Update librealsense to v2.54.2 (#6714)

* Re-enable Realsense for Windows.
* New patch for Apple Silicon
---------
Co-authored-by: Sameer Sheorey <[email protected]>

Author: sitic

.github/workflows/windows.yml

@@ -133,7 +133,7 @@ jobs:
             -DBUILD_SHARED_LIBS=${{ matrix.BUILD_SHARED_LIBS }} `
             -DSTATIC_WINDOWS_RUNTIME=${{ matrix.STATIC_RUNTIME }} `
             -DBUILD_COMMON_ISPC_ISAS=ON `
-            -DBUILD_LIBREALSENSE=OFF `
+            -DBUILD_LIBREALSENSE=ON `
             -DBUILD_WEBRTC=${{ env.BUILD_WEBRTC }} `
             -DBUILD_UNIT_TESTS=ON `
             -DBUILD_CUDA_MODULE=${{ matrix.BUILD_CUDA_MODULE }} `
@@ -308,15 +308,14 @@ jobs:
           if ($Env:DEVELOPER_BUILD -ne "OFF") {
             $Env:DEVELOPER_BUILD = "ON"
           }
-          # FIXME: librealsense upgrade needed
           cmake -G "Visual Studio 17 2022" -A x64 `
             -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" `
             -DDEVELOPER_BUILD="$Env:DEVELOPER_BUILD" `
             -DBUILD_SHARED_LIBS=OFF `
             -DSTATIC_WINDOWS_RUNTIME=ON `
             -DBUILD_COMMON_ISPC_ISAS=ON `
             -DBUILD_AZURE_KINECT=ON `
-            -DBUILD_LIBREALSENSE=OFF `
+            -DBUILD_LIBREALSENSE=ON `
             -DBUILD_WEBRTC=ON `
             -DBUILD_JUPYTER_EXTENSION=ON `
             -DBUILD_PYTORCH_OPS=ON `

3rdparty/README.md

@@ -84,7 +84,7 @@ libpng                      1.6.49                                libpng license
 The free reference library for reading and writing PNGs
 http://www.libpng.org/
 --------------------------------------------------------------------------------
-librealsense                2.44.0                               Apache-2 license
+librealsense                2.54.2                               Apache-2 license
 A cross-platform library for capturing data from the Intel RealSense F200,
 SR300, R200 and L500 cameras
 https://github.com/IntelRealSense/librealsense
@@ -105,7 +105,7 @@ PoissonReco                 12.0                                     BSD license
 Poisson Surface Reconstruction
 https://github.com/mkazhdan/PoissonRecon
 --------------------------------------------------------------------------------
-pybind11                    v2.13.1                                  BSD license
+pybind11                    v3.00.0                                  BSD license
 Python binding for C++11
 https://github.com/pybind/pybind11
 --------------------------------------------------------------------------------

3rdparty/find_dependencies.cmake

@@ -167,6 +167,7 @@ set(ExternalProject_CMAKE_ARGS
     -DCMAKE_C_COMPILER_LAUNCHER=${CMAKE_C_COMPILER_LAUNCHER}
     -DCMAKE_CXX_COMPILER_LAUNCHER=${CMAKE_CXX_COMPILER_LAUNCHER}
     -DCMAKE_CUDA_COMPILER_LAUNCHER=${CMAKE_CUDA_COMPILER_LAUNCHER}
+    -DCMAKE_CUDA_FLAGS=${CMAKE_CUDA_FLAGS}
     -DCMAKE_OSX_DEPLOYMENT_TARGET=${CMAKE_OSX_DEPLOYMENT_TARGET}
     -DCMAKE_CUDA_FLAGS=${CMAKE_CUDA_FLAGS}
     -DCMAKE_SYSTEM_VERSION=${CMAKE_SYSTEM_VERSION}

