[fix] validate RGBDSettings::depth_camera_id against the rig

[slepichev]

The RGBD branch of the Odometry constructor pushed depth_camera_id into the frustum graph without checking it. The default -1 means "not set", and static_cast turns it into a huge unsigned id; FrustumIntersectionGraph then registers it as a primary camera, so is_valid() passes and a camera index that names no camera reaches the odometry.

Check the id the way the Multisensor branch right below already does - rejecting negatives and anything past the end of the rig - and name the offending value in the message.

RgbdModeRequiresCudaBuild constructed with the default config, so in a USE_CUDA=OFF build it now hits this check before the mode switch and never sees the USE_CUDA message it asserts on. Give it a valid depth camera id, the same way MultisensorModeRequiresCunlsBuild already sets depth_camera_ids.

Summary by CodeRabbit

• Bug Fixes

  • RGBD odometry now rejects invalid depth-camera IDs, including unset, negative, or out-of-range values, instead of accepting them.
  • Invalid RGBD tracker configurations now fail during construction with an appropriate error.
  • Valid depth-camera selections continue to work as expected.

• Tests

  • Added coverage for unset, invalid, and valid depth-camera ID scenarios.

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📥 Commits

Reviewing files that changed from the base of the PR and between 8134ef5 and 3850ade.

📒 Files selected for processing (2)

• libs/cuvslam/cuvslam2.cpp
• libs/cuvslam/test/tracker_test.cpp

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📝 Walkthrough

Walkthrough

RGBD initialization now validates depth_camera_id before registration. Tests cover unset, negative, and out-of-range IDs, and configure a valid ID for the non-CUDA availability test.

Changes

RGBD validation

Layer / File(s)	Summary
Validate depth camera IDs libs/cuvslam/cuvslam2.cpp, libs/cuvslam/test/tracker_test.cpp	RGBD initialization rejects negative and out-of-range camera IDs with std::invalid_argument. Tests cover invalid IDs and set ID 0 for the non-CUDA availability check.

Estimated code review effort: 1 (Trivial) | ~5 minutes

Merge Risk: ⚪ Minimal · up to 3850a

RGBD tracker construction now rejects invalid depth-camera IDs before registration and retains the expected CUDA-disabled behavior. Invalid-ID and non-CUDA coverage is included, with no active merge-blocking risk identified.

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Docstring Coverage	⚠️ Warning	Docstring coverage is 0.00% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff. Analyzed 5 functions across 2 files.	Write docstrings for the functions missing them to satisfy the coverage threshold.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title clearly identifies the main change: validating RGBDSettings::depth_camera_id against the rig.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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✨ Finishing Touches 💡 1

📝 Generate docstrings 💡

• Create stacked PR
• Commit on current branch

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Commit unit tests in branch slepichev/fix-rgbd-depth-camera-id-validation

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Test Results

Status	Platform	Language	Total	Passed	Failed	Errors	Skipped
✅	Orin	C++	17	17	0	0	0
✅	Orin	Python	74	73	0	0	1
✅	Thor	C++	17	17	0	0	0
✅	Thor	Python	74	73	0	0	1
✅	x86_64	C++	17	17	0	0	0
✅	x86_64	Python	74	73	0	0	1

cuVSLAM Evaluation KPIs

Config	Dataset	ATE, %	ARE, º/m	Kabsch	Losts	diff ATE, %	diff ARE, º/m	diff Kabsch	diff Losts	FPS, Hz
x86_64-cuda12.6.3-ubuntu24.04	EUROC-VIO_ODOM	1.6516	0.1497	0.0943	0	-0.0002	-0.0000	-0.0001	0	122.9
x86_64-cuda12.6.3-ubuntu24.04	EUROC-VIO_SLAM	1.7849	0.1928	0.0595	0	-0.0000	0.0001	-0.0000	0	101.5
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_ODOM	0.8207	0.0024	2.8532	0	-0.0004	-0.0000	0.0629	0	246.2
x86_64-cuda12.6.3-ubuntu24.04	KITTI-STEREO_SLAM	0.7298	0.0020	1.9889	0	0.0051	0.0000	0.0414	0	175.5

Artifacts

• eval-html-report
• eval-kpis-pr
• test-results-x86_64
• docs-html
• test-results-orin
• test-results-thor