IntelRealSense · maloel · Nov 23, 2022 · Nov 22, 2022 · Nov 22, 2022 · Nov 23, 2022
diff --git a/CMake/opengl_config.cmake b/CMake/opengl_config.cmake
@@ -1,2 +1,2 @@
 find_package(OpenGL REQUIRED)
-set(DEPENDENCIES realsense2 glfw ${OPENGL_LIBRARIES})
+set(DEPENDENCIES realsense2 utilities glfw ${OPENGL_LIBRARIES})
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -65,6 +65,8 @@ include(src/CMakeLists.txt)
 include(third-party/CMakeLists.txt)
 include(common/utilities/CMakeLists.txt)
 
+target_link_libraries( ${LRS_TARGET} PRIVATE utilities )
+
 # configure the project according to OS specific requirments
 # macro definition located at "CMake/<OS>_config.cmake"
 os_target_config()

diff --git a/common/metadata-helper.cpp b/common/metadata-helper.cpp
@@ -16,7 +16,7 @@
 #include <memory>
 
 #include <librealsense2/rs.hpp>
-#include <librealsense2/utilities/string/windows.h>
+#include <utilities/string/windows.h>
 
 #define MAX_KEY_LENGTH 255
 #define MAX_VALUE_NAME 16383

diff --git a/common/model-views.h b/common/model-views.h
@@ -27,8 +27,8 @@
 #include "fw-update-helper.h"
 #include "updates-model.h"
 #include "calibration-model.h"
-#include <librealsense2/utilities/time/periodic-timer.h>
-#include <librealsense2/utilities/number/stabilized-value.h>
+#include <utilities/time/periodic-timer.h>
+#include <utilities/number/stabilized-value.h>
 #include "reflectivity/reflectivity.h"
 
 ImVec4 from_rgba(uint8_t r, uint8_t g, uint8_t b, uint8_t a, bool consistent_color = false);

diff --git a/common/on-chip-calib.h b/common/on-chip-calib.h
@@ -4,7 +4,7 @@
 #pragma once
 
 #include "notifications.h"
-#include <librealsense2/utilities/concurrency/concurrency.h>
+#include <utilities/concurrency/concurrency.h>
 #include "../src/algo.h"
 
 #include <random>

diff --git a/common/os.cpp b/common/os.cpp
@@ -28,7 +28,7 @@
 #include <wchar.h>
 #include <KnownFolders.h>
 #include <shlobj.h>
-#include <librealsense2/utilities/os/hresult.h>
+#include <utilities/os/hresult.h>
 #endif
 
 #if (defined(_WIN32) || defined(_WIN64))
@@ -417,4 +417,4 @@ Some auxillary functionalities might be affected. Please report this message if
 
         return escaped.str();
     }
-}
+}
diff --git a/common/output-model.h b/common/output-model.h
@@ -17,7 +17,7 @@
 #include <GLFW/glfw3.h>
 #include <imgui.h>
 
-#include <librealsense2/utilities/concurrency/concurrency.h>
+#include <utilities/concurrency/concurrency.h>
 
 namespace rs2
 {

diff --git a/common/parser.hpp b/common/parser.hpp
@@ -16,7 +16,7 @@
 #endif
 
 #include "../third-party/rapidxml/rapidxml.hpp"
-#include <librealsense2/utilities/string/string-utilities.h>
+#include <utilities/string/string-utilities.h>
 
 #define MAX_PARAMS 4
 

diff --git a/common/realsense-ui-advanced-mode.h b/common/realsense-ui-advanced-mode.h
@@ -6,7 +6,7 @@
 #include <librealsense2/rs_advanced_mode.hpp>
 #include <types.h>
 #include <type_traits>
-#include <librealsense2/utilities/string/string-utilities.h>
+#include <utilities/string/string-utilities.h>
 
