MacOS and Windows binaries update (0.23.8) (#1726)

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

* added opengv to mac build

* windows bundle fixes

* zed extra neural ddl in separate package

* OpenGV macos eigen version error

* opengv macos build issues

.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 -DWITH_CUDASIFT=ON'
 
     steps:
     - uses: actions/checkout@v4
@@ -46,9 +46,24 @@ jobs:
 
     - name: Configure CMake
       run: |
+        # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake
+        # 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}} `
+          -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 `