Windows CI: more sensor drivers + Windows/macOS bundle scripts

.github/actions/install-macos-source-deps/action.yml

@@ -0,0 +1,187 @@
+name: 'Install macOS Source Dependencies'
+description: 'Builds (and per-dependency caches) the source-only deps not available from Homebrew (GTSAM, libnabo+libpointmatcher, OrbbecSDK, depthai) and installs them into /usr/local.'
+inputs:
+  os:
+    description: 'Runner os label (e.g. matrix.os), used to namespace the per-dependency caches. Required because intel/arm produce different binaries with identical Homebrew version strings.'
+    required: true
+  build_type:
+    description: 'CMake build type.'
+    required: false
+    default: 'Release'
+runs:
+  using: "composite"
+  steps:
+    - name: Resolve dependency versions
+      id: depver
+      shell: bash
+      # The source deps link against these Homebrew libraries and are compiled
+      # with Xcode's toolchain, so both are folded into the cache keys: a
+      # Homebrew bump (e.g. a new Eigen) or an Xcode update forces a rebuild.
+      run: |
+        BREW=$(brew list --versions eigen boost yaml-cpp | sort)
+        XCODE=$(xcodebuild -version 2>/dev/null || clang --version | head -1)
+        HASH=$(printf '%s\n%s\n' "$BREW" "$XCODE" | shasum | cut -d' ' -f1)
+        echo "hash=$HASH" >> "$GITHUB_OUTPUT"
+
+    # ----------------------------- GTSAM -----------------------------
+    - name: Cache GTSAM
+      id: cache-gtsam
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/gtsam
+        key: gtsam-4.2.1-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build GTSAM
+      if: steps.cache-gtsam.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/gtsam"
+        STAGE="${{ runner.temp }}/deps-stage/gtsam"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
+        cd "$SRC/gtsam"
+        git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
+        cmake -B build \
+          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
+          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+          -DGTSAM_WITH_TBB=OFF \
+          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+          -DGTSAM_BUILD_TESTS=OFF \
+          -DGTSAM_BUILD_UNSTABLE=OFF \
+          -DGTSAM_USE_SYSTEM_EIGEN=ON \
+          -DCMAKE_POLICY_VERSION_MINIMUM=3.5
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ----------------- libnabo + libpointmatcher --------------------
+    # Built together: libpointmatcher depends on libnabo, so keeping them in one
+    # unit keeps the build order internal (lpm finds libnabo in the unit's stage).
+    - name: Cache pointmatcher
+      id: cache-pointmatcher
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/pointmatcher
+        key: pointmatcher-nabo1.1.2-lpm1.4.4-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch', '.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build pointmatcher
+      if: steps.cache-pointmatcher.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/pointmatcher"
+        STAGE="${{ runner.temp }}/deps-stage/pointmatcher"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        # libnabo (required by libpointmatcher)
+        git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo"
+        cd "$SRC/libnabo"
+        git apply "$PATCHES/libnabo-1.1.2.patch"
+        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }}
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+        # libpointmatcher (finds libnabo from the unit's staged prefix)
+        git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher"
+        cd "$SRC/libpointmatcher"
+        git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch"
+        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ----------------------------- OrbbecSDK ------------------------
+    - name: Cache OrbbecSDK
+      id: cache-orbbec
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/orbbec
+        key: orbbec-2.8.7-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build OrbbecSDK
+      if: steps.cache-orbbec.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/orbbec"
+        STAGE="${{ runner.temp }}/deps-stage/orbbec"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2"
+        cd "$SRC/OrbbecSDK_v2"
+        git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch"
+        # OrbbecSDK defaults its install prefix to /opt/OrbbecSDK; force /usr/local
+        # so it stages under usr/local like the other deps and is installed/found.
+        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_INSTALL_PREFIX=/usr/local -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ----------------------------- depthai --------------------------
+    - name: Cache depthai
+      id: cache-depthai
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/depthai
+        key: depthai-2.32.0-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build depthai
+      if: steps.cache-depthai.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/depthai"
+        STAGE="${{ runner.temp }}/deps-stage/depthai"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        # depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
+        git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core"
+        cd "$SRC/depthai-core"
+        git submodule update --init --recursive
+        # Route zlib to Homebrew: Hunter's pinned zlib fork has a classic
+        # TARGET_OS_MAC fdopen block that won't compile against the modern macOS SDK.
+        git apply "$PATCHES/depthai-2.32.0-hunter-macos.patch"
+        # v2 and its old Hunter deps declare cmake_minimum_required < 3.5, which the
+        # runner's CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not
+        # propagate into Hunter's sub-builds. Use a pinned CMake 3.x just for depthai
+        # (Hunter reuses the same cmake binary for its dependency sub-builds).
+        python3 -m venv "$SRC/cmake3-venv"
+        "$SRC/cmake3-venv/bin/pip" install -q "cmake==3.31.6"
+        CMAKE3="$SRC/cmake3-venv/bin/cmake"
+        # DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
+        # fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
+        # depthai-core defaults its install prefix to <build>/install; force
+        # /usr/local so it stages under usr/local like the other deps.
+        "$CMAKE3" -B build \
+          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DBUILD_SHARED_LIBS=ON \
+          -DDEPTHAI_ENABLE_CURL=OFF \
+          -DDEPTHAI_BUILD_TESTS=OFF \
+          -DDEPTHAI_BUILD_EXAMPLES=OFF \
+          -DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
+        "$CMAKE3" --build build -j$NPROC
+        DESTDIR="$STAGE" "$CMAKE3" --install build
+
+    # ------------------- install all units into /usr/local ----------
+    - name: Install source dependencies into /usr/local
+      shell: bash
+      # Copy each (cached or freshly built) staged tree into /usr/local so
+      # rtabmap's find_package() and the bundle fixup (which search /usr/local)
+      # pick them up. Runs on both cache hit and miss.
+      run: |
+        set -e
+        STAGE="${{ runner.temp }}/deps-stage"
+        found=0
+        for unit in gtsam pointmatcher orbbec depthai; do
+          if [ -d "$STAGE/$unit/usr/local" ]; then
+            sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/
+            found=1
+          fi
+        done
+        if [ "$found" != "1" ]; then
+          echo "No staged source dependencies found under $STAGE" >&2
+          exit 1
+        fi

.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch

@@ -0,0 +1,41 @@
+diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
+index 6b0b44f98..672c26402 100644
+--- a/cmake/depthaiDependencies.cmake
++++ b/cmake/depthaiDependencies.cmake
+@@ -17,7 +17,9 @@ else()
+     hunter_add_package(FP16)
+     hunter_add_package(libarchive-luxonis)
+     hunter_add_package(spdlog)
+-    hunter_add_package(ZLIB)
++    # ZLIB: use the system/Homebrew copy instead of Hunter's (the old pinned
++    # zlib fork fails to build against the modern macOS SDK). Found below via
++    # the standard FindZLIB module, which provides the same ZLIB::ZLIB target.
+     if(DEPTHAI_ENABLE_BACKWARD)
+         hunter_add_package(Backward)
+     endif()
+@@ -45,8 +47,23 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
+     # libarchive for firmware packages
+     find_package(archive_static ${_QUIET} CONFIG REQUIRED)
+     find_package(lzma ${_QUIET} CONFIG REQUIRED)
+-    # ZLIB for compressing Apps
+-    find_package(ZLIB CONFIG REQUIRED)
++    # ZLIB for compressing Apps.
++    # Use the system/Homebrew zlib directly instead of Hunter's: Hunter's pinned
++    # zlib fork fails to build against the modern macOS SDK, and Hunter also
++    # intercepts find_package(ZLIB) via its own FindZLIB on the module path, so
++    # we locate it manually and expose the ZLIB::zlib target depthai expects.
++    find_path(SYSTEM_ZLIB_INCLUDE_DIR NAMES zlib.h)
++    find_library(SYSTEM_ZLIB_LIBRARY NAMES z)
++    if(NOT SYSTEM_ZLIB_INCLUDE_DIR OR NOT SYSTEM_ZLIB_LIBRARY)
++        message(FATAL_ERROR "System zlib not found (looked for zlib.h and libz). Install via: brew install zlib")
++    endif()
++    if(NOT TARGET ZLIB::zlib)
++        add_library(ZLIB::zlib UNKNOWN IMPORTED)
++        set_target_properties(ZLIB::zlib PROPERTIES
++            IMPORTED_LOCATION "${SYSTEM_ZLIB_LIBRARY}"
++            INTERFACE_INCLUDE_DIRECTORIES "${SYSTEM_ZLIB_INCLUDE_DIR}"
++        )
++    endif()
+ 
+     # spdlog for library and device logging
+     find_package(spdlog ${_QUIET} CONFIG REQUIRED)

