Merge branch 'master' into 144-realsense-synchronisation

# Conflicts: # cwipc_realsense2 # cwipc_util
cwi-dis · Nov 6, 2024 · 533215d · 533215d
2 parents 129ef62 + ae8b949
commit 533215d
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -303,6 +303,83 @@ jobs:
                 if-no-files-found: error
                 include-hidden-files: true
 
+    build-android:
+        name: build-android
+        runs-on: ubuntu-latest
+        steps:
+        - name: Checkout code
+          uses: actions/checkout@v3
+          with:
+                submodules: 'recursive'
+                lfs: 'true'
+                fetch-depth: 0
+        - name: Get all tags
+          run: |
+                git show-ref --tags
+                git log -40
+                git describe --debug
+                git describe --tags --debug
+        - name: Free some space
+          run: |
+                df -h 
+                # Remove software and language runtimes we're not using
+                sudo rm -rf \
+                  "$AGENT_TOOLSDIRECTORY" \
+                  /opt/google/chrome \
+                  /opt/microsoft/msedge \
+                  /opt/microsoft/powershell \
+                  /opt/pipx \
+                  /usr/lib/mono \
+                  /usr/local/julia* \
+                  /usr/local/lib/android \
+                  /usr/local/lib/node_modules \
+                  /usr/local/share/chromium \
+                  /usr/local/share/powershell \
+                  /usr/share/dotnet \
+                  /usr/share/swift
+                df -h 
+        - name: Install Android NDK
+          uses: nttld/setup-ndk@v1
+          id: setup-ndk
+          with:
+            ndk-version: r27b
+            add-to-path: true
+
+        - name: Build & Test
+          uses: ashutoshvarma/action-cmake-build@master
+          with:
+                build-dir: ${{ github.workspace }}/build
+                configure-options: --preset android-production -Wno-dev 
+                build-options: --preset android-production
+                run-test: false
+                install-build: false
+                install-options: --prefix ${{ github.workspace }}/installed
+          env:
+                ANDROID_NDK_HOME: ${{ steps.setup-ndk.outputs.ndk-path }}
+                VCPKG_BINARY_SOURCES: "clear;x-gha,readwrite"        
+        - name: Create installer
+          shell: bash
+          run: |
+                cpack --config build/CPackConfig.cmake -D CPACK_PACKAGE_FILE_NAME="cwipc_${{ github.ref_name }}_android_arm64"
+                ls -l build/package
+        
+        - name: Capture build folder as artifact
+          if: ${{ failure() }}
+          shell: bash
+          run: tar cfz build.tgz build
+        - name: Upload build folder
+          if: ${{ failure() }}
+          uses: actions/upload-artifact@v3
+          with:
+                name: android-build-folder
+                path: build.tgz
+
+        - name: Upload installer package
+          uses: actions/upload-artifact@v3
+          with:
+            name: android-arm64-package
+            path: build/package/*.tar.gz
+
     build-ubuntu2404:
         name: build-ubuntu2404
         runs-on: ubuntu-24.04
@@ -390,6 +467,7 @@ jobs:
             - build-macos
             - build-ubuntu2204
             - build-ubuntu2404
+            - build-android
         steps:
         - name: Checkout code
           uses: actions/checkout@v2
@@ -450,6 +528,11 @@ jobs:
           with:
                 name: windows-installer.exe
                 path: ../Assets/
+        - name: Download Android installer
+          uses: actions/download-artifact@v3
+          with:
+                name: android-arm64-package
+                path: ../Assets/
         - name: Find Artefact names
           run: |
                 windows_exe_path=$(ls ../Assets/*.exe | head -n 1)
@@ -512,6 +595,16 @@ jobs:
             asset_path: ../Assets/${{ github.ref_name }}-complete.tar.gz
             asset_name: cwipc-${{ github.ref_name }}-source-including-submodules.tar.gz
             asset_content_type: application/zip
+
+        - name: Upload Android package
+          uses: actions/upload-release-asset@v1
+          env:
+            GITHUB_TOKEN: ${{ github.token }}
+          with:
+            upload_url: ${{ steps.create_release.outputs.upload_url }}
+            asset_path: ../Assets/cwipc_${{ github.ref_name }}_android_arm64.tar.gz
+            asset_name: cwipc_${{ github.ref_name }}_android_arm64.tar.gz
+            asset_content_type: application/zip
         - name: Upload complete source (zip)
           uses: actions/upload-release-asset@v1
           env:

diff --git a/.gitmodules b/.gitmodules
@@ -20,4 +20,4 @@
 	update = merge
 [submodule "vcpkg"]
 	path = vcpkg
-	url = https://github.com/Microsoft/vcpkg.git
+	url = git@github.com:jackjansen/vcpkg.git
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -11,21 +11,23 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 - Realsense capturer can now record during live capture, using `system.record_to_directory` config setting. (#119)
 - Debian packages for Ubuntu 24.04 (#143), for the time being without Kinect and Realsense support.
+- Android-arm64 build added (#91), untested for now.
 
