[realsense2] Update to 2.56.2 (#41984)

Co-authored-by: Monica <v-liumonica@microsoft.com>

ports/realsense2/fix-android-prefix-path.patch

@@ -0,0 +1,17 @@
+diff --git a/CMake/android_config.cmake b/CMake/android_config.cmake
+index 203003e..4eac6dd 100644
+--- a/CMake/android_config.cmake
++++ b/CMake/android_config.cmake
+@@ -16,7 +16,11 @@ macro(os_set_flags)
+     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
+     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")
+     set(HWM_OVER_XU ON)
+-	
++
++    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
++    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
++    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
++
+     if(FORCE_RSUSB_BACKEND)
+         set(BACKEND RS2_USE_ANDROID_BACKEND)
+         set(IMPORT_DEPTH_CAM_FW OFF)

ports/realsense2/fix-nlohmann_json.patch

@@ -0,0 +1,47 @@
+diff --git a/CMake/realsense2Config.cmake.in b/CMake/realsense2Config.cmake.in
+index b7319a6..f1301ab 100644
+--- a/CMake/realsense2Config.cmake.in
++++ b/CMake/realsense2Config.cmake.in
+@@ -1,3 +1,6 @@
++include(CMakeFindDependencyMacro)
++find_dependency(nlohmann_json)
++
+ @PACKAGE_INIT@
+ 
+ set(realsense2_VERSION_MAJOR "@REALSENSE_VERSION_MAJOR@")
+diff --git a/third-party/CMakeLists.txt b/third-party/CMakeLists.txt
+index c703140..e1fe5b9 100644
+--- a/third-party/CMakeLists.txt
++++ b/third-party/CMakeLists.txt
+@@ -1,7 +1,5 @@
+ string(REPLACE ${PROJECT_SOURCE_DIR}/ "" _rel_path ${CMAKE_CURRENT_LIST_DIR})
+ 
+-include(CMake/external_json.cmake)
+-
+ add_subdirectory( "${CMAKE_CURRENT_LIST_DIR}/rsutils" )
+ 
+ # Add additional include directories to allow file to include rosbag headers
+diff --git a/third-party/rsutils/CMakeLists.txt b/third-party/rsutils/CMakeLists.txt
+index b0fc310..95e8a46 100644
+--- a/third-party/rsutils/CMakeLists.txt
++++ b/third-party/rsutils/CMakeLists.txt
+@@ -4,15 +4,16 @@ cmake_minimum_required(VERSION 3.8.0)  # source_group(TREE)
+ project( rsutils )
+ 
+ add_library( ${PROJECT_NAME} STATIC "" )
+-# We cannot directly interface with nlohmann_json (doesn't work on bionic)
+-#target_link_libraries( ${PROJECT_NAME} PUBLIC nlohmann_json )
++
++find_package(nlohmann_json CONFIG REQUIRED)
++target_link_libraries(${PROJECT_NAME} PUBLIC nlohmann_json::nlohmann_json)
++
+ target_compile_features( ${PROJECT_NAME} PUBLIC cxx_std_14 )
+ set_target_properties( ${PROJECT_NAME} PROPERTIES FOLDER Library )
+ 
+ target_include_directories( ${PROJECT_NAME}
+     PUBLIC
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+-        $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}/third-party/json/include>
+ )
+ 
+ # Headers -----------------------------------------------------------------------------------

