pybind as a dependency in own project; utilities-py; test-split

.github/workflows/buildsCI.yaml

@@ -50,7 +50,7 @@ jobs:
         cd build
         pwd
         ls        
-        cmake .. -G "Visual Studio 16 2019" -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true -DPYBIND11_PYTHON_VERSION=3.8 -DBUILD_UNIT_TESTS=false -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_WITH_TM2=false -DFORCE_RSUSB_BACKEND=true
+        cmake .. -G "Visual Studio 16 2019" -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true -DBUILD_UNIT_TESTS=false -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_WITH_TM2=false -DFORCE_RSUSB_BACKEND=true
 
     - name: Build
       # Build your program with the given configuration
@@ -273,7 +273,7 @@ jobs:
           cd ./scripts
           ./pr_check.sh
           cd ../build
-          cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DBUILD_SHARED_LIBS=false -DCHECK_FOR_UPDATES=true -DBUILD_PYTHON_BINDINGS=true -DPYBIND11_PYTHON_VERSION=3.5
+          cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DBUILD_SHARED_LIBS=false -DCHECK_FOR_UPDATES=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
           cmake --build . --config ${{env.LRS_BUILD_CONFIG}} -- -j4
 
 
@@ -328,7 +328,7 @@ jobs:
         run: | 
           python ./wrappers/nodejs/tools/enums.py -i ./include/librealsense2 -a ./wrappers/nodejs/src -v
           cd build
-          cmake .. -DBUILD_PYTHON_BINDINGS=true -DBUILD_NODEJS_BINDINGS=true -DPYBIND11_PYTHON_VERSION=2.7 -DCHECK_FOR_UPDATES=true
+          cmake .. -DBUILD_PYTHON_BINDINGS=true -DBUILD_NODEJS_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) -DCHECK_FOR_UPDATES=true
           cmake --build . --config $LRS_BUILD_CONFIG -- -j4
           cd ../wrappers/nodejs/ && npm install && cd -
 
@@ -400,4 +400,4 @@ jobs:
        cmake --build . --config ${{env.LRS_BUILD_CONFIG}} -- -j4
        ls
 
