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)

app/src/main.cpp

@@ -52,6 +52,10 @@ int main(int argc, char* argv[])
 	ULogger::setLevel(ULogger::kWarning);
 
 #ifdef WIN32
+	// STA (single-threaded apartment) is required for the native file dialogs / File Explorer
+	// (see commit d75cc04, "Fixed File Explorer hanging (Qt 5.12)"). Do NOT switch to MTA
+	// (CoInitializeEx COINIT_MULTITHREADED): it deadlocks the
+	// native file dialogs.
 	CoInitialize(nullptr);
 #endif
 
@@ -60,6 +64,12 @@ int main(int argc, char* argv[])
     QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif
 
+	// Recommended by VTK when using QVTKOpenGLNativeWidget (a QOpenGLWidget): let all VTK
+	// render widgets share a single OpenGL context, which is needed for correct rendering
+	// when render widgets live in / move across multiple top-level windows. Must be set
+	// before QApplication is constructed.
+	QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
+
 	/* Create tasks */
 	QApplication * app = new QApplication(argc, argv);
 	app->setStyleSheet("QMessageBox { messagebox-text-interaction-flags: 5; }"); // selectable message box