windows bundle fixes

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

@@ -46,7 +46,9 @@ runs:
       run: |
         $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
         echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append     
+        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
+        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
         echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
         echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
         echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

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

@@ -34,4 +34,6 @@ runs:
         $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
         echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
         echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
+        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
         echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

.github/workflows/cmake-windows.yml

@@ -31,7 +31,7 @@ jobs:
         - build_name: windows-2022-cuda
           os: windows-2022
           extra_deps: ""
-          extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON'
+          extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON'
 
     steps:
     - uses: actions/checkout@v4
@@ -46,10 +46,11 @@ jobs:
 
     - name: Configure CMake
       run: |
-        # K4A and K4W2 are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake),
+        # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake
-        # pointing at the export where the bundle script staged their SDK files.
+        # and the install rules), pointing at the export where the bundle staged their SDK files.
         $env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
         $env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
+        $env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
         cmake `
           -B ${{github.workspace}}/build `
           -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `

app/src/CMakeLists.txt

@@ -42,7 +42,7 @@ IF(APPLE AND BUILD_AS_BUNDLE)
     MACOSX_BUNDLE_GUI_IDENTIFIER "com.introlab.rtabmap"
     MACOSX_BUNDLE_BUNDLE_NAME "${CMAKE_BUNDLE_NAME}")
 ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
-  ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
+  ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
 ELSE()
   ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ENDIF()
@@ -111,12 +111,26 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
   ENDIF(OpenNI2_FOUND)
   
   IF(k4a_FOUND)
-	# Install needed depthengine_2_0.dll
+	# Install needed depthengine_2_0.dll. Its location varies by K4A SDK version:
+	# v1.4.1 ships it under sdk/windows-desktop/amd64/release/bin, or fallback in tools/.
     IF(WIN32)
 		file(TO_CMAKE_PATH "$ENV{K4A_ROOT_DIR}" ENV_K4A_ROOT_DIR)
-		INSTALL(FILES "${ENV_K4A_ROOT_DIR}/tools/depthengine_2_0.dll" 
+		set(DEPTHENGINE_DLL "")
-          DESTINATION ${thirdparty_dest_dir} 
+		foreach(_depthengine_dir
-          COMPONENT runtime)
+			"${ENV_K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/bin"
+			"${ENV_K4A_ROOT_DIR}/tools")
+			if(EXISTS "${_depthengine_dir}/depthengine_2_0.dll")
+				set(DEPTHENGINE_DLL "${_depthengine_dir}/depthengine_2_0.dll")
+				break()
+			endif()
+		endforeach()
+		IF(DEPTHENGINE_DLL)
+			INSTALL(FILES "${DEPTHENGINE_DLL}"
+              DESTINATION ${thirdparty_dest_dir}
+              COMPONENT runtime)
+		ELSE()
+			MESSAGE(WARNING "depthengine_2_0.dll not found under $ENV{K4A_ROOT_DIR} (sdk/windows-desktop/amd64/release/bin or tools); Kinect for Azure depth may not work at runtime.")
+		ENDIF()
 	ENDIF(WIN32)
   ENDIF(k4a_FOUND)
   

bundle_windows_deps.bat

@@ -45,7 +45,6 @@ echo [+] Installing dependencies via vcpkg manifest...
     --x-feature=openni2 ^
     --x-feature=gtsam-deps ^
     --x-feature=python ^
-    --x-feature=pdal ^
     --x-feature=libpointmatcher-deps ^
     --x-feature=libfreenect2-deps || exit /b !errorlevel!
 
@@ -74,10 +73,16 @@ cd /d "%SRC_DIR%"
 :: Microsoft SDK layout (KINECTSDK20_DIR\inc and \Lib\x64), but vcpkg's kinectsdk2
 :: port installs vcpkg-style (include\ and lib\). Mirror the bundled headers/lib into
 :: the expected layout so it is found with KINECTSDK20_DIR pointing at the export.
+if "%KINECTSDK20_DIR%"=="" (
+    echo Error: KINECTSDK20_DIR environment variable is not set! Install Kinect for Windows SDK v2: https://www.microsoft.com/en-us/download/details.aspx?id=44561
+    pause
+    exit /b 1
+)
 echo [+] Arranging Kinect SDK v2 layout for FindKinectSDK2...
 set "K4W2_ROOT=%FINAL_EXPORT_PATH%\installed\%TRIPLET%"
 robocopy "%K4W2_ROOT%\include" "%K4W2_ROOT%\inc" Kinect*.h Nui*.h /XO >nul
 robocopy "%K4W2_ROOT%\lib" "%K4W2_ROOT%\Lib\x64" Kinect20*.lib /XO >nul
+robocopy "%KINECTSDK20_DIR%\bin" "%K4W2_ROOT%\bin" Kinect20.dll /XO >nul
 :: Robocopy exit codes under 8 mean successful copies/no changes; 8+ is a failure.
 if !errorlevel! GEQ 8 (
     echo Error: Robocopy failed with exit code !errorlevel!
@@ -379,6 +384,8 @@ goto :EndComment
 set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
 
