_, camera_from_world, rig_.intrinsics[0],
           "world/camera_0/images/landmarks_pnp_final", Color(0, 255, 0));
 
     return true;
@@ -297,7 +297,7 @@ bool PNPSolver::solve(Isometry3T& rig_from_world, Matrix6T& static_info_exp,
     build_camera_from_world(rig_from_world);
 
     // log landmark_for_observation_ with final result in rerun visualizer
-    RERUN(logLandmarks, landmark_for_observation_, cam_from_w_[0], *rig_.intrinsics[0],
+    RERUN(logLandmarks, landmark_for_observation_, cam_from_w_[0], rig_.intrinsics[0],
           "world/camera_0/images/landmarks_pnp_final", Color(0, 255, 0));
 
     Vector3T point_cam;

libs/pnp/visualizer.cpp

@@ -39,11 +39,15 @@ void clearViewport(const std::string& viewport_name) {
 }
 
 void logLandmarks(const std::vector<std::reference_wrapper<const Vector3T>>& landmarks,
-                  const Isometry3T& camera_from_world, const camera::ICameraModel& camera_model,
+                  const Isometry3T& camera_from_world, const camera::ICameraModel* camera_model,
                   const std::string& viewport_name, const Color& color) {
   if (landmarks.empty()) {
     return;
   }
+  if (camera_model == nullptr) {
+    TraceWarning("RerunVisualizer: Camera intrinsics unavailable for viewport %s", viewport_name.c_str());
+    return;
+  }
 
   // Convert landmarks to 2D UV coordinates
   thread_local std::vector<rerun::Position2D> points;
@@ -65,7 +69,7 @@ void logLandmarks(const std::vector<std::reference_wrapper<const Vector3T>>& lan
 
     // Convert normalized coordinates to pixel UV coordinates using camera intrinsics
     Vector2T uv_coords;
-    if (camera_model.denormalizePoint(normalized_coords, uv_coords)) {
+    if (camera_model->denormalizePoint(normalized_coords, uv_coords)) {
       // Add the 2D UV position
       points.emplace_back(uv_coords.x(), uv_coords.y());
     } else {

libs/pnp/visualizer.h

@@ -36,7 +36,7 @@ namespace cuvslam::pnp {
 void clearViewport(const std::string& viewport_name);
 
 void logLandmarks(const std::vector<std::reference_wrapper<const Vector3T>>& landmarks,
-                  const Isometry3T& camera_from_world, const camera::ICameraModel& camera_model,
+                  const Isometry3T& camera_from_world, const camera::ICameraModel* camera_model,
                   const std::string& viewport_name, const Color& color);
 
 void logObservations(const std::vector<std::reference_wrapper<const camera::Observation>>& observations,

libs/visualizer/visualizer.cpp

@@ -32,7 +32,9 @@ RerunVisualizer& RerunVisualizer::getInstance() {
 }
 
 RerunVisualizer::RerunVisualizer() {
-  recording_.spawn().exit_on_failure();
+  if (recording_.is_enabled()) {
+    recording_.spawn().exit_on_failure();
+  }
   recording_.log(
       "world",
       rerun::archetypes::ViewCoordinates::RIGHT_HAND_Y_DOWN);  // OpenCV-style world (x right, y down, z forward)