.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch

@@ -0,0 +1,83 @@
+diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
+index b3b4f66b6..651cd1009 100644
+--- a/cmake/HandleEigen.cmake
++++ b/cmake/HandleEigen.cmake
+@@ -59,7 +59,12 @@ else()
+ endif()
+
+ # Detect Eigen version:
+-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
++# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
++# to a dedicated Eigen/Version header, so check the new location first.
++set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
++if (NOT EXISTS ${EIGEN_VER_H})
++    set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
++endif()
+ if (EXISTS ${EIGEN_VER_H})
+     file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
+
+diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
+index cfedf6d8c..9c9771407 100644
+--- a/gtsam/base/Matrix.h
++++ b/gtsam/base/Matrix.h
+@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>;  \
+ using Matrix8##N = Eigen::Matrix<double, 8, N>;  \
+ using Matrix9##N = Eigen::Matrix<double, 9, N>;  \
+ static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
+-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
++static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
+
+ GTSAM_MAKE_MATRIX_DEFS(1)
+ GTSAM_MAKE_MATRIX_DEFS(2)
+diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
+index f7923ff88..5410393f6 100644
+--- a/gtsam/base/Vector.h
++++ b/gtsam/base/Vector.h
+@@ -27,6 +27,7 @@
+
+ #include <gtsam/global_includes.h>
+ #include <Eigen/Core>
++#include <cassert>
+ #include <iosfwd>
+ #include <list>
+
+@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
+ typedef Eigen::Vector2d Vector2;
+ typedef Eigen::Vector3d Vector3;
+
+-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
+-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
++static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
++static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
+
+ // Create handy typedefs and constants for vectors with N>3
+ // VectorN and Z_Nx1, for N=1..9
+ #define GTSAM_MAKE_VECTOR_DEFS(N)                \
+   using Vector##N = Eigen::Matrix<double, N, 1>; \
+-  static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
++  static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
+
+ GTSAM_MAKE_VECTOR_DEFS(4)
+ GTSAM_MAKE_VECTOR_DEFS(5)
+diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
+index 22f65b8de..20a0c936e 100644
+--- a/gtsam/linear/iterative.h
++++ b/gtsam/linear/iterative.h
+@@ -61,7 +61,7 @@ namespace gtsam {
+
+     /** Apply operator A'*e */
+     Vector operator^(const Vector& e) const {
+-      return A_ ^ e;
++      return gtsam::operator^(A_, e);
+     }
+
+     /**
+@@ -71,7 +71,7 @@ namespace gtsam {
+
+     /** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
+     Vector gradient(const Vector& x) const {
+-      return A() ^ (A() * x - b());
++      return gtsam::operator^(A(), Vector(A() * x - b()));
+     }
+
+     /** Apply operator A */

.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch

@@ -0,0 +1,87 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a5f0c44..69340e4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -78,18 +78,18 @@ elseif ()
+ 	endif ()
+ endif ()
+
+-# enable C++11 support.
++# enable C++14 support (required by recent Eigen versions).
+ if (CMAKE_VERSION VERSION_LESS "3.1")
+ 	if (MSVC)
+ 		message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++")
+ 	endif ()
+ 	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+-		set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
++		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
+ 	else ()
+-		set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
++		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
+ 	endif ()
+ else ()
+-	set (CMAKE_CXX_STANDARD 11)
++	set (CMAKE_CXX_STANDARD 14)
+ endif ()
+
+ #======================== External Dependencies ===============================
+diff --git a/experimental/kdtree_cpu.cpp b/experimental/kdtree_cpu.cpp
+index 302b672..d63fcd3 100644
+--- a/experimental/kdtree_cpu.cpp
++++ b/experimental/kdtree_cpu.cpp
+@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ #include "nabo_experimental.h"
+ #include "../nabo/index_heap.h"
++#include <cassert>
+ #include <iostream>
+ #include <stdexcept>
+ #include <limits>
+diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
+index cb1f8d1..52a444f 100644
+--- a/nabo/kdtree_cpu.cpp
++++ b/nabo/kdtree_cpu.cpp
+@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <queue>
+ #include <algorithm>
+ #include <utility>
++#include <cassert>
+ #ifdef HAVE_OPENMP
+ #include <omp.h>
+ #endif
+diff --git a/nabo/kdtree_opencl.cpp b/nabo/kdtree_opencl.cpp
+index 5a9fee2..fb1345f 100644
+--- a/nabo/kdtree_opencl.cpp
++++ b/nabo/kdtree_opencl.cpp
+@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ #include "nabo_private.h"
+ #include "index_heap.h"
++#include <cassert>
+ #include <iostream>
+ #include <sstream>
+ #include <fstream>
+diff --git a/tests/knnshow.cpp b/tests/knnshow.cpp
+index 6f4d3fc..c612378 100644
+--- a/tests/knnshow.cpp
++++ b/tests/knnshow.cpp
+@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+ #include "nabo/nabo.h"
++#include <cassert>
+ #include <iostream>
+ #include <fstream>
+ #include <stdexcept>
+diff --git a/tests/knnvalidate.cpp b/tests/knnvalidate.cpp
+index 2430249..2a7dcc4 100644
+--- a/tests/knnvalidate.cpp
++++ b/tests/knnvalidate.cpp
+@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include "nabo/nabo.h"
+ #include "helpers.h"
+ //#include "experimental/nabo_experimental.h"
++#include <cassert>
+ #include <iostream>
+ #include <fstream>
+ #include <stdexcept>

.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch

@@ -0,0 +1,32 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9dabfd0..7b73418 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -128,9 +128,9 @@ endif()
+ #--------------------
+ # DEPENDENCY:  boost
+ #--------------------
+-find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
++find_package(Boost REQUIRED COMPONENTS thread program_options date_time)
+ if (Boost_MINOR_VERSION GREATER 47)
+-	find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
++	find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)
+ endif ()
+
+ #--------------------
+diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
+index 6de2c85..7c887fd 100644
+--- a/libpointmatcherConfig.cmake.in
++++ b/libpointmatcherConfig.cmake.in
+@@ -7,9 +7,9 @@
+ include(CMakeFindDependencyMacro)
+ find_dependency(libnabo REQUIRED)
+ find_dependency(yaml-cpp REQUIRED)
+-find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
++find_package(Boost COMPONENTS thread program_options date_time REQUIRED)
+ if (Boost_MINOR_VERSION GREATER 47)
+-  find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
++  find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)
+ endif ()
+ include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
+

.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch

@@ -0,0 +1,29 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 261f2cda..644e068f 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
+     )
+ 
+     install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
+-    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
++    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
+ 
+     include(CMakePackageConfigHelpers)
++    # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
++    # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
++    # discovers it in config mode and reads its version.
+     write_basic_package_version_file(
+-        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
++        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
+         VERSION "${PROJECT_VERSION}"
+         COMPATIBILITY SameMajorVersion
+     )
+     install(
+-        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
+-        DESTINATION lib
++        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
++        DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
+     )
+     if(MSVC)
+         install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)

