Adding OpenGV as submodule (optional) and use Github actions for windows CI (#1656)

* Adding OpenGV as submodule (optional)

* Remove submodule to migrate to FetchContent

* using FetchContent

* remove empty .gitmodules

* Fixing OpenGV not able to find eigen on windows

* patching opengv to adjust -march=native based on PCL

* fixing patching on windows

* eigen fix

* PR cancel on-going CI builds if new commit is added to PR

* try another approach

* updating patch with some logs

* more debug mesage

* fixing EIGEN_INCLUDE_DIR

* enable rolling_builds on appveyor

* removed rolling_builds appveyor

* fixing eigen cache

* test

* more debug logs

* another try

* cleanup

* updated appveyor to work with fetchcontent

* removed mkdir build (appveyor)

* appveyor: trying ninja to increase CI speed

* removed mkdr

* appveyor: spitting opengv and rtabmap builds to be under 60 min per job

* appveyor: caching dependencies

* using global configuration

* using baked image

* fixing wget in ps

* fixing not support for

* pip error

* reverted pip install

* fixed realsense cache

* fixing multi step build

* removing baked image

* typo

* Windows: Converted appveyor to github actions

* updated boost version

* fixing boost

* udpated  boost config

* boost...

* platform_version

* install boost directly

* silent boost install

* very silent boost

* fixing ls

* added boost install dir

* showing boost install dir

* moved windows dependencies in external action file

* explicitly save boost cache to same time on iterations

* pip install gdown

* update

* caching more deps

* caching all depts

* removed explicit boost cache save

* mscv 14.0

* forcing building visual studio 14 2015

* installing v12 in 2022 instead

* setup cmd prompt

* init right toolset

* fixing system version for opengv compilation error

* fixing package and artifact

* CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION

* removing cmd

* find manually psapi.lib

* resolve

* refactor psapi env

* forcing 10.0.19041.0

* using windows=2022 runner instead

* added vcpkg

* commenting windows-latest for now

* trying vcpkg instead

* search path

* updated path

* moved json

* removed deleted file for git

* adding a real version

* using version-string

* cleanup vcpkg

* building artifacts with vcpkg

* removed old windows build approach, added custom dependencies (gtsam, libpointmatcher) to vcpkg build

* udpated vcpkg version for issue https://github.com/microsoft/vcpkg/pull/49103

* try with minimal dep first

* disable opengv for now

* try vcpkg single compilation

* space

* updated link

* fixed qupote

* fixing cache name

* adding debug folder

* adjust path

* adjust path

* providing vcpkg binaries instead

* ident

* added triplet

* added BOOST_ROOT

* boost root

* boost root

* fixed path

* adding eigen headers

* try path

* cmake prefix path

* boost timer def

* libnabo fixes

* pointmatcher prefix

* disabling pointmathcer tests

* updated cmake parameters

* changed how file is downloaded

* trying curl instead

* puttoing backe InvokeWeb because it is a dropbox issue

* skipping optional deps for now

* ficing env variable

* triplet

* installing triplets

* not overriding default vcpkg env variables

* missing path

* manifet install off

* that was working locally

* missing protobuf path

* fixing tiff not found

* fixing vtk not found

* more vtk fixes

* another thy

* changing download url

* updated url

* try

* shoudl work now

* protobuf exe

* readding tiff

* explicit vcpkg installed folder

* missing commands

* try without tiff

* ficing vtk comple path

* -DPSAPI_LIBRARIES=Psapi.lib

* quoting

* fixing psapi required

* Set up MSVC Developer Command Prompt

* disabling pckaging for now

* openni.ini

* renabling packing

* Added stripped deps

* fix name

* updated binaries

* format

* updated opengv eigen path

* added tbb dep

* updatd archive name with vs version

* updated archive in action

* fixing patch error

* corrupted

* updated gtsam version / vcpkg

* removed appveyor. Set internal opengv build disabled by defaut (because build can be very long on some machines), will enable it inside the ros release branches instead.

* updated opengv patch

* gtsam mkl dep

* updated vcpkg binaries

* updated patches

* removed mkl dep

* missing eigen in gtsam dep

* disabling gtsam till we find a compatible version locally

* all working locally!

* removed ninja

* working python calls

* fixed hard symlink for python3.dll

* fixed qt missing png, fixed opengv not finding eigen with config, fixed python3.dll missing

* fixed flaoting dockwidget on start, removed cmd line window when launching bundled app

* use sub-packages cudnn

* Added cuda dev workflow

* fixed archive name

* Updated deps with pytorch cuda

* updating ci PATH

* fixing ci build without torch

* rename cuda artifacts

* cache cuda, add job to test internal opengv build

* Updated output artifacts zip name

* windows package: only zip on pull request

* Change USE_INTERNAL_OPENGV to BUILD_OPENGV

* use use-github-cache

* updated artifacts path

guilib/src/3rdParty/QMultiComboBox.cpp

@@ -40,7 +40,7 @@ QMultiComboBox::QMultiComboBox(QWidget *widget ) :
 
 QMultiComboBox::~QMultiComboBox()
 {
-    disconnect(&vlist_,0,0,0);
+	vlist_.disconnect(SIGNAL(itemChanged(QListWidgetItem*)));
 }
 
