[libmultisense] Update to `7.2.0` (#46985)

ports/libmultisense/0000-platform-specific-links.patch

@@ -0,0 +1,133 @@
+diff --git a/source/Legacy/CMakeLists.txt b/source/Legacy/CMakeLists.txt
+index 2a7367c..a0bfbd3 100644
+--- a/source/Legacy/CMakeLists.txt
++++ b/source/Legacy/CMakeLists.txt
+@@ -86,12 +86,12 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS}
+ # We want to link against our child libraries.
+ #
+ 
+-if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
++find_package(Threads REQUIRED)
++target_link_libraries(MultiSense Threads::Threads)
++if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
+     target_link_libraries(MultiSense ws2_32)
+-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+-    target_link_libraries(MultiSense pthread)
+-else()
+-    target_link_libraries(MultiSense pthread rt)
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
++    target_link_libraries(MultiSense rt)
+ endif()
+ 
+ include(CMakePackageConfigHelpers)
+diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt
+index 7a4cb8e..72e2e54 100644
+--- a/source/LibMultiSense/CMakeLists.txt
++++ b/source/LibMultiSense/CMakeLists.txt
+@@ -66,12 +66,12 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS}
+ # We want to link against our child libraries.
+ #
+ 
+-if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
++find_package(Threads REQUIRED)
++target_link_libraries(MultiSense Threads::Threads)
++if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
+     target_link_libraries(MultiSense ws2_32)
+-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+-    target_link_libraries(MultiSense pthread)
+-else()
+-    target_link_libraries(MultiSense pthread rt)
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
++    target_link_libraries(MultiSense rt)
+ endif()
+ 
+ if (BUILD_TESTS)
+diff --git a/source/Utilities/Legacy/CMakeLists.txt b/source/Utilities/Legacy/CMakeLists.txt
+index 21c747d..da05f78 100644
+--- a/source/Utilities/Legacy/CMakeLists.txt
++++ b/source/Utilities/Legacy/CMakeLists.txt
+@@ -8,32 +8,16 @@ include_directories(shared)
+ # Common libraries that each utility needs to link with.
+ #
+ 
+-if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+-
+-set (MULTISENSE_UTILITY_LIBS
+-     ${MULTISENSE_UTILITY_LIBS}
+-     MultiSense
+-     ws2_32
+-)
+-
+-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+-
+-set (MULTISENSE_UTILITY_LIBS
+-     ${MULTISENSE_UTILITY_LIBS}
++find_package(Threads REQUIRED)
++list(APPEND MULTISENSE_UTILITY_LIBS
+      MultiSense
+-     pthread
++     Threads::Threads
+ )
+-
+-else ()
+-
+-set (MULTISENSE_UTILITY_LIBS
+-     ${MULTISENSE_UTILITY_LIBS}
+-     MultiSense
+-     pthread
+-     rt
+-)
+-
+-endif ()
++if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
++     list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
++     list(APPEND MULTISENSE_UTILITY_LIBS rt)
++endif()
+ 
+ #
+ # Recurse into each of these directories.
+diff --git a/source/Utilities/LibMultiSense/CMakeLists.txt b/source/Utilities/LibMultiSense/CMakeLists.txt
+index 3d21f9b..0d9a992 100644
+--- a/source/Utilities/LibMultiSense/CMakeLists.txt
++++ b/source/Utilities/LibMultiSense/CMakeLists.txt
+@@ -1,30 +1,13 @@
+-
+-if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+-
+-set (MULTISENSE_UTILITY_LIBS
+-    ${MULTISENSE_UTILITY_LIBS}
+-    MultiSense
+-    ws2_32
+-)
+-
+-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+-
+-set (MULTISENSE_UTILITY_LIBS
+-    ${MULTISENSE_UTILITY_LIBS}
+-    MultiSense
+-    pthread
++find_package(Threads REQUIRED)
++list(APPEND MULTISENSE_UTILITY_LIBS
++     MultiSense
++     Threads::Threads
+ )
+-
+-else ()
+-
+-set (MULTISENSE_UTILITY_LIBS
+-    ${MULTISENSE_UTILITY_LIBS}
+-    MultiSense
+-    pthread
+-    rt
+-)
+-
+-endif ()
++if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
++     list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
++     list(APPEND MULTISENSE_UTILITY_LIBS rt)
++endif()
+ 
+ add_subdirectory(ChangeIpUtility)
+ add_subdirectory(DeviceInfoUtility)

ports/libmultisense/0001-find-public-api-dependencies.patch

@@ -1,15 +1,15 @@
 diff --git a/source/LibMultiSense/MultiSenseConfig.cmake.in b/source/LibMultiSense/MultiSenseConfig.cmake.in
-index 99f4264..74ffff4 100644
+index cf98076..dee7a62 100644
 --- a/source/LibMultiSense/MultiSenseConfig.cmake.in
 +++ b/source/LibMultiSense/MultiSenseConfig.cmake.in
-@@ -1,5 +1,10 @@
- @PACKAGE_INIT@
+@@ -2,6 +2,10 @@
  