 #define TEXT_BUFF_SIZE 1024
 

diff --git a/common/rendering.h b/common/rendering.h
@@ -9,7 +9,7 @@
 
 #include <librealsense2/rs.hpp>
 #include <librealsense2-gl/rs_processing_gl.hpp>
-#include <librealsense2/utilities/time/timer.h>
+#include <utilities/time/stopwatch.h>
 
 #include "matrix4.h"
 #include "float3.h"

diff --git a/common/utilities/imgui/wrap.cpp b/common/utilities/imgui/wrap.cpp
@@ -5,7 +5,7 @@
 #include <vector>
 #include <sstream>
 #include "wrap.h"
-#include <librealsense2/utilities/string/split.h>
+#include <utilities/string/split.h>
 #include "../third-party/imgui/imgui.h"
 
 namespace utilities {

diff --git a/common/utilities/time/l500/get-mfr-ww.h b/common/utilities/time/l500/get-mfr-ww.h
@@ -4,7 +4,7 @@
 #pragma once
 
 #include <string>
-#include <librealsense2/utilities/time/work-week.h>
+#include <utilities/time/work-week.h>
 
 
 namespace utilities {

diff --git a/common/viewer.cpp b/common/viewer.cpp
@@ -20,7 +20,7 @@
 
 #define ARCBALL_CAMERA_IMPLEMENTATION
 #include <arcball_camera.h>
-#include <librealsense2/utilities/string/trim-newlines.h>
+#include <utilities/string/trim-newlines.h>
 #include "../common/utilities/imgui/wrap.h"
 
 namespace rs2

diff --git a/common/windows-app-bootstrap.cpp b/common/windows-app-bootstrap.cpp
@@ -18,7 +18,7 @@
 #include "os.h"
 #include "metadata-helper.h"
 #include "rendering.h"
-#include <librealsense2/utilities/string/windows.h>
+#include <utilities/string/windows.h>
 
 #include <delayimp.h>
 

diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
@@ -34,7 +34,6 @@ target_sources(${LRS_TARGET}
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/rsutil.h"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/rs_advanced_mode.h"
         "${CMAKE_CURRENT_LIST_DIR}/librealsense2/rs_advanced_mode.hpp"
-        
+
 )
 
-include(${CMAKE_CURRENT_LIST_DIR}/librealsense2/utilities/CMakeLists.txt)
diff --git a/include/librealsense2/utilities/CMakeLists.txt b/include/librealsense2/utilities/CMakeLists.txt
diff --git a/include/librealsense2/utilities/concurrency/CMakeLists.txt b/include/librealsense2/utilities/concurrency/CMakeLists.txt
diff --git a/include/librealsense2/utilities/easylogging/CMakeLists.txt b/include/librealsense2/utilities/easylogging/CMakeLists.txt
diff --git a/include/librealsense2/utilities/easylogging/easyloggingpp.cmake b/include/librealsense2/utilities/easylogging/easyloggingpp.cmake
diff --git a/include/librealsense2/utilities/number/CMakeLists.txt b/include/librealsense2/utilities/number/CMakeLists.txt
diff --git a/include/librealsense2/utilities/os/CMakeLists.txt b/include/librealsense2/utilities/os/CMakeLists.txt
diff --git a/include/librealsense2/utilities/string/CMakeLists.txt b/include/librealsense2/utilities/string/CMakeLists.txt
diff --git a/include/librealsense2/utilities/time/CMakeLists.txt b/include/librealsense2/utilities/time/CMakeLists.txt
diff --git a/include/readme.md b/include/readme.md
@@ -5,7 +5,6 @@
 Under `librealsense2` folder you will find two subfolers:
 * [h](./librealsense2/h) - Contains headers for the C language
 * [hpp](./librealsense2/hpp) - Contains headers for the C++ language, depends on C headers
-* [utilities](./librealsense2/utilities) - Contains utility classes/functions for the C/C++ language
 