.github/workflows/cmake-macos.yml

@@ -26,20 +26,16 @@ jobs:
         include:
         - build_name: macos-sequoia-intel
           os: macos-15-intel
-          extra_deps: ""
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-sequoia-apple-silicon
           os: macos-15
-          extra_deps: ""
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-tahoe-intel
           os: macos-26-intel
-          extra_deps: ""
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-tahoe-apple-silicon
           os: macos-26
-          extra_deps: ""
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
 
     steps:
     - uses: actions/checkout@v4
@@ -47,7 +43,15 @@ jobs:
     - name: Install Brew Dependencies
       run: |
         # Update brew and install from Brewfile if present, or specific packages
-        brew install pcl opencv octomap g2o pdal
+        brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb zlib
+
+    - name: Install Source Dependencies
+      # Build (and per-dependency cache) the source-only deps not available from
+      # Homebrew, then install them into /usr/local. See the composite action.
+      uses: ./.github/actions/install-macos-source-deps
+      with:
+        os: ${{ matrix.os }}
+        build_type: ${{ env.BUILD_TYPE }}
 
     - name: Configure CMake
       run: |
@@ -61,19 +65,19 @@ jobs:
       run: |
         ./rtabmap-console --version
 
-#    - name: Build MacOS Package
-#      run: |
-#        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+    - name: Build MacOS Package
+      run: |
+        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
 
-#    - name: Upload RTABMap Artifacts (DMG)
-#      uses: actions/upload-artifact@v4
-#      with:
-#        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
-#        path: |
-#          build/RTABMap-*.dmg
-#        compression-level: 0
-#        if-no-files-found: warn
-#        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+    - name: Upload RTABMap Artifacts (DMG)
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-nonsigned-zip
+        path: |
+          build/RTABMap-*.dmg
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
 
 #    - name: Test
 #      working-directory: ${{github.workspace}}/build

.github/workflows/cmake-windows.yml

@@ -27,11 +27,11 @@ jobs:
         - build_name: windows-2022
           os: windows-2022
           extra_deps: ""
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF'
+          extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF'
         - build_name: windows-2022-cuda
           os: windows-2022
           extra_deps: ""
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=ON'
+          extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON'
 
     steps:
     - uses: actions/checkout@v4
@@ -46,9 +46,23 @@ jobs:
 
     - name: Configure CMake
       run: |
+        # K4A and K4W2 are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake),
+        # pointing at the export where the bundle script 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"
         cmake `
           -B ${{github.workspace}}/build `
           -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
+          -DBUILD_AS_BUNDLE=ON `
+          -DWITH_PYTHON=ON `
+          -DWITH_CERES=ON `
+          -DWITH_ORBBEC_SDK=ON `
+          -DWITH_FREENECT2=ON `
+          -DWITH_K4W2=ON `
+          -DWITH_K4A=ON `
+          -DWITH_DEPTHAI=ON `
+          -DWITH_REALSENSE2=ON `
+          -DWITH_CCCORELIB=ON `
           ${{ matrix.extra_cmake_def }} `
           -DVCPKG_MANIFEST_INSTALL=OFF `
           -DVCPKG_TARGET_TRIPLET=x64-windows-release `

.gitignore

@@ -12,3 +12,9 @@ compile_flags.txt
 tags
 build_*
 *.bak
+
+# Windows bundle: vcpkg tree, build output, and deps built from source (bundle_windows_deps.bat)
+vcpkg/
+vcpkg_installed/
+vcpkg_binaries/
+vcpkg_deps_from_source/

CMakeLists.txt

@@ -208,7 +208,7 @@ option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_REALSENSE2    "Include RealSense2 support"           ON)
 option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
-option(WITH_DEPTHAI       "Include depthai-core support"         OFF)
+option(WITH_DEPTHAI       "Include depthai-core v2 support"      OFF)
 option(WITH_XVSDK         "Include XVisio SDK support"           OFF)
 option(WITH_ORBBEC_SDK    "Include Orbbec SDK v2 support"        OFF)
 option(WITH_OCTOMAP       "Include OctoMap support"              ON)
@@ -711,7 +711,9 @@ IF(WITH_MYNTEYE)
 ENDIF(WITH_MYNTEYE)
 
 IF(WITH_DEPTHAI)
-    FIND_PACKAGE(depthai 2.24)
+    # Force DepthAI major version 2 (>=2.24, <3.0): the v3 API is not yet
+    # supported (see CameraDepthAI).
+    FIND_PACKAGE(depthai 2.24...<3.0)
     IF(depthai_FOUND)
        MESSAGE(STATUS "Found depthai-core (targets)")
     ENDIF(depthai_FOUND)
@@ -1877,7 +1879,7 @@ MESSAGE(STATUS "  With DepthAI ${depthai_VERSION}       = YES (License: MIT)")
 ELSEIF(NOT WITH_DEPTHAI)
 MESSAGE(STATUS "  With DepthAI              = NO (WITH_DEPTHAI=OFF)")
 ELSE()
-MESSAGE(STATUS "  With DepthAI              = NO (depthai-core not found)")
+MESSAGE(STATUS "  With DepthAI              = NO (depthai-core v2 not found)")
 ENDIF()
 
 IF(xvsdk_FOUND)

app/src/CMakeLists.txt

@@ -24,15 +24,23 @@ IF(WIN32)
   ELSE( MINGW )
     SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
   ENDIF( MINGW )
-ENDIF(WIN32)
-
-IF(BUILD_AS_BUNDLE)
-  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
+ENDIF(WIN32)
+
+IF(BUILD_AS_BUNDLE)
+  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
 ENDIF()
 
 # Add binary
 IF(APPLE AND BUILD_AS_BUNDLE)
   ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES})
+  # Custom Info.plist providing NSCameraUsageDescription, required by macOS to
+  # grant the app access to USB/UVC cameras (e.g. Orbbec, RealSense). A bundle
+  # identifier is also set: macOS ties the camera (TCC) permission to it, so it
+  # must be non-empty for the permission to be granted/persisted.
+  SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
+    MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/Info.plist.in
+    MACOSX_BUNDLE_GUI_IDENTIFIER "com.introlab.rtabmap"
+    MACOSX_BUNDLE_BUNDLE_NAME "${CMAKE_BUNDLE_NAME}")
 ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
   ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ELSE()
@@ -70,13 +78,13 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
   SET(thirdparty_dest_dir bin)
  
   IF(APPLE)
-    SET(plugin_dest_dir MacOS/plugins)
-    IF(Qt6_FOUND)
-       SET(plugin_dest_dir PlugIns)
+    SET(plugin_dest_dir MacOS/plugins)
+    IF(Qt6_FOUND)
+       SET(plugin_dest_dir PlugIns)
     ENDIF()
     SET(qtconf_dest_dir Resources)
     SET(thirdparty_dest_dir MacOS)
-    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
+    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
   ENDIF(APPLE)
 
   IF(OpenNI2_FOUND)
@@ -241,14 +249,49 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
 	ENDIF(WIN32)
   ENDIF(Python3_FOUND)
   
