Update librealsense to v2.54.2

.github/workflows/windows.yml

@@ -25,6 +25,7 @@ env:
   STOOLS_VER: "67.3.2"
   JEDI_VER: "0.17.2"  # https://github.com/ipython/ipython/issues/12740
   IDNA_VER: "2.8"  # https://github.com/psf/requests/issues/5710
+  CUDA_VERSION: 11.7.1
   SRC_DIR: "D:\\a\\open3d\\open3d"
   BUILD_DIR: "C:\\Open3D\\build"
   NPROC: 2
@@ -34,7 +35,7 @@ jobs:
   windows:
     permissions:
       contents: write  # upload
-    runs-on: windows-2019
+    runs-on: windows-2022
     strategy:
       fail-fast: false
       matrix:
@@ -47,7 +48,6 @@ jobs:
             STATIC_RUNTIME: ON
         include:
           - BUILD_CUDA_MODULE: ON
-            CUDA_VERSION: 11.0.3
     env:
       BUILD_WEBRTC: ${{ ( matrix.BUILD_SHARED_LIBS == 'OFF' && matrix.STATIC_RUNTIME == 'ON' ) && 'ON' || 'OFF' }}
 
@@ -64,16 +64,12 @@ jobs:
         if: ${{ matrix.BUILD_CUDA_MODULE == 'ON' }}
         run: |
           # Define variables
-          $CUDA_VER_FULL = "${{ matrix.CUDA_VERSION }}"
+          $CUDA_VER_FULL = "${{ env.CUDA_VERSION }}"
           $CUDA_VER_ARR = $CUDA_VER_FULL.Split(".")
           $CUDA_VER = "$($CUDA_VER_ARR[0]).$($CUDA_VER_ARR[1])"
           $CUDA_VER_ID = "$($CUDA_VER_ARR[0])_$($CUDA_VER_ARR[1])"
           # Installer url
-          if ( $CUDA_VER_ARR[0] -ge 11 ) {
-            $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_win10_network.exe"
-          } else {
-            $CUDA_URL = "http://developer.download.nvidia.com/compute/cuda/$CUDA_VER/Prod/network_installers/cuda_$($CUDA_VER_FULL)_win10_network.exe"
-          }
+          $CUDA_URL = "https://developer.download.nvidia.com/compute/cuda/$CUDA_VER_FULL/network_installers/cuda_$($CUDA_VER_FULL)_windows_network.exe"
           # Installer arguments
           $CUDA_INSTALL_ARGS = "-s"
           # Required packages
@@ -110,7 +106,7 @@ jobs:
           if (${env:DEVELOPER_BUILD} -ne "OFF") {
             ${env:DEVELOPER_BUILD}="ON"
           }
-          cmake -G "Visual Studio 16 2019" -A x64 `
+          cmake -G "Visual Studio 17 2022" -A x64 `
             -DDEVELOPER_BUILD="${env:DEVELOPER_BUILD}" `
             -DCMAKE_SYSTEM_VERSION="10.0.19041.0" `
             -DBUILD_EXAMPLES=OFF `
@@ -205,7 +201,7 @@ jobs:
           $ErrorActionPreference = 'Stop'
           mkdir build
           cd build
-          cmake -G "Visual Studio 16 2019" -A x64 `
+          cmake -G "Visual Studio 17 2022" -A x64 `
             -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" `
             -DSTATIC_WINDOWS_RUNTIME=${{ matrix.STATIC_RUNTIME }} `
             ..
@@ -235,7 +231,7 @@ jobs:
     name: Build wheel
     permissions:
       contents: write  # upload
-    runs-on: windows-2019
+    runs-on: windows-2022
     strategy:
       fail-fast: false
       # https://github.community/t/how-to-conditionally-include-exclude-items-in-matrix-eg-based-on-branch/16853/6
@@ -280,7 +276,7 @@ jobs:
           if (${env:DEVELOPER_BUILD} -ne "OFF") {
             ${env:DEVELOPER_BUILD}="ON"
           }
-          cmake -G "Visual Studio 16 2019" -A x64 `
+          cmake -G "Visual Studio 17 2022" -A x64 `
             -DCMAKE_INSTALL_PREFIX="C:\Program Files\Open3D" `
             -DDEVELOPER_BUILD="${env:DEVELOPER_BUILD}" `
             -DCMAKE_SYSTEM_VERSION="10.0.19041.0" `
@@ -323,7 +319,7 @@ jobs:
     name: Test wheel
     permissions:
       contents: read
-    runs-on: windows-2019
+    runs-on: windows-2019   # build on 2022, test on 2019
     needs: [build-wheel]
     strategy:
       fail-fast: false

