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

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 +72,52 @@ if not exist "%FINAL_EXPORT_PATH%" (
 	xcopy "%CUDA_PATH%\bin\x64\cudnn*.dll" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\" /Y
 )
 
+:: ZED: copy the main library + the zed-config.cmake so find_package(ZED) resolves
+:: it from the export (the config derives paths from ZED_SDK_ROOT_DIR/CMAKE_PREFIX_PATH).
+if "%ZED_SDK_ROOT_DIR%"=="" (
+    echo Error: ZED_SDK_ROOT_DIR environment variable is not set!
+    pause
+    exit /b 1
+)
+echo Copying ZED main library only...
+:: Only the core runtime goes into the bundle; the neural-depth/TensorRT DLLs are
+:: shipped separately (see the zed-neural-extra archive below).
+robocopy "%ZED_SDK_ROOT_DIR%\bin" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin" sl_zed64.dll zlibwapi.dll /XO
+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
+:: Install ZED's CMake config at the export prefix root so find_package(ZED 2) (config
+:: mode, via the vcpkg toolchain CMAKE_PREFIX_PATH) finds it.
+robocopy "%ZED_SDK_ROOT_DIR%" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%" zed-config.cmake zed-config-version.cmake /XO
+:: Robocopy exit codes under 8 mean successful copies/no changes.
+:: 8 or higher means there was a failure.
+if !errorlevel! GEQ 8 (
+    echo Error: Robocopy failed with exit code !errorlevel!
+    pause
+    exit /b !errorlevel!
+)
+:: Archive the remaining ZED runtime DLLs (neural-depth / TensorRT extras) as a
+:: separate optional download, kept out of the main bundle to keep it small. Built
+:: only once: skipped if the archive already exists. Staged with robocopy /XF
+:: (excludes by name; avoids 7z's "!" exclude switch that delayed expansion mangles).
+set "ZED_EXTRA_7Z=%EXPORT_DIR%\%TARGET_NAME%-zed-neural-extra.7z"
+set "ZED_EXTRA_DIR=%SRC_DIR%\zed-neural-extra"
+if not exist "%ZED_EXTRA_7Z%" (
+    echo [+] Creating ZED neural extra archive...
+    if exist "%ZED_EXTRA_DIR%" rd /s /q "%ZED_EXTRA_DIR%"
+    robocopy "%ZED_SDK_ROOT_DIR%\bin" "%ZED_EXTRA_DIR%" *.dll /XF sl_zed64.dll zlibwapi.dll >nul
+    "%SEVENZIP_EXE%" a -t7z -mx9 "%ZED_EXTRA_7Z%" "%ZED_EXTRA_DIR%\*" || 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 +167,7 @@ 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 +182,7 @@ 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 +218,56 @@ 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 ..
+
+:: CudaSift (CUDA SIFT/SURF GPU features, matlabbe fork; needs CUDA)
+echo [+] Building CudaSift...
+if not exist CudaSift (
+    echo [+] Downloading...
+    git clone https://github.com/matlabbe/CudaSift.git
+    cd CudaSift
+    git checkout f764e14ae59ee78ff5b282d38790301d80faadc3
+    cd ..
+)
+cd CudaSift
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF ^
+  -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DVERBOSE=OFF ^
+  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
 :: 5. ZIP the folder
 echo [+] Creating final package with 7-Zip...
 :: Rip off pdb files
@@ -195,8 +289,9 @@ 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 +301,10 @@ 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 PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin;%PATH%
+set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
+set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
+set ZED_SDK_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
 
 cmake -B build_cuda -GNinja ^
   -DCMAKE_BUILD_TYPE=Release ^
@@ -222,6 +312,16 @@ cmake -B build_cuda -GNinja ^
   -DWITH_PYTHON=ON ^
   -DWITH_TORCH=ON ^
   -DWITH_ZED=ON ^
+  -DWITH_CUDASIFT=ON ^
+  -DWITH_CERES=ON ^
+  -DWITH_ORBBEC_SDK=ON ^
+  -DWITH_FREENECT2=ON ^
+  -DWITH_K4W2=ON ^
+  -DWITH_K4A=ON ^
+  -DWITH_DEPTHAI=ON ^
+  -DWITH_REALSENSE2=ON ^
+  -DWITH_CCCORELIB=ON ^
+  -DWITH_PDAL=OFF ^
   -DVCPKG_MANIFEST_INSTALL=OFF ^
   -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
   -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^