-  IF(Qt6_FOUND)
+  IF(Qt6_FOUND AND APPLE)
+    # On macOS we do NOT use qt_deploy_runtime_dependencies (macdeployqt):
+    # macdeployqt cannot deploy VTK 9.6+, whose libraries reference each other
+    # via @rpath relative to "@loader_path/../lib". Instead we install the Qt plugins
+    # manually and let fixup_bundle() below deploy all libraries.
+    IF(TARGET Qt6::QCocoaIntegrationPlugin)
+      get_target_property(_qt_plugin_loc Qt6::QCocoaIntegrationPlugin LOCATION)
+      get_filename_component(_qt_plugins_dir "${_qt_plugin_loc}" DIRECTORY) # .../plugins/platforms
+      get_filename_component(_qt_plugins_dir "${_qt_plugins_dir}" DIRECTORY) # .../plugins
+      FOREACH(_qt_plugin_type platforms styles imageformats iconengines)
+        IF(EXISTS "${_qt_plugins_dir}/${_qt_plugin_type}")
+          # Homebrew Qt plugins are symlinks into the Cellar; resolve them to the
+          # real files so they aren't installed as dangling symlinks (which would
+          # break fixup_bundle and codesign).
+          FILE(GLOB _qt_plugin_files "${_qt_plugins_dir}/${_qt_plugin_type}/*${CMAKE_SHARED_LIBRARY_SUFFIX}")
+          SET(_qt_plugin_real "")
+          FOREACH(_qt_plugin_file ${_qt_plugin_files})
+            GET_FILENAME_COMPONENT(_qt_plugin_file "${_qt_plugin_file}" REALPATH)
+            LIST(APPEND _qt_plugin_real "${_qt_plugin_file}")
+          ENDFOREACH()
+          IF(_qt_plugin_real)
+            INSTALL(FILES ${_qt_plugin_real}
+                    DESTINATION ${plugin_dest_dir}/${_qt_plugin_type}
+                    COMPONENT runtime)
+          ENDIF()
+        ENDIF()
+      ENDFOREACH()
+    ELSE()
+      MESSAGE(WARNING "Qt6::QCocoaIntegrationPlugin target not found: Qt plugins may be missing from the bundle")
+    ENDIF()
+    # qt.conf so Qt finds the bundled plugins (path is relative to Contents/)
+    SET(QT_CONF_FILE [Paths]\nPlugins=${plugin_dest_dir})
+    INSTALL(CODE "
+      file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
+      " COMPONENT runtime)
+  ELSEIF(Qt6_FOUND)
 	# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
 	# The following script must only be executed at install time
 	set(deploy_script "${CMAKE_CURRENT_BINARY_DIR}/deploy_app$<CONFIG>.cmake")
 	file(GENERATE OUTPUT ${deploy_script} CONTENT "
 	# Including the file pointed to by QT_DEPLOY_SUPPORT ensures the generated
 	# deployment script has access to qt_deploy_runtime_dependencies()
-	include(\"${QT_DEPLOY_SUPPORT}\")
+	include(\"${QT_DEPLOY_SUPPORT}\")
 	qt_deploy_runtime_dependencies(
 		EXECUTABLE \"${APPS}\"
 		PLUGINS_DIR ${plugin_dest_dir}
@@ -328,10 +371,13 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
       INSTALL(CODE "
         file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
         " COMPONENT runtime)
-  ENDIF()
+  ENDIF()
 
   # directories to look for dependencies
-  SET(DIRS "${QT_LIBRARY_DIRS}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
+  # CMAKE_LIBRARY_OUTPUT_DIRECTORY is where rtabmap's own libraries (e.g.
+  # librtabmap_core) are built; fixup_bundle needs it to resolve the app's
+  # @rpath references to them (macdeployqt used to handle this via rpath).
+  SET(DIRS "${QT_LIBRARY_DIRS}" "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
   IF(APPLE)
     SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
   ENDIF(APPLE)
@@ -363,6 +409,25 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
     include(\"BundleUtilities\")
     fixup_bundle(\"${APPS}\" \"\${ALL_LIBS}\" \"${DIRS}\")
   " COMPONENT runtime)
-  
+
+  IF(APPLE)
+    # Re-sign ad-hoc AFTER fixup_bundle has finished all its install_name_tool
+    # edits.
+    install(CODE "
+      set(_contents \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}\")
+      get_filename_component(_app \"\${_contents}\" DIRECTORY)
+      file(GLOB_RECURSE _nested \"\${_contents}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
+      foreach(_f \${_nested})
+        execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_f}\")
+      endforeach()
+      file(GLOB _frameworks \"\${_contents}/Frameworks/*.framework\")
+      foreach(_f \${_frameworks})
+        execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_f}\")
+      endforeach()
+      message(STATUS \"Ad-hoc re-signing bundle: \${_app}\")
+      execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_app}\")
+    " COMPONENT runtime)
+  ENDIF(APPLE)
+
 ENDIF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
   

app/src/Info.plist.in

@@ -0,0 +1,40 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>NSPrincipalClass</key>
+	<string>NSApplication</string>
+	<key>NSHighResolutionCapable</key>
+	<string>True</string>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>English</string>
+	<key>CFBundleExecutable</key>
+	<string>${MACOSX_BUNDLE_EXECUTABLE_NAME}</string>
+	<key>CFBundleGetInfoString</key>
+	<string>${MACOSX_BUNDLE_INFO_STRING}</string>
+	<key>CFBundleIconFile</key>
+	<string>${MACOSX_BUNDLE_ICON_FILE}</string>
+	<key>CFBundleIdentifier</key>
+	<string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleLongVersionString</key>
+	<string>${MACOSX_BUNDLE_LONG_VERSION_STRING}</string>
+	<key>CFBundleName</key>
+	<string>${MACOSX_BUNDLE_BUNDLE_NAME}</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleShortVersionString</key>
+	<string>${MACOSX_BUNDLE_SHORT_VERSION_STRING}</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleVersion</key>
+	<string>${MACOSX_BUNDLE_BUNDLE_VERSION}</string>
+	<key>CSResourcesFileMapped</key>
+	<true/>
+	<key>NSHumanReadableCopyright</key>
+	<string>${MACOSX_BUNDLE_COPYRIGHT}</string>
+	<key>NSCameraUsageDescription</key>
+	<string>RTAB-Map needs access to the camera to capture images from connected RGB-D/stereo cameras (e.g. Orbbec, RealSense).</string>
+</dict>
+</plist>

bundle_windows_deps.bat

@@ -4,6 +4,8 @@ setlocal enabledelayedexpansion
 :: --- CONFIGURATION ---
 set "VCPKG_ROOT=%~dp0vcpkg"
 set "EXPORT_DIR=%~dp0vcpkg_binaries"
+:: All deps downloaded/built from source (git clones + the pinned CMake) live here.
+set "SRC_DIR=%~dp0vcpkg_deps_from_source"
 set "TRIPLET=x64-windows-release"
 set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"
 
@@ -43,7 +45,9 @@ echo [+] Installing dependencies via vcpkg manifest...
     --x-feature=openni2 ^
     --x-feature=gtsam-deps ^
     --x-feature=python ^
-    --x-feature=libpointmatcher-deps || exit /b !errorlevel!
+    --x-feature=pdal ^
+    --x-feature=libpointmatcher-deps ^
+    --x-feature=libfreenect2-deps || exit /b !errorlevel!
 
 :: 3. Export
 echo [+] Exporting built binaries to raw folder...
@@ -52,13 +56,7 @@ for /f "usebackq tokens=*" %%i in (`"%VS_LOCATOR%" -latest -property catalog_pro
 set TARGET_NAME=vcpkg-export-%VCPKG_COMMIT_SHORT%-x64-%VS_YEAR%
 set TARGET_FULL_PATH=%EXPORT_DIR%\%TARGET_NAME%
 if exist "%TARGET_FULL_PATH%" rd /s /q "%TARGET_FULL_PATH%"
-"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --triplet=%TRIPLET%  || exit /b !errorlevel!
-
-:: Find the actual exported folder name (it usually contains a date/hash)
-for /d %%i in ("%EXPORT_DIR%\vcpkg-export-20??????-??????") do set "FINAL_EXPORT_PATH=%%i"
-
-echo [+] Rename folder %FINAL_EXPORT_PATH% to %TARGET_NAME%
-ren "%FINAL_EXPORT_PATH%" "%TARGET_NAME%" || exit /b !errorlevel!
+"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --output=%TARGET_NAME% --triplet=%TRIPLET%  || exit /b !errorlevel!
 set "FINAL_EXPORT_PATH=%TARGET_FULL_PATH%"
 
 echo [+] Add numpy...
@@ -68,6 +66,66 @@ echo [+] Add numpy...
 %FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install "numpy<2" || exit /b !errorlevel!
 
