Windows CI: make vcpkg download compatible with draft release

.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
-        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
-
-        Invoke-WebRequest -Uri $url -OutFile $archivePath
+        # The 7z is built locally with bundle_windows_deps_cuda.bat and uploaded to a
+        # 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
+        # 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
-        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022.7z"
-
-        Invoke-WebRequest -Uri $url -OutFile $archivePath
+        # The 7z is built locally with bundle_windows_deps.bat and uploaded to a
+        # 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
+        # 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 ^
-  -DPYTHON3_EXECUTABLE=%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe ^
-  -DPYTHON3_PACKAGES_PATH=bin/Lib/site-packages ^
+  -DBUILD_opencv_cudacodec=OFF ^
+  -DBUILD_opencv_python3=OFF ^
+  -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 @@ class RTABMAP_CORE_EXPORT SensorData
 	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 @@ class RTABMAP_CORE_EXPORT CameraStereoZed :
 public:
 	CameraStereoZed(
 			int deviceId,
-			int resolution = -1, // -1 = AUTO, 0=HD4K 1=HD2K 2=HD1080 3=HD1200 4=HD720 5=SVGA 6=VGA
-			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
+			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, 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 @@ class RTABMAP_CORE_EXPORT CameraStereoZed :
 			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 @@ class RTABMAP_CORE_EXPORT CameraStereoZed :
 	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);