3rdparty/README.md

@@ -51,7 +51,7 @@ dirent                      1.21                                     MIT license
 https://github.com/tronkko/dirent
 A C/C++ programming interface for cross-platform filesystem
 --------------------------------------------------------------------------------
-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
@@ -113,7 +113,7 @@ As an alternative, you can modify 3rdparty/zeromq/zeromq_build.cmake to fetch
 zeromq from our fork
 https://github.com/isl-org/libzmq
 --------------------------------------------------------------------------------
-embree                      3.13.0                              Apache-2 license
+embree                      4.3.1                               Apache-2 license
 Embree is a collection of high-performance ray tracing kernels
 https://github.com/embree/embree
 --------------------------------------------------------------------------------

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=${CMAKE_OSX_DEPLOYMENT_TARGET}
     -DCMAKE_SYSTEM_VERSION=${CMAKE_SYSTEM_VERSION}
     -DCMAKE_INSTALL_LIBDIR=${Open3D_INSTALL_LIB_DIR}

3rdparty/librealsense/fix_mac_apple_silicon_build.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/librealsense.cmake

@@ -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
@@ -17,9 +18,7 @@ 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
+        ${CMAKE_CURRENT_LIST_DIR}/fix_mac_apple_silicon_build.patch
     CMAKE_ARGS
         -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
         -DBUILD_SHARED_LIBS=OFF
@@ -30,6 +29,7 @@ ExternalProject_Add(
         -DBUILD_PYTHON_BINDINGS=OFF
         -DBUILD_WITH_CUDA=${BUILD_CUDA_MODULE}
         -DUSE_EXTERNAL_USB=ON
+        -DBUILD_TOOLS=OFF
         # Syncing GLIBCXX_USE_CXX11_ABI for MSVC causes problems, but directly
         # checking CXX_COMPILER_ID is not supported.
         $<IF:$<PLATFORM_ID:Windows>,"",-DCMAKE_CXX_FLAGS=-D_GLIBCXX_USE_CXX11_ABI=$<BOOL:${GLIBCXX_USE_CXX11_ABI}>>
@@ -43,27 +43,33 @@ 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/stdgpu/stdgpu.cmake

@@ -7,8 +7,9 @@ include(ExternalProject)
 ExternalProject_Add(
     ext_stdgpu
     PREFIX stdgpu
-    URL https://github.com/stotko/stdgpu/archive/e10f6f3ccc9902d693af4380c3bcd188ec34a2e6.tar.gz
-    URL_HASH SHA256=7bb2733b099f7cedc86d2aee7830d128ac1222cfafa34cbaa4e818483c0a93f6
+    # Jul 2024: Fix FindThrust.cmake
+    URL https://github.com/stotko/stdgpu/archive/1b6a3319f1fbf180166e1bbc1d75f69ab622a0a0.tar.gz
+    URL_HASH SHA256=FAA3BF9CBE49EF9CC09E2E07E60D10BBF3B896EDB6089C920BEBE0F850FD95E4
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/stdgpu"
     UPDATE_COMMAND ""
     CMAKE_ARGS

CMakeLists.txt

@@ -387,6 +387,14 @@ cmake_language(EVAL CODE "cmake_language(DEFER CALL open3d_patch_findthreads_mod
 
 # Build CUDA module by default if CUDA is available
 if(BUILD_CUDA_MODULE)
+    # Suppress nvcc unsupported compiler error for MSVC 2022 with CUDA 11.7 to 12.4
+    # https://forums.developer.nvidia.com/t/problems-with-latest-vs2022-update/294150/12
+    if (MSVC AND MSVC_VERSION VERSION_LESS_EQUAL "1949")
+        # Set this before any CUDA checks
+        set(CMAKE_CUDA_FLAGS "--allow-unsupported-compiler" CACHE STRING "Additional flags for nvcc" FORCE)
+        message(WARNING "Using --allow-unsupported-compiler flag for nvcc with MSVC 2022.")
+    endif()
+
     if(BUILD_COMMON_CUDA_ARCHS)
         if (CMAKE_CUDA_ARCHITECTURES)
             message(STATUS "Building with user-provided architectures: ${CMAKE_CUDA_ARCHITECTURES}")

python/test/t/io/test_realsense.py

@@ -64,7 +64,7 @@ def test_RSBagReader():
     assert n_frames == 6
 
     # save_frames
-    bag_reader = o3d.t.io.RGBDVideoReader.create("L515_test_s.bag")
+    bag_reader = o3d.t.io.RGBDVideoReader.create(sample_l515_bag.path)
     bag_reader.save_frames("L515_test_s")
     # Use issubset() since there may be other OS files present
     assert {'depth', 'color',
@@ -79,8 +79,6 @@ def test_RSBagReader():
     }.issubset(os.listdir('L515_test_s/color'))
 
     shutil.rmtree("L515_test_s")
-    if os.name != 'nt':  # Permission error in Windows
-        os.remove("L515_test_s.bag")
 
 
 # Test recording from a RealSense camera, if one is connected