 ### Changed
 
 - Minor documentation fixes
 - More resilience against incomplete installations (#108)
 - Don't use numpy 2.0 until issues with open3d are fixed (#109)
-- Fixed colors for cwipc_view --rgb with RealSense camera (#115)
-- Fixed cwipc_register for multiple RealSense cameras (#106)
-- Fixed cwipc_synthetic reader to not wait on available(False) (#117)
-- Realsense cameraconfig.json file rationalized. Major code cleanup. (#137, #125, #118)
+- Fixed colors for `cwipc_view --rgb` with RealSense camera (#115)
+- Fixed `cwipc_register` for multiple RealSense cameras (#106)
+- Fixed `cwipc_synthetic` reader to not wait on available(False) (#117)
+- Realsense `cameraconfig.json` file rationalized. Major code cleanup. (#137, #125, #118)
 - Calibration of Realsense D455 cameras fixed. (#127)
 - Use cmake presets for building (#120)
-- Use pyproject.toml for Python package generation (#79)
+- Use `pyproject.toml` for Python package generation (#79)
 - Implemented recording while capturing for both Realsense and Kinect (#139)
 - Glfw is now used via normal dependencies, no longer slurped (#123)
+- `cwipc_forward` can now serve streams to multiple connections at the same time (#151)
 
 ## [7.5.3] - 2024-04-30
 

diff --git a/CMakeFiles/CwipcInstallers.cmake b/CMakeFiles/CwipcInstallers.cmake
@@ -1,6 +1,9 @@
 
 # Creating installers
-if(APPLE)
+if(ANDROID)
+    set(CPACK_GENERATOR TGZ)
+    set(CPACK_SOURCE_GENERATOR TGZ)
+elseif(APPLE)
     set(CPACK_GENERATOR TGZ)
     set(CPACK_SOURCE_GENERATOR TGZ)
 elseif(UNIX)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,15 +3,65 @@ cmake_policy(SET CMP0074 NEW)
 cmake_policy(SET CMP0072 NEW)
 #cmake_policy(SET CMP0135 NEW)
 