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\bin;%PATH%
+set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin;%PATH%
+set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs;%PATH%
 set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
 set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
 
@@ -395,6 +402,7 @@ cmake -B build -GNinja ^
   -DWITH_DEPTHAI=ON ^
   -DWITH_REALSENSE2=ON ^
   -DWITH_CCCORELIB=ON ^
+  -DWITH_PDAL=OFF ^
   -DVCPKG_MANIFEST_INSTALL=OFF ^
   -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
   -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^

bundle_windows_deps_cuda.bat

@@ -72,7 +72,8 @@ if not exist "%FINAL_EXPORT_PATH%" (
 	xcopy "%CUDA_PATH%\bin\x64\cudnn*.dll" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\" /Y
 )
 
-:: For ZED, modify zed-config.cmake and remove all dependencies
+:: ZED: copy the main library + the zed-config.cmake so find_package(ZED) resolves
+:: it from the export (the config derives paths from ZED_SDK_ROOT_DIR/CMAKE_PREFIX_PATH).
 if "%ZED_SDK_ROOT_DIR%"=="" (
     echo Error: ZED_SDK_ROOT_DIR environment variable is not set!
     pause
@@ -82,7 +83,10 @@ echo Copying ZED main library only...
 robocopy "%ZED_SDK_ROOT_DIR%\bin" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin" *.dll /XF nv*.dll
 robocopy "%ZED_SDK_ROOT_DIR%\lib" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib" /E /XO
 robocopy "%ZED_SDK_ROOT_DIR%\include" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include" /E /XO
-:: Robocopy exit codes under 8 mean successful copies/no changes. 
+:: Install ZED's CMake config at the export prefix root so find_package(ZED 2) (config
+:: mode, via the vcpkg toolchain CMAKE_PREFIX_PATH) finds it.
+robocopy "%ZED_SDK_ROOT_DIR%" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%" zed-config.cmake zed-config-version.cmake /XO
+:: Robocopy exit codes under 8 mean successful copies/no changes.
 :: 8 or higher means there was a failure.
 if !errorlevel! GEQ 8 (
     echo Error: Robocopy failed with exit code !errorlevel!
@@ -228,6 +232,28 @@ cmake -S . -B build_cuda -GNinja ^
 cmake --build build_cuda --config Release --target install || exit /b !errorlevel!
 cd ..
 
+:: CudaSift (CUDA SIFT/SURF GPU features, matlabbe fork; needs CUDA)
+echo [+] Building CudaSift...
+if not exist CudaSift (
+    echo [+] Downloading...
+    git clone https://github.com/matlabbe/CudaSift.git
+    cd CudaSift
+    git checkout f764e14ae59ee78ff5b282d38790301d80faadc3
+    cd ..
+)
+cd CudaSift
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF ^
+  -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DVERBOSE=OFF ^
+  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
 :: 5. ZIP the folder
 echo [+] Creating final package with 7-Zip...
 :: Rip off pdb files
@@ -261,9 +287,9 @@ set PATH=%CUDA_PATH%\bin\x64;%PATH%
 set PATH=%CUDA_PATH%\extras\CUPTI\lib64;%PATH%
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\torch\lib;%PATH%
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\numpy.libs;%PATH%
-set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
+set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
-set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
+set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
-set ZED_SDK_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
+set ZED_SDK_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
 
 cmake -B build_cuda -GNinja ^
   -DCMAKE_BUILD_TYPE=Release ^
@@ -271,6 +297,7 @@ cmake -B build_cuda -GNinja ^
   -DWITH_PYTHON=ON ^
   -DWITH_TORCH=ON ^
   -DWITH_ZED=ON ^
+  -DWITH_CUDASIFT=ON ^
   -DWITH_CERES=ON ^
   -DWITH_ORBBEC_SDK=ON ^
   -DWITH_FREENECT2=ON ^
@@ -279,6 +306,7 @@ cmake -B build_cuda -GNinja ^
   -DWITH_DEPTHAI=ON ^
   -DWITH_REALSENSE2=ON ^
   -DWITH_CCCORELIB=ON ^
+  -DWITH_PDAL=OFF ^
   -DVCPKG_MANIFEST_INSTALL=OFF ^
   -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
   -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^

patches/cccorelib_4095bea.patch

@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e671b87..86b590c 100644
+index e671b87..2e2538e 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -121,7 +121,7 @@ set( NANOFLANN_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE )
@@ -11,3 +11,11 @@ index e671b87..86b590c 100644
  		nanoflann::nanoflann
  )
  
+@@ -236,6 +236,7 @@ install(
+ 		CCCoreLib
+ 	EXPORT
+ 		CCCoreLib-targets
++	RUNTIME DESTINATION bin
+ 	LIBRARY DESTINATION lib
+ 	ARCHIVE DESTINATION lib
+ 	INCLUDES DESTINATION include

vcpkg.json

@@ -185,12 +185,6 @@
         }
       ]
     },
-    "pdal": {
-      "description": "Build RTAB-Map with pdal support",
-      "dependencies": [
-        "pdal"
-      ]
-    },
     "python": {
       "description": "Build RTAB-Map with python support",
       "dependencies": [