 

guilib/src/AboutDialog.cpp

@@ -121,6 +121,13 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_liblas->setText("No");
 	_ui->label_liblas_license->setEnabled(false);
 #endif
+#ifdef RTABMAP_OPENGV
+	_ui->label_opengv->setText("Yes");
+	_ui->label_opengv_license->setEnabled(true);
+#else
+	_ui->label_opengv->setText("No");
+	_ui->label_opengv_license->setEnabled(false);
+#endif
 #ifdef RTABMAP_CUDASIFT
 	_ui->label_cudasift->setText("Yes");
 	_ui->label_cudasift_license->setEnabled(true);

guilib/src/ui/mainWindow.ui

@@ -18,7 +18,7 @@
     <normaloff>:/images/RTAB-Map.ico</normaloff>:/images/RTAB-Map.ico</iconset>
   </property>
   <property name="dockOptions">
-   <set>QMainWindow::AllowNestedDocks|QMainWindow::AllowTabbedDocks|QMainWindow::AnimatedDocks|QMainWindow::VerticalTabs</set>
+   <set>QMainWindow::DockOption::AllowNestedDocks|QMainWindow::DockOption::AllowTabbedDocks|QMainWindow::DockOption::AnimatedDocks|QMainWindow::DockOption::VerticalTabs</set>
   </property>
   <widget class="QWidget" name="widget_mainWindow"/>
   <widget class="QMenuBar" name="menubar">
@@ -27,7 +27,7 @@
      <x>0</x>
      <y>0</y>
      <width>1012</width>
-     <height>22</height>
+     <height>21</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -494,7 +494,7 @@
   </widget>
   <widget class="QDockWidget" name="dockWidget_statsV2">
    <property name="floating">
-    <bool>true</bool>
+    <bool>false</bool>
    </property>
    <property name="windowTitle">
     <string>Statistics</string>
@@ -522,7 +522,7 @@
      <item>
       <layout class="QGridLayout" name="gridLayout" columnstretch="10,0">
        <property name="sizeConstraint">
-        <enum>QLayout::SetMinimumSize</enum>
+        <enum>QLayout::SizeConstraint::SetMinimumSize</enum>
        </property>
        <property name="verticalSpacing">
         <number>2</number>
@@ -530,7 +530,7 @@
        <item row="3" column="1">
         <widget class="QDoubleSpinBox" name="doubleSpinBox_stats_timeLimit">
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
          <property name="suffix">
           <string> ms</string>
@@ -562,14 +562,14 @@
           <string>Unknown</string>
          </property>
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
         </widget>
        </item>
        <item row="1" column="1">
         <widget class="QDoubleSpinBox" name="doubleSpinBox_stats_imgRate">
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
          <property name="suffix">
           <string> Hz</string>
@@ -604,7 +604,7 @@
           <string>Unknown</string>
          </property>
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
         </widget>
        </item>
@@ -621,7 +621,7 @@
           <string>Unknown</string>
          </property>
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
         </widget>
        </item>
@@ -638,7 +638,7 @@
           <string>0</string>
          </property>
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
         </widget>
        </item>
@@ -656,7 +656,7 @@
           <string>0</string>
          </property>
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
         </widget>
        </item>
@@ -673,7 +673,7 @@
           <string>0</string>
          </property>
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
         </widget>
        </item>
@@ -697,7 +697,7 @@
        <item row="2" column="1">
         <widget class="QDoubleSpinBox" name="doubleSpinBox_stats_detectionRate">
          <property name="alignment">
-          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignmentFlag::AlignRight|Qt::AlignmentFlag::AlignTrailing|Qt::AlignmentFlag::AlignVCenter</set>
          </property>
          <property name="suffix">
           <string> Hz</string>
@@ -731,7 +731,7 @@
      <item>
       <spacer name="verticalSpacer_2">
        <property name="orientation">
-        <enum>Qt::Vertical</enum>
+        <enum>Qt::Orientation::Vertical</enum>
        </property>
        <property name="sizeHint" stdset="0">
         <size>
@@ -893,7 +893,7 @@
   </widget>
   <widget class="QDockWidget" name="dockWidget_mapVisibility">
    <property name="floating">
-    <bool>true</bool>
+    <bool>false</bool>
    </property>
    <property name="windowTitle">
     <string>Map visibility</string>
@@ -956,7 +956,7 @@
   </widget>
   <widget class="QDockWidget" name="dockWidget_imageView">
    <property name="allowedAreas">
-    <set>Qt::AllDockWidgetAreas</set>
+    <set>Qt::DockWidgetArea::AllDockWidgetAreas</set>
    </property>
    <property name="windowTitle">
     <string>Loop closure detection</string>
@@ -998,7 +998,7 @@
           <string/>
          </property>
          <property name="alignment">
-          <set>Qt::AlignCenter</set>
+          <set>Qt::AlignmentFlag::AlignCenter</set>
          </property>
         </widget>
        </item>
@@ -1024,7 +1024,7 @@
           <string/>
          </property>
          <property name="alignment">
-          <set>Qt::AlignCenter</set>
+          <set>Qt::AlignmentFlag::AlignCenter</set>
          </property>
         </widget>
        </item>
@@ -1422,6 +1422,9 @@
    </property>
   </action>
   <action name="actionClose_database">
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
    <property name="icon">
     <iconset resource="../GuiLib.qrc">
      <normaloff>:/images/document-save.png</normaloff>:/images/document-save.png</iconset>