-
+

CMake/external_pybind11.cmake

@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 3.6)
+include(ExternalProject)
+
+# We use a function to enforce a scoped variables creation only for the build
+# (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well)
+function(get_pybind11)
+
+    message( STATUS #CHECK_START
+        "Fetching pybind11..." )
+    #list( APPEND CMAKE_MESSAGE_INDENT "  " )  # Indent outputs
+
+    # We want to clone the pybind repo and build it here, during configuration, so we can use it.
+    # But ExternalProject_add is limited in that it only does its magic during build.
+    # This is possible in CMake 3.12+ with FetchContent and FetchContent_MakeAvailable in 3.14+ (meaning Ubuntu 20)
+    # but we need to adhere to CMake 3.10 (Ubuntu 18).
+    # So instead, we invoke a new CMake project just to download pybind:
+    configure_file( CMake/pybind11-download.cmake.in
+                    ${CMAKE_BINARY_DIR}/external-projects/pybind11-download/CMakeLists.txt )
+    execute_process( COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" .
+                     WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/pybind11-download"
+                     OUTPUT_QUIET )
+    execute_process( COMMAND "${CMAKE_COMMAND}" --build .
+                     WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/external-projects/pybind11-download"
+                     OUTPUT_QUIET )
+
+    # Now that it's available, we can refer to it with an actual ExternalProject_add (but notice we're not
+    # downloading anything)
+    ExternalProject_Add( pybind11
+        PREFIX      ${CMAKE_BINARY_DIR}/external-projects/pybind11  # just so it doesn't use build/pybind11-prefix
+        SOURCE_DIR  ${CMAKE_BINARY_DIR}/third-party/pybind11
+        BINARY_DIR  ${CMAKE_BINARY_DIR}/third-party/pybind11/build
+        CMAKE_ARGS
+                    -DCMAKE_CXX_STANDARD=${CMAKE_CXX_STANDARD}
+                    -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+                    -DBUILD_SHARED_LIBS=OFF
+                    # Suppress warnings that are meant for the author of the CMakeLists.txt files
+                    -Wno-dev   
+                    # Just in case!
+                    -DPYBIND11_INSTALL=OFF
+                    -DPYBIND11_TEST=OFF
+
+        INSTALL_COMMAND ""
+        UPDATE_COMMAND ""
+        PATCH_COMMAND ""
+        TEST_COMMAND ""
+        )
+
+    # Force Pybind11 not to share pyrealsense2 resources with other pybind modules.
+    # With this definition we force the ABI version to be unique and not risk crashes on different modules.
+    # (workaround for RS5-10582; see also https://github.com/pybind/pybind11/issues/2898)
+    add_definitions( -DPYBIND11_COMPILER_TYPE="_librs_abi" )
+
+    add_subdirectory( "${CMAKE_BINARY_DIR}/third-party/pybind11"
+                      "${CMAKE_BINARY_DIR}/third-party/pybind11/build" )
+
+    set_target_properties( pybind11 PROPERTIES FOLDER "ExternalProjectTargets" )
+
+    # Besides pybind11, any python module will also need to be installed using:
+    #     install(
+    #         TARGETS ${PROJECT_NAME}
+    #         EXPORT pyrealsense2Targets
+    #         LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
+    #         ARCHIVE DESTINATION ${PYTHON_INSTALL_DIR}
+    #         )
+    # But, to do this, we need to define PYTHON_INSTALL_DIR!
+    if( CMAKE_VERSION VERSION_LESS 3.12 )
+      #find_package(PythonInterp REQUIRED)
+      #find_package(PythonLibs REQUIRED)
+      option( PYTHON_INSTALL_DIR "Installation directory for Python libraries"
+            "${CMAKE_INSTALL_LIBDIR}/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/pyrealsense2"
+            )
+    else()
+      #find_package(Python REQUIRED COMPONENTS Interpreter Development)
+      option( PYTHON_INSTALL_DIR "Installation directory for Python libraries"
+            "${Python_SITEARCH}/pyrealsense2"
+            )
+    endif()
+
+    message( STATUS #CHECK_PASS
+        "Fetching pybind11 - Done" )
+    #list( POP_BACK CMAKE_MESSAGE_INDENT ) # Unindent outputs (requires cmake 3.15)
+
+endfunction()
+
+# Trigger the build
+get_pybind11()

CMake/global_config.cmake

@@ -71,6 +71,7 @@ macro(global_set_flags)
 
     if(BUILD_PYTHON_BINDINGS)
         include(libusb_config)
+        include(CMake/external_pybind11.cmake)
     endif()
 
     if(BUILD_NETWORK_DEVICE)

CMake/pybind11-download.cmake.in

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.6)
+project(pybind11-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(
+    pybind11
+    PREFIX .
+    GIT_REPOSITORY "https://github.com/pybind/pybind11.git"
+    GIT_TAG        v2.9.2  # 2.10 requires VS 2017+ and Python 3.6+
+    GIT_CONFIG     advice.detachedHead=false  # otherwise we'll get "You are in 'detached HEAD' state..."
+    SOURCE_DIR     "${CMAKE_BINARY_DIR}/third-party/pybind11"
+    GIT_SHALLOW    ON        # No history needed (requires cmake 3.6)
+    # Override default steps with no action, we just want the clone step.
+    CONFIGURE_COMMAND ""
+    BUILD_COMMAND ""
+    INSTALL_COMMAND ""
+    )
+
+

CMake/unix_config.cmake

@@ -1,6 +1,14 @@
 message(STATUS "Setting Unix configurations")
 
 macro(os_set_flags)
+
+    # Put all the collaterals together, so we can find when trying to run examples/tests
+    # Note: this puts the outputs under <binary>/<build-type>
+    # Note note: this ruins our CI procedures... otherwise it mirrors Windows, simplifies
+    # scripts, makes things easier to find... c'est la vie!
+    #set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
+    #set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
+
     set(CMAKE_POSITION_INDEPENDENT_CODE ON)
     set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -pedantic -g -D_DEFAULT_SOURCE")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic -g -Wno-missing-field-initializers")