 :: 4. Other dependencies not in vcpkg
+:: Everything cloned/downloaded below goes into %SRC_DIR% to keep the repo root clean.
+if not exist "%SRC_DIR%" mkdir "%SRC_DIR%"
+cd /d "%SRC_DIR%"
+
+:: Kinect for Windows SDK v2 (k4w2): rtabmap's FindKinectSDK2.cmake expects the
+:: 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.
+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 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!
+    pause
+    exit /b !errorlevel!
+)
+
+:: orbbec SDK2
+echo [+] Building OrbbecSDK_v2...
+if not exist OrbbecSDK_v2 (
+    echo [+] Downloading and applying patch...
+    git clone https://github.com/orbbec/OrbbecSDK_v2.git
+    cd OrbbecSDK_v2
+    git checkout v2.8.7
+    :: Install the CMake package config under lib/cmake/<pkg> so find_package(OrbbecSDK) works
+    git apply "%~dp0patches\orbbecsdk_2.8.7.patch"
+    cd ..
+)
+cd OrbbecSDK_v2
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
+  -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 ^
+  -DOB_BUILD_DOCS=OFF ^
+  -DOB_BUILD_EXAMPLES=OFF ^
+  -DOB_BUILD_TOOLS=OFF ^
+  -DOB_INSTALL_EXAMPLES_SOURCE=OFF || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
+if "%K4A_ROOT_DIR%"=="" (
+    echo Error: K4A_ROOT_DIR environment variable is not set! Install K4A: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md
+    pause
+    exit /b 1
+)
+echo Copying Kinect For Azure components...
+robocopy "%K4A_ROOT_DIR%\sdk" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\sdk" /E /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!
+    pause
+    exit /b !errorlevel!
+)
+
 :: libnabo
 echo [+] Building libnabo...
 if not exist libnabo (
@@ -76,7 +134,7 @@ if not exist libnabo (
     cd libnabo
     :: Jan 27, 2022
     git checkout c925c47
-    git apply ../patches/libnabo_c925c47.patch
+    git apply "%~dp0patches\libnabo_c925c47.patch"
     cd ..
 )
 cd libnabo
@@ -103,7 +161,7 @@ if not exist libpointmatcher (
     cd libpointmatcher
     :: Mar 17, 2023
     git checkout 7dc58e5
-    git apply ../patches/pointmatcher_7dc58e5.patch
+    git apply "%~dp0patches\pointmatcher_7dc58e5.patch"
     cd ..
 )
 cd libpointmatcher
@@ -136,7 +194,7 @@ if not exist gtsam (
     :: June 18, 2025
     git checkout 4.3a0-ros
     git cherry-pick 18af4e6
-    git apply ../patches/gtsam_4_3a0-ros.patch
+    git apply "%~dp0patches\gtsam_4_3a0-ros.patch"
     cd ..
 )
 cd gtsam
@@ -167,7 +225,7 @@ if not exist opengv (
     cd opengv
     :: Aug 6, 2020
     git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
-    git apply ../patches/opengv_91f4b19c.patch
+    git apply "%~dp0patches\opengv_91f4b19c.patch"
     cd ..
 )
 cd opengv
@@ -182,6 +240,117 @@ cmake -S . -B build -GNinja ^
 cmake --build build --config Release --target install || exit /b !errorlevel!
 cd ..
 
+:: libfreenect2
+echo [+] Building libfreenect2...
+if not exist libfreenect2 (
+    echo [+] Downloading and applying patch...
+    git clone https://github.com/OpenKinect/libfreenect2.git
+    cd libfreenect2
+    :: Aug 6, 2021
+    git checkout v0.2.1
+    :: Patch makes freenect2Config.cmake relocatable so the prebuilt bundle works
+    :: after being moved/unzipped, drops cudaDeviceProp::clockRate/computeMode
+    :: removed in CUDA 13 from the CUDA build, and renames a CL_ICDL_VERSION local
+    :: that collides with the OpenCL 3.0 macro.
+    git apply "%~dp0patches\libfreenect2_v0.2.1.patch"
+    cd ..
+)
+cd libfreenect2
+:: libfreenect2's FindLibUSB.cmake locates libusb via pkg-config. It declares an
+:: ancient cmake_minimum_required (2.8.12), which makes FindPkgConfig default
+:: PKG_CONFIG_USE_CMAKE_PREFIX_PATH=OFF, so it ignores the vcpkg CMAKE_PREFIX_PATH.
+:: Force it ON so the bundle's lib/pkgconfig (libusb-1.0.pc, libturbojpeg.pc) is
+:: searched, use the vcpkg-bundled pkgconf, and also set PKG_CONFIG_PATH as a belt.
+set "PKG_CONFIG_PATH=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib\pkgconfig"
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
+  -DPKG_CONFIG_EXECUTABLE="%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\pkgconf\pkgconf.exe" ^
+  -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DENABLE_CUDA=OFF ^
+  -DENABLE_OPENCL=OFF ^
+  -DBUILD_EXAMPLES=OFF ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
+:: depthai
+echo [+] Building depthai...
+if not exist depthai-core (
+    echo [+] Downloading...
+    git clone https://github.com/luxonis/depthai-core.git
+    cd depthai-core
+    :: depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
+    git checkout v2.32.0
+    git submodule update --init --recursive
+    cd ..
+)
+cd depthai-core
+:: v2 and its old Hunter sub-deps declare cmake_minimum_required < 3.5, which
+:: CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not propagate into
+:: Hunter's sub-builds. Use a pinned CMake 3.x just for depthai (Hunter reuses the
+:: same cmake binary for its dependency sub-builds).
+set "CMAKE3_VER=3.31.12"
+set "CMAKE3_NAME=cmake-%CMAKE3_VER%-windows-x86_64"
+set "CMAKE3_DIR=%SRC_DIR%\%CMAKE3_NAME%"
+set "CMAKE3=%CMAKE3_DIR%\bin\cmake.exe"
+if not exist "%CMAKE3_DIR%" (
+    echo [+] Downloading CMake %CMAKE3_VER% ...
+    curl -L -o "%SRC_DIR%\%CMAKE3_NAME%.zip" "https://github.com/Kitware/CMake/releases/download/v%CMAKE3_VER%/%CMAKE3_NAME%.zip" || exit /b !errorlevel!
+    "%SEVENZIP_EXE%" x "%SRC_DIR%\%CMAKE3_NAME%.zip" -o"%SRC_DIR%" -y || exit /b !errorlevel!
+)
+:: v2 is fully Hunter-managed (no vcpkg toolchain). depthaiDependencies.cmake
+:: unconditionally does find_package(OpenCV 4 QUIET CONFIG) (not gated by
+:: DEPTHAI_OPENCV_SUPPORT); if it finds the bundle's OpenCV, OpenCVModules does
+:: find_dependency(TIFF) which collides with Hunter's config-less FindTIFF. We don't
+:: need depthai's OpenCV at all (CameraDepthAI converts ImgFrame->cv::Mat itself), so
+:: hard-disable the lookup. DEPTHAI_ENABLE_CURL=OFF avoids Hunter's old zlib/curl.
+"%CMAKE3%" -S . -B build -GNinja ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DBUILD_SHARED_LIBS=ON ^
+  -DDEPTHAI_OPENCV_SUPPORT=OFF ^
+  -DCMAKE_DISABLE_FIND_PACKAGE_OpenCV=ON ^
+  -DDEPTHAI_ENABLE_CURL=OFF ^
+  -DDEPTHAI_BUILD_EXAMPLES=OFF ^
+  -DDEPTHAI_BUILD_TESTS=OFF || exit /b !errorlevel!
+"%CMAKE3%" --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
+:: CCCoreLib
+echo [+] Building CCCoreLib...
+if not exist CCCoreLib (
+    echo [+] Downloading...
+    git clone https://github.com/CloudCompare/CCCoreLib.git
+    cd CCCoreLib
+    :: June 20, 2026
+    git checkout 4095bea6552096cb528c3b8b5cb9505df2aa6002
+    git submodule update --init --recursive
+    :: nanoflann is an internal dep (only used in src/Kriging.cpp, no public header),
+    :: but CCCoreLib links it PUBLIC, leaking nanoflann::nanoflann into the exported
+    :: interface and breaking find_package(CCCoreLib). Link it PRIVATE instead.
+    git apply "%~dp0patches\cccorelib_4095bea.patch"
+    cd ..
+)
+cd CCCoreLib
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
+  -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 ^
+  -DCCCORELIB_SHARED=ON ^
+  -DCCCORELIB_USE_CGAL=OFF ^
+  -DCCCORELIB_USE_TBB=ON ^
+  -DCCCORELIB_USE_QT_CONCURRENT=OFF || 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
@@ -205,13 +374,27 @@ if !errorlevel! EQU 0 (
 :: Example building rtabmap afterwards
 goto :EndComment
 