 In addition, you can include [<librealsense2/rs.h>](./librealsense2/rs.h) and [<librealsense2/rs.hpp>](./librealsense2/rs.hpp) to get most of SDK functionality in C and C++ respectively. 
 

diff --git a/scripts/api_check.sh b/scripts/api_check.sh
@@ -2,7 +2,7 @@
 
 # This script makes sure every API header can be included in isolation
 
-for filename in $(find ../include/librealsense2 -name *.hpp -not -path "../include/librealsense2/utilities/**"); do
+for filename in $(find ../include/librealsense2 -name *.hpp); do
     echo Checking that $filename is self-contained
     rm 1.cpp
     echo "#include \"$filename\"" >> 1.cpp
@@ -12,7 +12,7 @@ for filename in $(find ../include/librealsense2 -name *.hpp -not -path "../inclu
     echo
 done
 
-for filename in $(find ../include/librealsense2 -name *.h -not -path "../include/librealsense2/utilities/**"); do
+for filename in $(find ../include/librealsense2 -name *.h); do
     echo Checking that $filename is self-contained
     rm 1.c
     echo "#include \"$filename\"" >> 1.c

diff --git a/src/algo.h b/src/algo.h
@@ -3,7 +3,6 @@
 
 #pragma once
 #include "sensor.h"
-#include <librealsense2/utilities/concurrency/concurrency.h>
 #include "types.h"
 
 #include <stdint.h>

diff --git a/src/compression/CMakeLists.txt b/src/compression/CMakeLists.txt
@@ -7,7 +7,7 @@ project(realsense2-compression VERSION 1.0.0 LANGUAGES CXX C)
 # Save the command line compile commands in the build output
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
 
-set(DEPENDENCIES ${DEPENDENCIES} realsense2)
+list( APPEND DEPENDENCIES realsense2 utilities )
 
 file(GLOB COMPRESSION_SOURCES
     "*.h"

diff --git a/src/error-handling.h b/src/error-handling.h
@@ -2,7 +2,6 @@
 /* Copyright(c) 2019 Intel Corporation. All Rights Reserved. */
 #pragma once
 
-#include <librealsense2/utilities/concurrency/concurrency.h>
 #include "option.h"
 #include "types.h"
 

diff --git a/src/ethernet/CMakeLists.txt b/src/ethernet/CMakeLists.txt
@@ -80,7 +80,7 @@ endif()
 set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
 
 target_link_libraries(${PROJECT_NAME} 
-    PRIVATE ${WINLIB} realsense2 realsense2-compression
+    PRIVATE ${WINLIB} realsense2 realsense2-compression utilities
 )
 
 set_target_properties(${PROJECT_NAME} PROPERTIES FOLDER Library)

diff --git a/src/gl/CMakeLists.txt b/src/gl/CMakeLists.txt
@@ -88,9 +88,10 @@ configure_package_config_file(../../CMake/realsense2-glConfig.cmake.in realsense
 
 configure_file(../../config/librealsense-gl.pc.in ../../config/realsense2-gl.pc @ONLY)
 
-target_link_libraries(${PROJECT_NAME}
-    PRIVATE ${DEPENDENCIES}
-)
+target_link_libraries( ${PROJECT_NAME}
+    PRIVATE
+        ${DEPENDENCIES}
+    )
 
 # CMake prior to 3.13 cannot install targets located in sub-directories.
 #https://gitlab.kitware.com/cmake/cmake/merge_requests/2152

diff --git a/src/gl/synthetic-stream-gl.h b/src/gl/synthetic-stream-gl.h
@@ -13,7 +13,6 @@
 #include "tiny-profiler.h"  // common/
 #include <glad/glad.h>
 
