Adding more dependencies in Windows CI

.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/

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!
+"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --output=%TARGET_NAME% --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!
 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 +240,113 @@ 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
+    :: Make the installed freenect2Config.cmake relocatable so the prebuilt
+    :: bundle works after being moved or unzipped elsewhere.
+    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 ^
+  -DENABLE_CUDA=OFF ^
+  -DENABLE_OPENCL=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 +370,27 @@ if !errorlevel! EQU 0 (
 :: Example building rtabmap afterwards
 goto :EndComment
 
+:: The vcpkg export folder should 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 +200,23 @@ robocopy "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\Lib" "%FINAL_EXPORT_PATH%\
 cd ..
 
 
+:: freenect2 with cuda support
+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%" ^
+  -DENABLE_CUDA=ON ^
+  -DENABLE_OPENCL=ON ^
+  -DENABLE_OPENGL=ON ^
+  -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
@@ -196,7 +239,7 @@ if !errorlevel! EQU 0 (
 goto :EndComment
 
 :: Set path of unzipped deps
-set VCPKG_UNZIPPED_EXPORT_PATH=
+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%
@@ -206,22 +249,24 @@ 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 ZED_SDK_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
 
 :: 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
-
 cmake -B build_cuda -GNinja ^
   -DCMAKE_BUILD_TYPE=Release ^
   -DBUILD_AS_BUNDLE=ON ^
   -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" ^

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);
 

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 +1,22 @@
+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})

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)

vcpkg.json

@@ -113,6 +113,17 @@
         "kinectsdk2"
       ]
     },
+    "libfreenect2-deps": {
+      "description": "Build libfreenect2's dependencies",
+      "dependencies": [
+        "libusb",
+        "libjpeg-turbo",
+        {
+          "name": "pkgconf",
+          "host": true
+        }
+      ]
+    },
     "libpointmatcher-deps": {
       "description": "Build libpointmatcher's dependencies",
       "dependencies": [
@@ -173,6 +184,12 @@
         }
       ]
     },
+    "pdal": {
+      "description": "Build RTAB-Map with pdal support",
+      "dependencies": [
+        "pdal"
+      ]
+    },
     "python": {
       "description": "Build RTAB-Map with python support",
       "dependencies": [