+:: The vcpkg export folder should not be in the rtabmap source directory
+:: (otherwise we get some cmake errors about that)
 set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
+
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\bin;%PATH%
+set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
+set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
 
 cmake -B build -GNinja ^
   -DCMAKE_BUILD_TYPE=Release ^
-  -DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON ^
+  -DBUILD_AS_BUNDLE=ON ^
+  -DWITH_PYTHON=ON ^
   -DWITH_ZED=OFF ^
+  -DWITH_CERES=ON ^
+  -DWITH_ORBBEC_SDK=ON ^
+  -DWITH_FREENECT2=ON ^
+  -DWITH_K4W2=ON ^
+  -DWITH_K4A=ON ^
+  -DWITH_DEPTHAI=ON ^
+  -DWITH_REALSENSE2=ON ^
+  -DWITH_CCCORELIB=ON ^
   -DVCPKG_MANIFEST_INSTALL=OFF ^
   -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
   -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^

bundle_windows_deps_cuda.bat

@@ -34,6 +34,8 @@ echo Installed CUDA Toolkit: %CUDA_VER%
 :: --- CONFIGURATION ---
 set "VCPKG_ROOT=%~dp0vcpkg"
 set "EXPORT_DIR=%~dp0vcpkg_binaries"
+:: All deps downloaded/built from source (pytorch, torchvision, opencv, libfreenect2, ...) live here.
+set "SRC_DIR=%~dp0vcpkg_deps_from_source"
 set "TRIPLET=x64-windows-release"
 set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"
 
@@ -70,11 +72,34 @@ 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
+if "%ZED_SDK_ROOT_DIR%"=="" (
+    echo Error: ZED_SDK_ROOT_DIR environment variable is not set!
+    pause
+    exit /b 1
+)
+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. 
+:: 8 or higher means there was a failure.
+if !errorlevel! GEQ 8 (
+    echo Error: Robocopy failed with exit code !errorlevel!
+    pause
+    exit /b !errorlevel!
+)
+
 :: pytorch deps
 %FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install numpy packaging "setuptools<82" pyyaml typing_extensions
 
 git config --global core.longpaths true
 
+:: All deps cloned/built below go into %SRC_DIR% (incl. libfreenect2 built by
+:: bundle_windows_deps.bat) to keep the repo root clean.
+if not exist "%SRC_DIR%" mkdir "%SRC_DIR%"
+cd /d "%SRC_DIR%"
+
 :: pytorch, build with local cuda libraries to avoid duplicating them when we install rtabmap
 echo [+] Building pytorch with cuda support...
 if not exist pytorch (
@@ -124,6 +149,7 @@ set TORCHVISION_LIBRARY=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib
 %FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install . -v --no-build-isolation || exit /b !errorlevel!
 cd ..
 
+
 :: opencv_cuda
 echo [+] Building opencv with cuda support...
 if not exist opencv (
@@ -138,7 +164,7 @@ if not exist opencv (
 if not exist opencv_contrib (
     echo [+] Downloading opencv_contrib...
 	git clone https://github.com/opencv/opencv_contrib.git || exit /b !errorlevel!
-    cd opencv
+    cd opencv_contrib
     :: 4.13.0 minimum required to be compatible with cuda 13
 	:: Dec 31, 2025
     git checkout 4.13.0
@@ -174,6 +200,34 @@ robocopy "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\Lib" "%FINAL_EXPORT_PATH%\
 cd ..
 
 
+:: freenect2 with cuda support
+:: libfreenect2's CUDA processors include <helper_math.h>, which modern CUDA toolkits
+:: no longer ship (it moved to the NVIDIA/cuda-samples repo). Fetch it and point
+:: NVCUDASAMPLES_ROOT at it; libfreenect2 adds %NVCUDASAMPLES_ROOT%\common\inc to nvcc.
+set "CUDA_SAMPLES_DIR=%SRC_DIR%\cuda-samples"
+if not exist "%CUDA_SAMPLES_DIR%\common\inc\helper_math.h" (
+    mkdir "%CUDA_SAMPLES_DIR%\common\inc"
+    curl -L -o "%CUDA_SAMPLES_DIR%\common\inc\helper_math.h" "https://raw.githubusercontent.com/NVIDIA/cuda-samples/v12.5/Common/helper_math.h" || exit /b !errorlevel!
+)
+set "NVCUDASAMPLES_ROOT=%CUDA_SAMPLES_DIR%"
+cd libfreenect2
+cmake -S . -B build_cuda -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
+  -DPKG_CONFIG_EXECUTABLE="%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\pkgconf\pkgconf.exe" ^
+  -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DENABLE_CUDA=ON ^
+  -DENABLE_OPENCL=ON ^
+  -DENABLE_OPENGL=ON ^
+  -DBUILD_EXAMPLES=OFF ^
+  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
+cmake --build build_cuda --config Release --target install || exit /b !errorlevel!
+cd ..
+
 :: 5. ZIP the folder
 echo [+] Creating final package with 7-Zip...
 :: Rip off pdb files
@@ -195,8 +249,9 @@ if !errorlevel! EQU 0 (
 :: Example building rtabmap with opencv cuda and libtorch afterwards
 goto :EndComment
 
-:: Set path of unzipped deps
-set VCPKG_UNZIPPED_EXPORT_PATH=
+:: The vcpkg export folder should not be in the rtabmap source directory
+:: (otherwise we get some cmake errors about that)
+set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
 
 set TRIPLET=x64-windows-release
 set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\bin;%PATH%
@@ -206,15 +261,9 @@ 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%
-
-:: Other dependencies
-
-:: For ZED, modify zed-config.cmake and remove all dependencies
-set PATH=%PATH%;%ZED_SDK_ROOT_DIR%\bin
-
-:: For kinect 4 windows SDK v2, move kinect20.dll from system32 to KINECTSDK20_DIR\bin 
-:: For kinect 4 windows SDK v1, move kinect10.dll and KinectAudio10.dll to KINECTSDK20_DIR\bin
-set PATH=%PATH%;%KINECTSDK20_DIR%\bin
+set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
+set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
+set ZED_SDK_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
 
 cmake -B build_cuda -GNinja ^
   -DCMAKE_BUILD_TYPE=Release ^
@@ -222,6 +271,14 @@ cmake -B build_cuda -GNinja ^
   -DWITH_PYTHON=ON ^
   -DWITH_TORCH=ON ^
   -DWITH_ZED=ON ^
+  -DWITH_CERES=ON ^
+  -DWITH_ORBBEC_SDK=ON ^
+  -DWITH_FREENECT2=ON ^
+  -DWITH_K4W2=ON ^
+  -DWITH_K4A=ON ^
+  -DWITH_DEPTHAI=ON ^
+  -DWITH_REALSENSE2=ON ^
+  -DWITH_CCCORELIB=ON ^
   -DVCPKG_MANIFEST_INSTALL=OFF ^
   -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
   -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^

cmake_modules/FindEigen3.cmake

@@ -40,7 +40,13 @@ if(NOT Eigen3_FIND_VERSION)
 endif()
 
 macro(_eigen3_check_version)
-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+  # Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
+  # to a dedicated Eigen/Version header, so check the new location first.
+  if(EXISTS "${EIGEN3_INCLUDE_DIR}/Eigen/Version")
+    file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
+  else()
+    file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+  endif()
 
   string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
   set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")

corelib/src/CMakeLists.txt

@@ -392,7 +392,6 @@ IF(depthai_FOUND)
 	SET(PUBLIC_LIBRARIES
 		${PUBLIC_LIBRARIES}
 		depthai::core
-		depthai::opencv
 	)
 ENDIF(depthai_FOUND)
 

corelib/src/camera/CameraDepthAI.cpp

@@ -729,6 +729,21 @@ std::string CameraDepthAI::getSerial() const
 	return "";
 }
 