+ include(CMakeFindDependencyMacro)
+ find_dependency(MultiSenseWire)
++find_dependency(Threads)
 +if (@BUILD_JSON_SERIALIZATION@)
-+    find_package(nlohmann_json CONFIG REQUIRED)
++    find_dependency(nlohmann_json 3.9)
 +endif ()
-+
-+include("${CMAKE_CURRENT_LIST_DIR}/MultiSenseWireTargets.cmake")
+ 
  include("${CMAKE_CURRENT_LIST_DIR}/MultiSenseTargets.cmake")
  
- check_required_components(MultiSense)

ports/libmultisense/0002-disable-error-on-warning.patch

@@ -0,0 +1,20 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 333d8ca..d0e6160 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -24,6 +24,7 @@ project(LibMultiSense
+ 
+ include (CheckCXXSourceCompiles)
+ 
++if(0)
+ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+     string (REGEX REPLACE "/W3" "/W4" CMAKE_C_FLAGS "${CMAKE_C_FLAGS}")
+     string (REGEX REPLACE "/W3" "/W4" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+@@ -41,6 +42,7 @@ if (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "Ap
+     #
+     add_compile_options(-Wno-gnu-zero-variadic-macro-arguments)
+ endif()
++endif()
+ 
+ option(BUILD_LEGACY_API "Build the legacy MultiSense API. Defaults to On for backwards compatibility." ON)
+ option(MULTISENSE_BUILD_UTILITIES "Build MultiSense utility applications. Defaults to ON for backwards compatibility." ON)

ports/libmultisense/0003-utilities-cc-unreachable-code.patch

@@ -0,0 +1,12 @@
+diff --git a/source/LibMultiSense/details/utilities.cc b/source/LibMultiSense/details/utilities.cc
+index 5c20566..768a291 100644
+--- a/source/LibMultiSense/details/utilities.cc
++++ b/source/LibMultiSense/details/utilities.cc
+@@ -185,7 +185,6 @@ bool write_image(const Image &image, const std::filesystem::path &path)
+     }
+     throw std::runtime_error("Unsupported path extension: " + extension.string() + ". Try compiling with OpenCV");
+ #endif
+-    return false;
+ }
+ 
+ std::optional<Image> create_depth_image(const ImageFrame &frame,

ports/libmultisense/fix-missing-algorithm.patch

@@ -1,12 +0,0 @@
-diff --git a/source/LibMultiSense/details/legacy/message.cc b/source/LibMultiSense/details/legacy/message.cc
-index 14c2a6e..5c3aa23 100644
---- a/source/LibMultiSense/details/legacy/message.cc
-+++ b/source/LibMultiSense/details/legacy/message.cc
-@@ -34,6 +34,7 @@
-  *   2025-01-08, malvarado@carnegierobotics.com, IRAD, Created file.
-  **/
- 
-+#include <algorithm>
- #include <inttypes.h>
- #include <limits>
- 

ports/libmultisense/portfile.cmake

@@ -2,20 +2,24 @@ vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO carnegierobotics/LibMultiSense
     REF ${VERSION}
-    SHA512 4fb2343fc2288792c732e7e61cb447b953ed8e8354c3c1e401c5b2bc8151f4b3d8f692882e015e5e56d8dc2d08f121a798138a6974d3b02348b1689c9015fe00
+    SHA512 69472f288de46c0ecdbbbcb8c280610c1c80778d660098e3b639ab653b108096c3fb4cd92a21afd4745b959a0c80812c5bf2d42053760bbceeafd90e67c20388
     HEAD_REF master
     PATCHES
-        fix-missing-algorithm.patch
-        fix-find-package-config-file.patch
+        0000-platform-specific-links.patch
+        0001-find-public-api-dependencies.patch
+        0002-disable-error-on-warning.patch
+        0003-utilities-cc-unreachable-code.patch
 )
 
 vcpkg_check_features(
         OUT_FEATURE_OPTIONS FEATURE_OPTIONS
         FEATURES
             json-serialization BUILD_JSON_SERIALIZATION
+            json-serialization CMAKE_REQUIRE_FIND_PACKAGE_nlohmann_json
             opencv BUILD_OPENCV
             utilities MULTISENSE_BUILD_UTILITIES
 )
+
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
@@ -23,33 +27,75 @@ vcpkg_cmake_configure(
         ${FEATURE_OPTIONS}
 )
 