+#
+# Set auxiliary CMake variables that control which optional parts are built.
+# These can be overridden on the command line, or through the CMake presets.
+#
+set(CWIPC_API_ONLY NO CACHE BOOL "Only build libraries")
+if(CWIPC_API_ONLY)
+	set(CWIPC_WITH_APPS NO CACHE BOOL "Build command line apps")
+	set(CWIPC_WITH_PYTHON NO CACHE BOOL "Build Python support and tests")
+	set(CWIPC_WITH_GUI NO CACHE BOOL "Include cwipc_window() and other gui")
+	set(CWIPC_WITH_TESTS NO CACHE BOOL "Include tests")
+	set(CWIPC_WITH_DATA NO CACHE BOOL "Include data")
+else()
+	set(CWIPC_WITH_APPS YES CACHE BOOL "Build command line apps")
+	set(CWIPC_WITH_PYTHON YES CACHE BOOL "Build Python support and tests")
+	set(CWIPC_WITH_GUI YES CACHE BOOL "Include cwipc_window() and other gui")
+	set(CWIPC_WITH_TESTS YES CACHE BOOL "Include tests")
+	set(CWIPC_WITH_DATA YES CACHE BOOL "Include data")
+endif()
+set(CWIPC_WITH_CAPTURERS YES CACHE BOOL "Include camera capturers")
+if(CWIPC_WITH_CAPTURERS)
+	set(CWIPC_WITH_KINECT YES CACHE BOOL "Include Azure Kinect capturer")
+	set(CWIPC_WITH_REALSENSE YES CACHE BOOL "Include Intel Realsense capturer")
+else()
+	set(CWIPC_WITH_KINECT NO CACHE BOOL "Include Azure Kinect support (if available)")
+	set(CWIPC_WITH_REALSENSE NO CACHE BOOL "Include Realsense2 support (if available)")
+endif()
+set(CWIPC_WITH_INSTALLER YES)
+#
+# If we are using vcpkg we want to set some options based on the setting above.
+#
+if(CWIPC_WITH_CAPTURERS)
+  list(APPEND VCPKG_MANIFEST_FEATURES "capturers")
+endif()
+if(CWIPC_WITH_GUI)
+  list(APPEND VCPKG_MANIFEST_FEATURES "gui")
+endif()
+if(CWIPC_WITH_PYTHON)
+  list(APPEND VCPKG_MANIFEST_FEATURES "python")
+endif()
+
 # Add extension directories (for things like Find<package>)
 set(CMAKE_MODULE_PATH
 	${CMAKE_CURRENT_LIST_DIR}/CMakeFiles
 	${CMAKE_CURRENT_LIST_DIR}/cwipc_util/CMakeFiles
 	${CMAKE_CURRENT_LIST_DIR}/cwipc_codec/CMakeFiles
-	${CMAKE_CURRENT_LIST_DIR}/cwipc_realsense2/CMakeFiles
-	${CMAKE_CURRENT_LIST_DIR}/cwipc_kinect/CMakeFiles
 	${CMAKE_MODULE_PATH}
 	)
+if(CWIPC_WITH_REALSENSE)
+	set(CMAKE_MODULE_PATH
+		${CMAKE_CURRENT_LIST_DIR}/cwipc_realsense2/CMakeFiles
+		${CMAKE_MODULE_PATH}
+		)
+endif()
+if(CWIPC_WITH_KINECT)
+	set(CMAKE_MODULE_PATH
+		${CMAKE_CURRENT_LIST_DIR}/cwipc_kinect/CMakeFiles
+		${CMAKE_MODULE_PATH}
+		)
+endif()
 
 # Get version from git if not specified on the command line
 if(NOT CWIPC_VERSION)
@@ -30,7 +80,6 @@ project(cwipc VERSION ${CWIPC_BASE_VERSION})
 
 include(CTest)
 include(GNUInstallDirs)
-include(CwipcPythonSupport)
 
 # Ensure all executable, dll/so and link-library outputs end up in the same directories
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
@@ -42,12 +91,7 @@ set(CMAKE_TESTDATA_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/share/cwipc/tests)
 set(CMAKE_TESTDATA_INSTALL_DIRECTORY ${CMAKE_INSTALL_DATADIR}/cwipc/tests)
 set(CMAKE_REGISTRATIONDATA_INSTALL_DIRECTORY ${CMAKE_INSTALL_DATADIR}/cwipc/registration)
 set(CMAKE_SCRIPTS_INSTALL_DIRECTORY ${CMAKE_INSTALL_LIBEXECDIR}/cwipc)
-#
-# Ensure we clean out the Python wheels directory before installing 
-#
-GNUInstallDirs_get_absolute_install_dir(WHEELDEST CMAKE_PYWHEELS_INSTALL_DIRECTORY WHEELDEST)
-install(CODE "message(\"-- Remove ${WHEELDEST}\")")
-install(CODE "file(REMOVE_RECURSE \"${WHEELDEST}\")")
+
 #
 # Ensure we use the correct RPATH in installed binaries.
 # This also works in the build tree, because we use the staging area to
@@ -64,16 +108,26 @@ elseif(UNIX)
 	set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
 endif()
 
-# The upper limit on the Python version is caused by opencv and open3d,
-# which can lag behind some times. As soon as those packages are available
-# for a new release of Python we can update this version.
-#
-find_package(Python3 3.9...<3.12 REQUIRED COMPONENTS Interpreter)
-
-#
-# Now we can setup the venv.
-#
-cwipc_setup_python_venv()
+if(CWIPC_WITH_PYTHON)
+	include(CwipcPythonSupport)
+	#
+	# Ensure we clean out the Python wheels directory before installing 
+	#
+	GNUInstallDirs_get_absolute_install_dir(WHEELDEST CMAKE_PYWHEELS_INSTALL_DIRECTORY WHEELDEST)
+	install(CODE "message(\"-- Remove ${WHEELDEST}\")")
+	install(CODE "file(REMOVE_RECURSE \"${WHEELDEST}\")")
+
+	# The upper limit on the Python version is caused by opencv and open3d,
+	# which can lag behind some times. As soon as those packages are available
+	# for a new release of Python we can update this version.
+	#
+	find_package(Python3 3.9...<3.12 REQUIRED COMPONENTS Interpreter)
+
+	#
+	# Now we can setup the venv.
+	#
+	cwipc_setup_python_venv()
+endif()
 