+#ifdef RTABMAP_DEPTHAI
+namespace {
+// Convert the depthai depth ImgFrame to cv::Mat (similar to dai::ImgFrame::getCvFrame())
+cv::Mat depthImgFrameToCvMat(const std::shared_ptr<dai::ImgFrame> & frame)
+{
+	if(frame->getType() != dai::ImgFrame::Type::RAW16)
+	{
+		UERROR("Expected RAW16 depth ImgFrame but got type %d", (int)frame->getType());
+		return cv::Mat();
+	}
+	return cv::Mat((int)frame->getHeight(), (int)frame->getWidth(), CV_16UC1, frame->getData().data()).clone();
+}
+}
+#endif
+
 SensorData CameraDepthAI::captureImage(SensorCaptureInfo * info)
 {
 	SensorData data;
@@ -740,7 +755,7 @@ SensorData CameraDepthAI::captureImage(SensorCaptureInfo * info)
 
 	double stamp = std::chrono::duration<double>(depthOrRight->getTimestampDevice(dai::CameraExposureOffset::MIDDLE).time_since_epoch()).count();
 	if(outputMode_)
-		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_ANYCOLOR), depthOrRight->getCvFrame(), stereoModel_.left(), this->getNextSeqID(), stamp);
+		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_ANYCOLOR), depthImgFrameToCvMat(depthOrRight), stereoModel_.left(), this->getNextSeqID(), stamp);
 	else
 		data = SensorData(cv::imdecode(rgbOrLeft->getData(), cv::IMREAD_GRAYSCALE), cv::imdecode(depthOrRight->getData(), cv::IMREAD_GRAYSCALE), stereoModel_, this->getNextSeqID(), stamp);
 

corelib/src/camera/CameraOrbbecSDK.cpp

@@ -220,6 +220,12 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
 #ifdef RTABMAP_ORBBEC_SDK
     this->close();
 
+    // The Orbbec SDK reports failures by throwing ob::Error (e.g. uvc_open
+    // access denied on macOS without camera permission, or unsupported config).
+    // Catch them here so init() logs the error and returns false instead of
+    // letting the exception propagate and abort the whole process.
+    try {
+
     std::shared_ptr<ob::Device> device;
 
     ob::Context context;
@@ -276,16 +282,20 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
     }
 
     if(device.get() == nullptr) {
+#ifdef __APPLE__
+        const std::string connectHint = "camera is correctly connected. On macOS the Orbbec "
+            "camera can only be accessed with root privileges, so run the application with sudo.";
+#else
+        const std::string connectHint = "camera is correctly connected and the udev rules are installed.";
+#endif
         if(deviceId_.empty()) {
-            UERROR( "Could not find any orbbec compatible devices! Verify that the "
-                    "camera is correctly connected and the udev rules are installed.");
+            UERROR("Could not find any orbbec compatible devices! Verify that the %s", connectHint.c_str());
         }
         else {
-            UERROR("Could not find an orbbec device with ID \"%s\"! Verify that the "
-                   "camera is correctly connected and the udev rules are installed. "
-                   "Unset the ID to choose the first camera found.");
+            UERROR("Could not find an orbbec device with ID \"%s\"! Verify that the %s "
+                   "Unset the ID to choose the first camera found.", deviceId_.c_str(), connectHint.c_str());
         }
-        
+
         return false;
     }
 
@@ -546,6 +556,22 @@ bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::str
         return false;
     }
     
+    }
+    catch(const ob::Error & e)
+    {
+#ifdef __APPLE__
+        UERROR("Failed to initialize Orbbec camera: %s. On macOS the Orbbec SDK accesses "
+               "the camera through libusb, which must take the USB interface from the system "
+               "UVC driver; this requires root privileges. If this is a USB access error "
+               "(e.g. \"uvc_open failed ... Return Code: -3\"), run the application with sudo.",
+               e.what());
+#else
+        UERROR("Failed to initialize Orbbec camera: %s", e.what());
+#endif
+        this->close();
+        return false;
+    }
+
     return true;
 #else
     UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
@@ -598,13 +624,19 @@ SensorData CameraOrbbecSDK::captureImage(SensorCaptureInfo * info)
         UERROR("Camera is not initialized!");
         return data;
     }
+
+    // The streaming calls below can throw ob::Error (transient frame/USB
+    // errors, filter or profile failures). Catch them so a bad frame is logged
+    // and skipped (empty SensorData) instead of aborting the whole process.
+    try {
+
     auto frameset = pipeline_->waitForFrameset();
     if(frameset == nullptr || frameset->getCount() == 0) {
         UWARN("No frame received!");
         return data;
     }
     if(frameset->getCount() != 2) {
-        UWARN("Received %s frames, expecting 2!", frameset->getCount());
+        UWARN("Received %u frames, expecting 2!", frameset->getCount());
         return data;
     }
 
@@ -733,6 +765,13 @@ SensorData CameraOrbbecSDK::captureImage(SensorCaptureInfo * info)
         }
     }
 
+    }
+    catch(const ob::Error & e)
+    {
+        UERROR("Error capturing Orbbec camera frame: %s", e.what());
+        return data;
+    }
+
 #else
     UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
 #endif

corelib/src/camera/CameraRealSense2.cpp

@@ -508,7 +508,14 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		rs2::device_list list = ctx_.query_devices();
 		if (0 == list.size())
 		{
+#ifdef __APPLE__
+			UERROR("No RealSense2 devices were found! On macOS the RealSense SDK accesses "
+			       "the camera through libusb, which must take the USB interface from the "
+			       "system driver; this requires root privileges. If a device is connected "
+			       "but not detected, run the application with sudo.");
+#else
 			UERROR("No RealSense2 devices were found!");
+#endif
 			return false;
 		}
 
@@ -546,7 +553,12 @@ bool CameraRealSense2::init(const std::string & calibrationFolder, const std::st
 		}
 		catch(const rs2::error & error)
 		{
+#ifdef __APPLE__
+			UWARN("%s. Is the camera already used with another app? On macOS, accessing a "
+			      "RealSense camera requires root privileges, so try running with sudo.", error.what());
+#else
 			UWARN("%s. Is the camera already used with another app?", error.what());
+#endif
 		}
 
 		if (!found)

patches/cccorelib_4095bea.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e671b87..86b590c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -121,7 +121,7 @@ set( NANOFLANN_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE )
+ set( NANOFLANN_BUILD_TESTS OFF CACHE BOOL "" FORCE )
+ add_subdirectory( extern/nanoflann EXCLUDE_FROM_ALL )
+ target_link_libraries( CCCoreLib
+-	PUBLIC
++	PRIVATE
+ 		nanoflann::nanoflann
+ )
+ 

