Windows CI: make vcpkg download compatible with draft release (#1727)

* Windows CI: make vcpkg download compatible with draft release

* forcing nvdia driver dll to be ignored in fixup_bundle

* disabling opencv cudec and python

* disabling rtabmap-console --version on cuda build

* Added assert when bad imu data is provided. Added checks when zed sdk is returning nan imu data.

* Updated zed sdk5 resolution and quality

* Updated zed sdk5 resolution and quality

* Fixing parameters reloaded when testing camera. Also fixed app freezing when closing Preferences dialog after using test camera dialog

* cleanup and debug logs

* Added dialogs when starting/stopping sensors/detection. Fixed nullptr bug on MainWindow::handleEvents

* renamed

* found a way to expose ZED model downloads

* Updated default config path on Windows

* Fixed extra endline in file logging (windows)

* Fixed camera local transform when used with lidar and odomSensor

* CI(macos): build g2o from source with OpenMP (libomp include/link fix)

* Mac: added ceres dep, fixed omp not found by cmake

* Mac: bundle orbbec extensions

* stripping rpath of orbbec's extensions

* cleanup

* Realsense2 error as error (not warning)

* Fixed config ownership changed to root when sarting in sudo. LidarVLP16: fixed crash on Mac by reimplementing our own socket threading

* LidarVLP16: own socket implementation only for Mac (linux and windows use original PCL's reader)

.github/workflows/cmake-macos.yml

@@ -26,24 +26,19 @@ jobs:
         include:
         - build_name: macos-sequoia-intel
           os: macos-15-intel
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-sequoia-apple-silicon
           os: macos-15
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-tahoe-intel
           os: macos-26-intel
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
         - build_name: macos-tahoe-apple-silicon
           os: macos-26
-          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_ORBBEC_SDK=ON -DWITH_DEPTHAI=ON'
-
     steps:
     - uses: actions/checkout@v4
 
     - name: Install Brew Dependencies
       run: |
         # Update brew and install from Brewfile if present, or specific packages
-        brew install pcl opencv octomap g2o pdal yaml-cpp librealsense libfreenect libusb zlib
+        brew install pcl opencv octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
 
     - name: Install Source Dependencies
       # Build (and per-dependency cache) the source-only deps not available from
@@ -55,7 +50,21 @@ jobs:
 
     - name: Configure CMake
       run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
+        # Apple clang has no built-in OpenMP; point find_package(OpenMP) at
+        # Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of
+        # repeatedly logging "Could NOT find OpenMP".
+        LIBOMP=$(brew --prefix libomp)
+        cmake -B ${{github.workspace}}/build \
+          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
+          -DBUILD_AS_BUNDLE=ON \
+          -DWITH_ORBBEC_SDK=ON \
+          -DWITH_DEPTHAI=ON \
+          -DWITH_CERES=ON \
+          -DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
+          -DOpenMP_C_LIB_NAMES=omp \
+          -DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
+          -DOpenMP_CXX_LIB_NAMES=omp \
+          -DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib"
 
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}

.github/workflows/cmake-windows.yml

@@ -74,6 +74,14 @@ jobs:
     - name: Build
       run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
 
+    - name: Info
+      # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64),
+      # which need the NVIDIA driver; the GPU-less runner can't load the exe.
+      if: matrix.build_name != 'windows-2022-cuda'
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
     - name: Build Windows Package
       shell: pwsh
       run: |
@@ -88,11 +96,6 @@ jobs:
       shell: pwsh
       run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }
 
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        ./rtabmap-console --version
-
     - name: Upload RTABMap Artifacts (ZIP)
       uses: actions/upload-artifact@v4
       with: