[libmultisense] [libmultisense6] Update `libmultisense` to v7.1.0 and add legacy `libmultisense6` port (#45301)

ports/libmultisense/fix-find-package-config-file.patch

@@ -0,0 +1,15 @@
+diff --git a/source/LibMultiSense/MultiSenseConfig.cmake.in b/source/LibMultiSense/MultiSenseConfig.cmake.in
+index 99f4264..74ffff4 100644
+--- a/source/LibMultiSense/MultiSenseConfig.cmake.in
++++ b/source/LibMultiSense/MultiSenseConfig.cmake.in
+@@ -1,5 +1,10 @@
+ @PACKAGE_INIT@
+ 
++if (@BUILD_JSON_SERIALIZATION@)
++    find_package(nlohmann_json CONFIG REQUIRED)
++endif ()
++
++include("${CMAKE_CURRENT_LIST_DIR}/MultiSenseWireTargets.cmake")
+ include("${CMAKE_CURRENT_LIST_DIR}/MultiSenseTargets.cmake")
+ 
+ check_required_components(MultiSense)

ports/libmultisense/fix-missing-algorithm.patch

@@ -0,0 +1,12 @@
+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

@@ -1,23 +1,25 @@
-if(VCPKG_TARGET_IS_WINDOWS)
-    vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
-endif()
-
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO carnegierobotics/LibMultiSense
     REF ${VERSION}
-    SHA512 354c9eec33e9153496b0858b8dc6e5735218585abecf885f356f643d833ebf00a63fc4571634283c430de07045f2be544b0e6d445599fce4c1655af671b758bd
+    SHA512 4fb2343fc2288792c732e7e61cb447b953ed8e8354c3c1e401c5b2bc8151f4b3d8f692882e015e5e56d8dc2d08f121a798138a6974d3b02348b1689c9015fe00
     HEAD_REF master
+    PATCHES
+        fix-missing-algorithm.patch
+        fix-find-package-config-file.patch
 )
 
 vcpkg_check_features(
-    OUT_FEATURE_OPTIONS FEATURE_OPTIONS
-    FEATURES
-        utilities MULTISENSE_BUILD_UTILITIES
+        OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+        FEATURES
+            json-serialization BUILD_JSON_SERIALIZATION
+            opencv BUILD_OPENCV
+            utilities MULTISENSE_BUILD_UTILITIES
 )
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
+        -DBUILD_LEGACY_API=OFF
         ${FEATURE_OPTIONS}
 )
 
@@ -34,19 +36,8 @@ file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
 if ("utilities" IN_LIST FEATURES)
     vcpkg_copy_tools(
         TOOL_NAMES
-            AprilTagTestUtility
-            ChangeFps
             ChangeIpUtility
-            ChangeResolution
-            ChangeTransmitDelay
-            ColorImageUtility
-            DeviceInfoUtility
-            ExternalCalUtility
-            FlashUtility
             ImageCalUtility
-            ImuConfigUtility
-            ImuTestUtility
-            LidarCalUtility
             PointCloudUtility
             RectifiedFocalLengthUtility
             SaveImageUtility

ports/libmultisense/vcpkg.json

@@ -1,9 +1,8 @@
 {
   "name": "libmultisense",
-  "version": "6.1.0",
+  "version": "7.1.0",
   "description": "A C++ library for interfacing with the MultiSense S family of sensors from Carnegie Robotics.",
   "homepage": "https://github.com/carnegierobotics/LibMultiSense",
-  "supports": "linux | (windows & !static)",
   "dependencies": [
     {
       "name": "vcpkg-cmake",
@@ -15,6 +14,21 @@
     }
   ],
   "features": {
+    "json-serialization": {
+      "description": "Build JSON type serialization helpers.",
+      "dependencies": [
+        {
+          "name": "nlohmann-json",
+          "version>=": "3.10.2"
+        }
+      ]
+    },
+    "opencv": {
+      "description": "Build OpenCV helpers.",
+      "dependencies": [
+        "opencv"
+      ]
+    },
     "utilities": {
       "description": "Build MultiSense utility applications."
     }

versions/baseline.json

@@ -4977,7 +4977,7 @@
       "port-version": 0
     },
     "libmultisense": {
-      "baseline": "6.1.0",
+      "baseline": "7.1.0",
       "port-version": 0
     },
     "libmupdf": {

versions/l-/libmultisense.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "3d9ad2b386e8089ebfc19a99195434e4cf56809e",
+      "version": "7.1.0",
+      "port-version": 0
+    },
     {
       "git-tree": "720294982a8079963638f6ccb9a5292541f63e82",
       "version": "6.1.0",