patches/libfreenect2_v0.2.1.patch

@@ -0,0 +1,102 @@
+diff --git a/freenect2.cmake.in b/freenect2.cmake.in
+index 05df1af..2195bb4 100644
+--- a/freenect2.cmake.in
++++ b/freenect2.cmake.in
+@@ -1,10 +1,15 @@
++# Resolve paths relative to this config file (<prefix>/lib/cmake/freenect2/) so the
++# install tree stays relocatable (e.g. when shipped/unzipped as a prebuilt bundle).
++get_filename_component(_freenect2_prefix "${CMAKE_CURRENT_LIST_DIR}" DIRECTORY)
++get_filename_component(_freenect2_prefix "${_freenect2_prefix}" DIRECTORY)
++get_filename_component(_freenect2_prefix "${_freenect2_prefix}" DIRECTORY)
+ FIND_LIBRARY(freenect2_LIBRARY freenect2
+-    PATHS @CMAKE_INSTALL_PREFIX@/lib
++    PATHS "${_freenect2_prefix}/lib"
+     NO_DEFAULT_PATH
+ )
+ SET(freenect2_LIBRARIES ${freenect2_LIBRARY} @LIBFREENECT2_THREADING_LIBRARIES@)
+ FIND_PATH(freenect2_INCLUDE_DIR @PROJECT_NAME@/libfreenect2.hpp
+-    PATHS @CMAKE_INSTALL_PREFIX@/include
++    PATHS "${_freenect2_prefix}/include"
+     NO_DEFAULT_PATH
+ )
+ SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})
+diff --git a/src/cuda_depth_packet_processor.cu b/src/cuda_depth_packet_processor.cu
+index 7ca5974..95c8e11 100644
+--- a/src/cuda_depth_packet_processor.cu
++++ b/src/cuda_depth_packet_processor.cu
+@@ -779,12 +779,7 @@ public:
+ 
+       cudaDeviceProp prop;
+       CHECK_CUDA(cudaGetDeviceProperties(&prop, i));
+-      LOG_INFO << "device " << i << ": " << prop.name << " @ " << (prop.clockRate / 1000) << "MHz Memory " << (prop.totalGlobalMem >> 20) << "MB";
+-
+-      if (prop.computeMode == cudaComputeModeProhibited) {
+-        LOG_INFO << " Compute Mode Prohibited";
+-        continue;
+-      }
++      LOG_INFO << "device " << i << ": " << prop.name << " Memory " << (prop.totalGlobalMem >> 20) << "MB";
+ 
+       if (prop.major < 1) {
+         LOG_INFO << " does not support CUDA";
+diff --git a/src/cuda_kde_depth_packet_processor.cu b/src/cuda_kde_depth_packet_processor.cu
+index 0a16f55..bca00cc 100644
+--- a/src/cuda_kde_depth_packet_processor.cu
++++ b/src/cuda_kde_depth_packet_processor.cu
+@@ -1192,12 +1192,7 @@ public:
+ 
+       cudaDeviceProp prop;
+       CHECK_CUDA(cudaGetDeviceProperties(&prop, i));
+-      LOG_INFO << "device " << i << ": " << prop.name << " @ " << (prop.clockRate / 1000) << "MHz Memory " << (prop.totalGlobalMem >> 20) << "MB";
+-
+-      if (prop.computeMode == cudaComputeModeProhibited) {
+-        LOG_INFO << " Compute Mode Prohibited";
+-        continue;
+-      }
++      LOG_INFO << "device " << i << ": " << prop.name << " Memory " << (prop.totalGlobalMem >> 20) << "MB";
+ 
+       if (prop.major < 1) {
+         LOG_INFO << " does not support CUDA";
+diff --git a/src/opencl_depth_packet_processor.cpp b/src/opencl_depth_packet_processor.cpp
+index d8db14d..51d0883 100644
+--- a/src/opencl_depth_packet_processor.cpp
++++ b/src/opencl_depth_packet_processor.cpp
+@@ -251,7 +251,7 @@ public:
+     newIrFrame();
+     newDepthFrame();
+ 
+-    const int CL_ICDL_VERSION = 2;
++    const int clIcdlVersion = 2;
+     typedef cl_int (*icdloader_func)(int, size_t, void*, size_t*);
+ #ifdef _MSC_VER
+ #pragma warning(push)
+@@ -269,7 +269,7 @@ public:
+     if (clGetICDLoaderInfoOCLICD != NULL)
+     {
+       char buf[16];
+-      if (clGetICDLoaderInfoOCLICD(CL_ICDL_VERSION, sizeof(buf), buf, NULL) == CL_SUCCESS)
++      if (clGetICDLoaderInfoOCLICD(clIcdlVersion, sizeof(buf), buf, NULL) == CL_SUCCESS)
+       {
+         if (strcmp(buf, "2.2.4") < 0 && strlen(buf) <= 5)
+           LOG_WARNING << "Your ocl-icd has deadlock bugs. Update to 2.2.4+ is recommended.";
+diff --git a/src/opencl_kde_depth_packet_processor.cpp b/src/opencl_kde_depth_packet_processor.cpp
+index 98dbdff..97fbc6d 100644
+--- a/src/opencl_kde_depth_packet_processor.cpp
++++ b/src/opencl_kde_depth_packet_processor.cpp
+@@ -259,7 +259,7 @@ public:
+     newIrFrame();
+     newDepthFrame();
+ 
+-    const int CL_ICDL_VERSION = 2;
++    const int clIcdlVersion = 2;
+     typedef cl_int (*icdloader_func)(int, size_t, void*, size_t*);
+ #ifdef _MSC_VER
+ #pragma warning(push)
+@@ -277,7 +277,7 @@ public:
+     if (clGetICDLoaderInfoOCLICD != NULL)
+     {
+       char buf[16];
+-      if (clGetICDLoaderInfoOCLICD(CL_ICDL_VERSION, sizeof(buf), buf, NULL) == CL_SUCCESS)
++      if (clGetICDLoaderInfoOCLICD(clIcdlVersion, sizeof(buf), buf, NULL) == CL_SUCCESS)
+       {
+         if (strcmp(buf, "2.2.4") < 0)
+           LOG_WARNING << "Your ocl-icd has deadlock bugs. Update to 2.2.4+ is recommended.";

patches/orbbecsdk_2.8.7.patch

@@ -0,0 +1,29 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 261f2cda..644e068f 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
+     )
+ 
+     install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
+-    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
++    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
+ 
+     include(CMakePackageConfigHelpers)
++    # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
++    # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
++    # discovers it in config mode and reads its version.
+     write_basic_package_version_file(
+-        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
++        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
+         VERSION "${PROJECT_VERSION}"
+         COMPATIBILITY SameMajorVersion
+     )
+     install(
+-        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
+-        DESTINATION lib
++        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
++        DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
+     )
+     if(MSVC)
+         install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)

tools/CameraRGBD/main.cpp

@@ -48,6 +48,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <stdio.h>
 #include <signal.h>
 #include <QApplication>
+#include <QSurfaceFormat>
+#include <vtkVersionMacros.h>
+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+#include <QVTKRenderWidget.h>
+#endif
 
 void showUsage(const char * executableName)
 {
@@ -168,7 +173,6 @@ int main(int argc, char * argv[])
 			}
 			if (strcmp(argv[i], "-pcl") == 0)
 			{
-				++i;
 				usePCLViz = true;
 				continue;
 			}
@@ -370,6 +374,18 @@ int main(int argc, char * argv[])
 		exit(1);
 	}
 
+#ifdef __APPLE__
+	if(usePCLViz)
+	{
+		// pcl::visualization::CloudViewer creates its render window on its own
+		// background thread, but macOS only allows NSWindow creation on the main
+		// thread, so it aborts. Fall back to the default (Qt) viewer.
+		printf("-pcl is not supported on macOS (pcl::visualization::CloudViewer creates its "
+			   "window on a background thread, which macOS forbids). Using the default viewer instead.\n");
+		usePCLViz = false;
+	}
+#endif
+
 	if(usePCLViz)
 	{
 		rtabmap::SensorData data = camera->takeData();
@@ -485,6 +501,14 @@ int main(int argc, char * argv[])
 	}
 	else // Use our own visualizer
 	{
+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+		// Needed to ensure the appropriate OpenGL context is created for VTK
+		// rendering (QVTKOpenGLNativeWidget). Without it the embedded VTK widget
+		// gets an incompatible context and VTK calls a null GL function pointer
+		// (crash in vtkOpenGLVertexArrayObject::Bind on first paint). Must be set
+		// before QApplication is constructed.
+		QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
+#endif
 		QApplication app(argc, argv);
 
 		rtabmap::CameraViewer cameraViewer;

vcpkg.json

@@ -113,6 +113,18 @@
         "kinectsdk2"
       ]
     },
+    "libfreenect2-deps": {
+      "description": "Build libfreenect2's dependencies",
+      "dependencies": [
+        "libusb",
+        "libjpeg-turbo",
+        "glfw3",
+        {
+          "name": "pkgconf",
+          "host": true
+        }
+      ]
+    },
     "libpointmatcher-deps": {
       "description": "Build libpointmatcher's dependencies",
       "dependencies": [
@@ -173,6 +185,12 @@
         }
       ]
     },
+    "pdal": {
+      "description": "Build RTAB-Map with pdal support",
+      "dependencies": [
+        "pdal"
+      ]
+    },
     "python": {
       "description": "Build RTAB-Map with python support",
       "dependencies": [