CMake/windows_config.cmake

@@ -5,7 +5,8 @@ config_crt()
 macro(os_set_flags)
     set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
-    # Makes VS15 find the DLL when trying to run examples/tests
+    # Put all the collaterals together, so we can find when trying to run examples/tests
+    # Note: this puts the outputs under <binary>/<build-type>
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
 

src/source.h

@@ -4,7 +4,6 @@
 #pragma once
 
 #include "core/processing.h"
-//#include <utilities/concurrency/concurrency.h>
 #include "archive.h"
 #include "metadata-parser.h"
 #include "frame-archive.h"

third-party/utilities/CMakeLists.txt

@@ -47,5 +47,13 @@ target_sources( ${PROJECT_NAME} PRIVATE ${UTILITIES_SOURCE_FILES} )
 #
 install( TARGETS ${PROJECT_NAME}
     EXPORT realsense2Targets
-    ARCHIVE DESTINATION lib
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
     )
+
+
+# Python ------------------------------------------------------------------------------------
+#
+if( BUILD_PYTHON_BINDINGS )
+    add_subdirectory( py )
+endif()
+

third-party/utilities/include/utilities/py/pybind11.h

@@ -0,0 +1,53 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+#pragma once
+
+#pragma warning(push)
+// third-party\pybind11\include\pybind11\pybind11.h(232): warning C4702: unreachable code
+#if defined(_MSC_VER) && _MSC_VER < 1910  // VS 2015's MSVC
+#  pragma warning(disable: 4702)
+#endif
+#include <pybind11/pybind11.h>
+#pragma warning(pop)
+
+// convenience functions
+#include <pybind11/operators.h>
+
+// STL conversions
+#include <pybind11/stl.h>
+
+// std::chrono::*
+#include <pybind11/chrono.h>
+
+// makes certain STL containers opaque to prevent expensive copies
+#include <pybind11/stl_bind.h>
+
+// makes std::function conversions work
+#include <pybind11/functional.h>
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+
+// "When calling a C++ function from Python, the GIL is always held"
+// -- since we're not being called from Python but instead are calling it,
+// we need to acquire it to not have issues with other threads...
+#define FN_FWD_CALL( CLS, FN_NAME, CODE )                                                                              \
+    try                                                                                                                \
+    {                                                                                                                  \
+        py::gil_scoped_acquire gil;                                                                                    \
+        CODE                                                                                                           \
+    }                                                                                                                  \
+    catch( std::exception const & e )                                                                                  \
+    {                                                                                                                  \
+        LOG_ERROR( "EXCEPTION in python " #CLS "." #FN_NAME ": " << e.what() ); \
+    }                                                                                                                  \
+    catch( ... )                                                                                                       \
+    {                                                                                                                  \
+        LOG_ERROR( "UNKNOWN EXCEPTION in python " #CLS "." #FN_NAME ); \
+    }
+#define FN_FWD( CLS, FN_NAME, PY_ARGS, FN_ARGS, CODE )                                                                 \
+    #FN_NAME, []( CLS & self, std::function < void PY_ARGS > callback ) {                                              \
+        self.FN_NAME( [&self,callback] FN_ARGS { FN_FWD_CALL( CLS, FN_NAME, CODE ); } );                                     \
+    }