3rdparty/librealsense/fix-macos-arm64.patch

@@ -0,0 +1,30 @@
+From 5a244052e2df7842940dfb5a9011973a09626300 Mon Sep 17 00:00:00 2001
+From: Nir Azkiel <[email protected]>
+Date: Tue, 28 May 2024 17:17:04 +0300
+Subject: [PATCH] fix mac apple silicon build
+
+---
+ CMake/unix_config.cmake | 8 ++++----
+ 1 file changed, 4 insertions(+), 4 deletions(-)
+
+diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
+index 5a187c7c7a..89272b8ee1 100644
+--- a/CMake/unix_config.cmake
++++ b/CMake/unix_config.cmake
+@@ -19,12 +19,12 @@ macro(os_set_flags)
+     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat -Wformat-security")
+ 
+     execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)
+-    if(${MACHINE} MATCHES "arm-*")
+-        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
+-        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
+-    elseif(${MACHINE} MATCHES "aarch64-*")
++    if(${MACHINE} MATCHES "arm64-*" OR ${MACHINE} MATCHES "aarch64-*")
+         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mstrict-align -ftree-vectorize")
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mstrict-align -ftree-vectorize")
++    elseif(${MACHINE} MATCHES "arm-*")
++        set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
++        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
+     elseif(${MACHINE} MATCHES "powerpc64(le)?-linux-gnu")
+         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -ftree-vectorize")
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftree-vectorize")

3rdparty/librealsense/fix_mac_apple_silicon_build.patch

@@ -5,8 +5,9 @@ find_package(Git QUIET REQUIRED)
 ExternalProject_Add(
     ext_librealsense
     PREFIX librealsense
-    URL https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.44.0.tar.gz #  2020 Apr 1
-    URL_HASH SHA256=5b0158592646984f0f7348da3783e2fb49e99308a97f2348fe3cc82c770c6dde
+    URL https://github.com/IntelRealSense/librealsense/archive/refs/tags/v2.54.2.tar.gz #  2023 Sep 28
+    # Future versions after v2.54.2 may not support L515 and SR300
+    URL_HASH SHA256=e3a767337ff40ae41000049a490ab84bd70b00cbfef65e8cdbadf17fd2e1e5a8
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/librealsense"
     UPDATE_COMMAND ""
     # Patch for libusb static build failure on Linux
@@ -17,11 +18,8 @@ ExternalProject_Add(
     COMMAND ${GIT_EXECUTABLE} init
     COMMAND ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace
         ${CMAKE_CURRENT_LIST_DIR}/fix-cudacrt.patch
-    # Patch for macOS ARM64 support for versions < 2.50.0
-    COMMAND ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace
-        ${CMAKE_CURRENT_LIST_DIR}/fix-macos-arm64.patch
-    # Patch to include the <chrono> header for the system_clock type
-    COMMAND ${GIT_EXECUTABLE} apply --ignore-space-change --ignore-whitespace
+        ${CMAKE_CURRENT_LIST_DIR}/fix_mac_apple_silicon_build.patch
+        # Patch to include the <chrono> header for the system_clock type
         ${CMAKE_CURRENT_LIST_DIR}/fix-include-chrono.patch
     CMAKE_ARGS
         -DCMAKE_POLICY_VERSION_MINIMUM=3.5
@@ -34,6 +32,7 @@ ExternalProject_Add(
         -DBUILD_PYTHON_BINDINGS=OFF
         -DBUILD_WITH_CUDA=${BUILD_CUDA_MODULE}
         -DUSE_EXTERNAL_USB=ON
+        -DBUILD_TOOLS=OFF
         -DCMAKE_POLICY_VERSION_MINIMUM=3.5
         # Syncing GLIBCXX_USE_CXX11_ABI for MSVC causes problems, but directly
         # checking CXX_COMPILER_ID is not supported.
@@ -48,27 +47,33 @@ ExternalProject_Add(
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}realsense2${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}realsense-file${CMAKE_STATIC_LIBRARY_SUFFIX}
         <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}fw${CMAKE_STATIC_LIBRARY_SUFFIX}
+        <INSTALL_DIR>/${Open3D_INSTALL_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}rsutils${CMAKE_STATIC_LIBRARY_SUFFIX}
 )
 
