Update librealsense to v2.54.2

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/librealsense/librealsense.cmake

@@ -5,8 +5,8 @@ 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
+    URL_HASH SHA256=e3a767337ff40ae41000049a490ab84bd70b00cbfef65e8cdbadf17fd2e1e5a8
     DOWNLOAD_DIR "${OPEN3D_THIRD_PARTY_DOWNLOAD_DIR}/librealsense"
     UPDATE_COMMAND ""
     # Patch for libusb static build failure on Linux
@@ -17,9 +17,6 @@ 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
-        ${CMAKE_CURRENT_LIST_DIR}/fix-macos-arm64.patch
     CMAKE_ARGS
         -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
         -DBUILD_SHARED_LIBS=OFF
@@ -30,6 +27,7 @@ ExternalProject_Add(
         -DBUILD_PYTHON_BINDINGS=OFF
         -DBUILD_WITH_CUDA=${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 +41,33 @@ 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()

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