 #
 # Packages required by all submodules
@@ -96,7 +150,7 @@ if(CMAKE_SYSTEM_NAME STREQUAL Linux)
 else()
 	find_package(libjpeg-turbo REQUIRED)
 endif()
-find_package(PCL REQUIRED COMPONENTS common io octree filters features geometry kdtree)
+find_package(PCL REQUIRED COMPONENTS common io octree filters features geometry kdtree OPTIONAL_COMPONENTS io_ply)
 
 
 #
@@ -118,8 +172,12 @@ endif()
 #
 # Optional packages, required by some submodules
 #
-find_package(k4a)
-find_package(REALSENSE2)
+if(CWIPC_WITH_KINECT)
+	find_package(k4a)
+endif()
+if(CWIPC_WITH_REALSENSE)
+	find_package(REALSENSE2)
+endif()
 
 add_subdirectory("cwipc_util")
 add_subdirectory("cwipc_codec")
@@ -129,9 +187,11 @@ endif()
 if(k4a_FOUND)
 	add_subdirectory("cwipc_kinect")
 endif()
-
+if(CWIPC_WITH_APPS)
 # Install scripts to help installing prerequisites
-install(DIRECTORY scripts DESTINATION ${CMAKE_SCRIPTS_INSTALL_DIRECTORY})
-
-# Creating installers
-include(CwipcInstallers)
+	install(DIRECTORY scripts DESTINATION ${CMAKE_SCRIPTS_INSTALL_DIRECTORY})
+endif()
+if(CWIPC_WITH_INSTALLER)
+	# Creating installers
+	include(CwipcInstallers)
+endif()
diff --git a/CMakePresets.json b/CMakePresets.json
@@ -22,14 +22,24 @@
       	},
   		"hidden": true
   	},
+	{
+		"name" : "api-only",
+		"description" : "Build only native API libraries",
+		"generator" : "Unix Makefiles",
+		"inherits" : "vcpkg",
+		"cacheVariables" : {
+			"CMAKE_BUILD_TYPE" : "Release",
+			"CWIPC_API_ONLY" : "YES"
+		}
+	},
   	{
   		"name" : "windows",
   		"description" : "Build for production on Windows",
   		"generator" : "Visual Studio 17 2022",
   		"inherits" : "vcpkg",
 		"cacheVariables": {
         	"VCPKG_TARGET_TRIPLET": "x64-windows"
-      	},
+  		},
   		"installDir": "${sourceDir}/../installed",
 		"condition": {
 			"type": "equals",
@@ -49,6 +59,18 @@
 		"inherits" : "windows"
 	},
   	{
+  		"name" : "android-production",
+  		"description" : "Build for production for Android",
+  		"inherits" : "api-only",
+  		"cacheVariables" : {
+  			"CWIPC_WITH_CAPTURERS" : "NO",
+  			"VCPKG_CHAINLOAD_TOOLCHAIN_FILE" : "${sourceDir}/vcpkg/scripts/toolchains/android.cmake",
+  			"VCPKG_OVERLAY_TRIPLETS": "${sourceDir}/vcpkg-additions/triplets",
+    		"VCPKG_TARGET_TRIPLET" : "arm64-android-release",
+  			"ANDROID_ABI" : "arm64-v8a",
+  			"ANDROID_NATIVE_API_LEVEL" : "32"
+  		}
+  	},{
   		"name" : "mac-production",
   		"description" : "Build for production on Mac",
   		"generator" : "Unix Makefiles",
@@ -165,7 +187,12 @@
 			"lhs": "${hostSystemName}",
 			"rhs": "Linux"
 		}
-  	}
+  	},
+	{
+		"name" : "android-production",
+		"configurePreset" : "android-production",
+		"configuration" : "Release"
+	}
   ],
   "testPresets" : [
   	{

diff --git a/cwipc_codec b/cwipc_codec
+13 −7		CMakeLists.txt
+1 −1		cloud_codec_v2/CMakeLists.txt
+21 −8		src/CMakeLists.txt