 ExternalProject_Get_Property(ext_librealsense INSTALL_DIR)
 set(LIBREALSENSE_INCLUDE_DIR "${INSTALL_DIR}/include/") # "/" is critical.
 set(LIBREALSENSE_LIB_DIR "${INSTALL_DIR}/${Open3D_INSTALL_LIB_DIR}")
-
-set(LIBREALSENSE_LIBRARIES realsense2 fw realsense-file usb) # The order is critical.
+set(LIBREALSENSE_LIBRARIES realsense2 fw realsense-file rsutils) # The order is critical.
+if (NOT MSVC)
+	list(APPEND LIBREALSENSE_LIBRARIES usb)
+endif()
 if(MSVC)    # Rename debug libs to ${LIBREALSENSE_LIBRARIES}. rem (comment) is no-op
     ExternalProject_Add_Step(ext_librealsense rename_debug_libs
         COMMAND $<IF:$<CONFIG:Debug>,move,rem> /Y realsense2d.lib realsense2.lib
         COMMAND $<IF:$<CONFIG:Debug>,move,rem> /Y fwd.lib fw.lib
         COMMAND $<IF:$<CONFIG:Debug>,move,rem> /Y realsense-filed.lib realsense-file.lib
+        COMMAND $<IF:$<CONFIG:Debug>,move,rem> /Y rsutilsd.lib rsutils.lib
         WORKING_DIRECTORY "${LIBREALSENSE_LIB_DIR}"
         DEPENDEES install
     )
 endif()
 
-ExternalProject_Add_Step(ext_librealsense copy_libusb_to_lib_folder
-    COMMAND ${CMAKE_COMMAND} -E copy
-    "<BINARY_DIR>/libusb_install/lib/${CMAKE_STATIC_LIBRARY_PREFIX}usb${CMAKE_STATIC_LIBRARY_SUFFIX}"
-    "${LIBREALSENSE_LIB_DIR}"
-    DEPENDEES install
-    BYPRODUCTS "${LIBREALSENSE_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}usb${CMAKE_STATIC_LIBRARY_SUFFIX}"
-    )
+if (NOT MSVC)
+	ExternalProject_Add_Step(ext_librealsense copy_libusb_to_lib_folder
+	    COMMAND ${CMAKE_COMMAND} -E copy
+	    "<BINARY_DIR>/libusb_install/lib/${CMAKE_STATIC_LIBRARY_PREFIX}usb${CMAKE_STATIC_LIBRARY_SUFFIX}"
+	    "${LIBREALSENSE_LIB_DIR}"
+	    DEPENDEES install
+	    BYPRODUCTS "${LIBREALSENSE_LIB_DIR}/${CMAKE_STATIC_LIBRARY_PREFIX}usb${CMAKE_STATIC_LIBRARY_SUFFIX}"
+	    )
+endif()

3rdparty/librealsense/librealsense.cmake

@@ -64,10 +64,10 @@ else()
 endif()
 option(BUILD_SYCL_MODULE          "Build SYCL module with Intel oneAPI"      OFF)
 if(BUILD_SYCL_MODULE)
-    set(OPEN3D_SYCL_TARGETS "spir64" CACHE STRING 
+    set(OPEN3D_SYCL_TARGETS "spir64" CACHE STRING
     "SYCL targets: spir64 for JIT, or another for AOT compilation. See https://github.com/intel/llvm/blob/sycl/sycl/doc/UsersManual.md."
 )
-    set(OPEN3D_SYCL_TARGET_BACKEND_OPTIONS "" CACHE STRING 
+    set(OPEN3D_SYCL_TARGET_BACKEND_OPTIONS "" CACHE STRING
     "SYCL target backend options, e.g. to compile for a specific device. See https://github.com/intel/llvm/blob/sycl/sycl/doc/UsersManual.md."
 )
     set(BUILD_ISPC_MODULE OFF CACHE BOOL "Build the ISPC module" FORCE)
@@ -489,7 +489,7 @@ if(WIN32)
     SET(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
     if(MSVC)
         # MSVC standards-compliant mode: Error in PoissonRecon 3rd party header
-        # add_compile_options($<$<COMPILE_LANGUAGE:CXX>:"/permissive-">)   
+        # add_compile_options($<$<COMPILE_LANGUAGE:CXX>:"/permissive-">)
         # Make sure we don't hit the 65535 object member limit with MSVC
         #
         # /bigobj allows object files with more than 65535 members