third-party/utilities/py/CMakeLists.txt

@@ -0,0 +1,32 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+cmake_minimum_required(VERSION 3.1.0)
+project( pyrsutils )
+
+set( DEPENDENCIES utilities )
+
+set( PYRSUTILS_FILES
+    "pyrsutils.cpp"
+    )
+
+pybind11_add_module( ${PROJECT_NAME} SHARED ${PYRSUTILS_FILES} )
+
+target_link_libraries( ${PROJECT_NAME} PRIVATE ${DEPENDENCIES} )
+set_target_properties( ${PROJECT_NAME}
+    PROPERTIES
+        VERSION ${REALSENSE_VERSION_STRING}
+        SOVERSION "${REALSENSE_VERSION_MAJOR}.${REALSENSE_VERSION_MINOR}"
+    )
+set_target_properties( ${PROJECT_NAME}
+    PROPERTIES
+        FOLDER Library
+        PROJECT_LABEL utilities-py
+    )
+
+include("../include/utilities/easylogging/shared-init.cmake")
+
+install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT pyrealsense2Targets
+    LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}
+    )

third-party/utilities/py/pyrsutils.cpp

@@ -0,0 +1,49 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+#include <utilities/py/pybind11.h>
+#include <utilities/easylogging/easyloggingpp.h>
+#include <utilities/string/split.h>
+
+#define NAME pyrsutils
+#define SNAME "pyrsutils"
+
+
+#ifndef BUILD_SHARED_LIBS  // shared-init takes care of the else
+INITIALIZE_EASYLOGGINGPP
+#endif
+
+
+PYBIND11_MODULE(NAME, m) {
+    m.doc() = R"pbdoc(
+        RealSense Utilities Python Bindings
+    )pbdoc";
+    m.attr( "__version__" ) = "0.1";  // RS2_API_VERSION_STR;
+
+    // Configure the same logger as librealsense, and default to only errors by default...
+    el::Configurations defaultConf;
+    defaultConf.setToDefault();
+    defaultConf.setGlobally( el::ConfigurationType::ToStandardOutput, "false" );
+    defaultConf.set( el::Level::Error, el::ConfigurationType::ToStandardOutput, "true" );
+    defaultConf.setGlobally( el::ConfigurationType::Format, "-%levshort- %datetime{%H:%m:%s.%g} %msg (%fbase:%line [%thread])" );
+    el::Loggers::reconfigureLogger( "librealsense", defaultConf );
+
+    m.def(
+        "debug",
+        []( bool enable, std::string const & nested ) {
+            el::Logger * logger = el::Loggers::getLogger( "librealsense" );
+            auto configs = logger->configurations();
+            configs->set( el::Level::Warning, el::ConfigurationType::ToStandardOutput, enable ? "true" : "false" );
+            configs->set( el::Level::Info, el::ConfigurationType::ToStandardOutput, enable ? "true" : "false" );
+            configs->set( el::Level::Debug, el::ConfigurationType::ToStandardOutput, enable ? "true" : "false" );
+            std::string format = "-%levshort- %datetime{%H:%m:%s.%g} %msg (%fbase:%line [%thread])";
+            if( ! nested.empty() )
+                format = '[' + nested + "] " + format;
+            configs->setGlobally( el::ConfigurationType::Format, format );
+            logger->reconfigure();
+        },
+        py::arg( "enable" ),
+        py::arg( "nested-string" ) = "" );
+
+    m.def( "split", &utilities::string::split );
+}

tools/depth-quality/CMakeLists.txt

@@ -17,9 +17,7 @@ find_package(Threads REQUIRED)
 
 include_directories(${CMAKE_BINARY_DIR})
 
-if(${BUILD_EASYLOGGINGPP})
-    include("${REPO_ROOT}/third-party/utilities/include/utilities/easylogging/shared-init.cmake")
-endif()
+include("${REPO_ROOT}/third-party/utilities/include/utilities/easylogging/shared-init.cmake")
 
 include(../../common/CMakeLists.txt)
 

tools/realsense-viewer/CMakeLists.txt

@@ -16,9 +16,7 @@ find_package(Threads REQUIRED)
 
 include_directories(${CMAKE_BINARY_DIR})
 
-if(${BUILD_EASYLOGGINGPP})
-    include("${REPO_ROOT}/third-party/utilities/include/utilities/easylogging/shared-init.cmake")
-endif()
+include("${REPO_ROOT}/third-party/utilities/include/utilities/easylogging/shared-init.cmake")
 
 include(../../common/CMakeLists.txt)