-#include <librealsense2/utilities/concurrency/concurrency.h>
 #include <functional>
 #include <thread>
 #include <deque>

diff --git a/src/hid/hid-device.h b/src/hid/hid-device.h
@@ -6,7 +6,7 @@
 #include "hid-types.h"
 #include "../usb/usb-messenger.h"
 #include "../usb/usb-enumerator.h"
-#include <librealsense2/utilities/concurrency/concurrency.h>
+#include <utilities/concurrency/concurrency.h>
 #include "stdio.h"
 #include "stdlib.h"
 

diff --git a/src/ipDeviceCommon/NetdevLog.h b/src/ipDeviceCommon/NetdevLog.h
@@ -3,9 +3,9 @@
 
 #pragma once
 
-#include <easylogging++.h>
+#include <utilities/easylogging/easyloggingpp.h>
 
 #define DBG CLOG(DEBUG, "librealsense")
 #define ERR CLOG(ERROR, "librealsense")
 #define WRN CLOG(WARNING, "librealsense")
-#define INF CLOG(INFO, "librealsense")
+#define INF CLOG(INFO, "librealsense")
diff --git a/src/ipDeviceCommon/RsUsageEnvironment.h b/src/ipDeviceCommon/RsUsageEnvironment.h
@@ -4,7 +4,7 @@
 #pragma once
 
 #include <BasicUsageEnvironment.hh>
-#include <easylogging++.h>
+#include <utilities/easylogging/easyloggingpp.h>
 
 #define RS_MAX_LOG_MSG_SIZE 1024
 #define RS_MAX_LOG_MSG_THLD 128

diff --git a/src/l500/l500-device.cpp b/src/l500/l500-device.cpp
@@ -22,8 +22,8 @@
 #include "proc/syncer-processing-block.h"
 #include "proc/rotation-transform.h"
 #include "../common/fw/firmware-version.h"
-#include <librealsense2/utilities/time/periodic-timer.h>
-#include <librealsense2/utilities/time/work-week.h>
+#include <utilities/time/periodic-timer.h>
+#include <utilities/time/work-week.h>
 #include "../common/utilities/time/l500/get-mfr-ww.h"
 
 

diff --git a/src/librealsense-exception.h b/src/librealsense-exception.h
@@ -4,7 +4,7 @@
 #pragma once
 
 #include <librealsense2/h/rs_types.h>
-#include <librealsense2/utilities/easylogging/easyloggingpp.h>
+#include <utilities/easylogging/easyloggingpp.h>
 #include "basics.h"  // LRS_EXTENSION_API
 
 #include <exception>

diff --git a/src/libusb/context-libusb.h b/src/libusb/context-libusb.h
@@ -4,9 +4,10 @@
 #pragma once
 
 #include "usb/usb-types.h"
-#include <librealsense2/utilities/concurrency/concurrency.h>
 
 #include <memory>
+#include <thread>
+#include <mutex>
 #include "libusb.h"
 
 namespace librealsense

diff --git a/src/linux/udev-device-watcher.h b/src/linux/udev-device-watcher.h
@@ -4,7 +4,7 @@
 #pragma once
 
 #include "../backend.h"
-#include <librealsense2/utilities/concurrency/concurrency.h>
+#include <utilities/concurrency/concurrency.h>
 #include "../callback-invocation.h"
 
 #include <libudev.h>

diff --git a/src/media/playback/playback_device.h b/src/media/playback/playback_device.h
@@ -8,7 +8,6 @@
 #include "../../core/serialization.h"
 #include "../../core/streaming.h"
 #include "../../archive.h"
-#include <librealsense2/utilities/concurrency/concurrency.h>
 #include "../../sensor.h"
 #include "playback_sensor.h"
 

diff --git a/src/media/playback/playback_sensor.h b/src/media/playback/playback_sensor.h
@@ -7,7 +7,6 @@
 #include "../../core/serialization.h"
 #include "../../core/streaming.h"
 #include "../../archive.h"
-#include <librealsense2/utilities/concurrency/concurrency.h>
 #include "../../sensor.h"
 #include "../../types.h"