-set(PACKAGE_NAME MultiSense)
 vcpkg_cmake_install()
+
 vcpkg_cmake_config_fixup(
-    PACKAGE_NAME "${PACKAGE_NAME}"
-    CONFIG_PATH "lib/cmake/${PACKAGE_NAME}"
+    PACKAGE_NAME "MultiSenseWire"
+    CONFIG_PATH "lib/cmake/MultiSenseWire"
+    DO_NOT_DELETE_PARENT_CONFIG_PATH
+)
+vcpkg_cmake_config_fixup(
+    PACKAGE_NAME "MultiSense"
+    CONFIG_PATH "lib/cmake/MultiSense"
 )
 vcpkg_fixup_pkgconfig()
 
 file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
 
 if ("utilities" IN_LIST FEATURES)
+    set(_tool_names
+        ChangeIpUtility
+        ImageCalUtility
+        PointCloudUtility
+        RectifiedFocalLengthUtility
+        SaveImageUtility
+        VersionInfoUtility
+    )
+    if ("json-serialization" IN_LIST FEATURES)
+        list(APPEND _tool_names DeviceInfoUtility)
+    endif ()
     vcpkg_copy_tools(
-        TOOL_NAMES
-            ChangeIpUtility
-            ImageCalUtility
-            PointCloudUtility
-            RectifiedFocalLengthUtility
-            SaveImageUtility
-            VersionInfoUtility
+        TOOL_NAMES ${_tool_names}
         AUTO_CLEAN
     )
+
+    # Python equivalents of the above tools are also installed into bin.  These tools are duplicates and require that
+    # the Python bindings be built, which we are not doing.  Since they provide no additional functionality, remove
+    # them.
+    set(_python_tool_names
+        change_ip_utility.py
+        device_info_utility.py
+        image_cal_utility.py
+        point_cloud_utility.py
+        rectified_focal_length_utility.py
+        save_image_utility.py
+        version_info_utility.py
+    )
+    foreach (_python_tool_name IN LISTS _python_tool_names)
+        file(
+            REMOVE
+                "${CURRENT_PACKAGES_DIR}/debug/bin/${_python_tool_name}"
+                "${CURRENT_PACKAGES_DIR}/bin/${_python_tool_name}"
+        )
+    endforeach ()
+
+    # Remove the bin directory if its empty (anticipated on non-Windows platforms).
+    foreach (_directory IN ITEMS
+                 "${CURRENT_PACKAGES_DIR}/debug/bin/${_python_tool_name}"
+                 "${CURRENT_PACKAGES_DIR}/bin/${_python_tool_name}")
+        if (NOT IS_DIRECTORY "${_directory}")
+            continue()
+        endif ()
+
+        file(GLOB _files_in_directory "${_directory}/*")
+        if("${_files_in_directory}" STREQUAL "")
+            file(REMOVE_RECURSE "${_directory}")
+        endif()
+    endforeach()
 endif ()
 
-file(
-    INSTALL "${SOURCE_PATH}/LICENSE.TXT"
-    DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}"     
-    RENAME copyright
+vcpkg_install_copyright(
+    FILE_LIST "${SOURCE_PATH}/LICENSE.TXT"
 )
 file(
     INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage"

ports/libmultisense/vcpkg.json

@@ -1,6 +1,6 @@
 {
   "name": "libmultisense",
-  "version": "7.1.0",
+  "version": "7.2.0",
   "description": "A C++ library for interfacing with the MultiSense S family of sensors from Carnegie Robotics.",
   "homepage": "https://github.com/carnegierobotics/LibMultiSense",
   "dependencies": [

versions/baseline.json

@@ -5105,7 +5105,7 @@
       "port-version": 0
     },
     "libmultisense": {
-      "baseline": "7.1.0",
+      "baseline": "7.2.0",
       "port-version": 0
     },
     "libmupdf": {

versions/l-/libmultisense.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "c56632e5b66a90b161ea41a53be72642e9353250",
+      "version": "7.2.0",
+      "port-version": 0
+    },
     {
       "git-tree": "3d9ad2b386e8089ebfc19a99195434e4cf56809e",
       "version": "7.1.0",