ports/realsense2/fix-osx.patch

@@ -1,73 +0,0 @@
-diff --git a/CMake/lrs_macros.cmake b/CMake/lrs_macros.cmake
-index b19a729049..cabb376c97 100644
---- a/CMake/lrs_macros.cmake
-+++ b/CMake/lrs_macros.cmake
-@@ -7,21 +7,10 @@ macro(infoValue variableName)
- endmacro()
- 
- macro(config_cxx_flags)
--    include(CheckCXXCompilerFlag)
--    if(MSVC OR MSVC_IDE)
--        check_cxx_compiler_flag(/std:c++14 SUPPORTS_CXX14)
--    else()
--        check_cxx_compiler_flag(-std=c++14 SUPPORTS_CXX14)
--    endif()
--    if( NOT SUPPORTS_CXX14 )
--        message(FATAL_ERROR "Project '${PROJECT_NAME}' requires C++14 or higher")
--    endif()
--    if( NOT CMAKE_CXX_STANDARD )
--        set( CMAKE_CXX_STANDARD 14 )
--    endif()
-     # We require that the current project (e.g., librealsense) use C++14. However, projects using
-     # the library don't need to be C++14 -- they can use C++11. Hence this is PRIVATE and not PUBLIC:
--    target_compile_features( ${PROJECT_NAME} PRIVATE cxx_std_${CMAKE_CXX_STANDARD} )
-+    target_compile_features( ${PROJECT_NAME} PRIVATE cxx_std_14 )
-+    target_compile_features( ${PROJECT_NAME} INTERFACE cxx_std_11 )
-     #set( CMAKE_CUDA_STANDARD ${LRS_CXX_STANDARD} )
- endmacro()
- 
-
-From b049865e918c44833c5f6ea293b5ae1ccdea99e2 Mon Sep 17 00:00:00 2001
-From: Leander Schulten <Leander.Schulten@rwth-aachen.de>
-Date: Mon, 17 Jul 2023 00:48:18 +0200
-Subject: [PATCH 2/3] rsutils: specify required c++ version
-
----
- third-party/rsutils/CMakeLists.txt | 1 +
- 1 file changed, 1 insertion(+)
-
-diff --git a/third-party/rsutils/CMakeLists.txt b/third-party/rsutils/CMakeLists.txt
-index f6a0e41141..b31e684c43 100644
---- a/third-party/rsutils/CMakeLists.txt
-+++ b/third-party/rsutils/CMakeLists.txt
-@@ -4,6 +4,7 @@ cmake_minimum_required(VERSION 3.8.0)  # source_group(TREE)
- project( rsutils )
- 
- add_library( ${PROJECT_NAME} STATIC "" )
-+target_compile_features( ${PROJECT_NAME} PUBLIC cxx_std_11 )
- set_target_properties( ${PROJECT_NAME} PROPERTIES FOLDER Library )
- 
- target_include_directories( ${PROJECT_NAME}
-
-From eaa61985dd54e88e943fc433264b1161c4482593 Mon Sep 17 00:00:00 2001
-From: Leander Schulten <Leander.Schulten@rwth-aachen.de>
-Date: Mon, 17 Jul 2023 00:57:00 +0200
-Subject: [PATCH 3/3] realsense-file: specify required c++ version
-
----
- third-party/realsense-file/CMakeLists.txt | 2 ++
- 1 file changed, 2 insertions(+)
-
-diff --git a/third-party/realsense-file/CMakeLists.txt b/third-party/realsense-file/CMakeLists.txt
-index a805cddf8c..63c3526b1d 100644
---- a/third-party/realsense-file/CMakeLists.txt
-+++ b/third-party/realsense-file/CMakeLists.txt
-@@ -27,6 +27,8 @@ add_library(${PROJECT_NAME} STATIC
-     ${SOURCE_FILES_COMPRESSION}
- )
- 
-+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_11)
-+
- target_include_directories(${PROJECT_NAME} PRIVATE
-         ${ROSBAG_HEADER_DIRS}
-         ${LZ4_INCLUDE_PATH}

ports/realsense2/portfile.cmake

@@ -1,19 +1,13 @@
-vcpkg_download_distfile(ARM64_DETECTION_FIX
-    URLS https://github.com/IntelRealSense/librealsense/commit/5a244052e2df7842940dfb5a9011973a09626300.patch?full_desc=1
-    FILENAME realsense2-arm64-detection-fix-5a244052e2df7842940dfb5a9011973a09626300.patch
-    SHA512 2897a55a58ec549914378213a5decd0092a527268651e7cb140ce2dad3ee99ddde2735113a448d8a191552fc32fa40a45422b274f617c98cda3d1b3ce948204b
-)
-
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO IntelRealSense/librealsense
     REF "v${VERSION}"
-    SHA512 20561294da571e0e1f5f8c9ac1039828512f3361a4241e5ad320bbb684626c1e78cd18e6a6344ec80fcd86dc699742c51069bc2b6895aec1dcbd9f394d2c9998
+    SHA512 0e8acc96bff60b6842fea03c871ff9b350c4f1c90c9493d6e1163384ebd4ba7c31fb110e9cca3547d36145628ad93cca298f36ba9d9cf8692dab5ad0d3d58a4d
     HEAD_REF master
     PATCHES
         fix_openni2.patch
-        fix-osx.patch # from https://github.com/IntelRealSense/librealsense/pull/11997
+        fix-nlohmann_json.patch
-        "${ARM64_DETECTION_FIX}"
+        fix-android-prefix-path.patch
 )
 
 file(COPY "${SOURCE_PATH}/src/win7/drivers/IntelRealSense_D400_series_win7.inf" DESTINATION "${SOURCE_PATH}")

ports/realsense2/vcpkg.json

@@ -1,7 +1,6 @@
 {
   "name": "realsense2",
-  "version": "2.54.2",
+  "version": "2.56.2",
-  "port-version": 3,
   "description": "Intel® RealSense™ SDK 2.0 is a cross-platform library for Intel® RealSense™ depth cameras (D400 series and the SR300).",
   "homepage": "https://github.com/IntelRealSense/librealsense",
   "license": "Apache-2.0",
@@ -11,6 +10,7 @@
       "name": "libusb",
       "platform": "!windows"
     },
+    "nlohmann-json",
     {
       "name": "vcpkg-cmake",
       "host": true

versions/baseline.json

@@ -7869,8 +7869,8 @@
       "port-version": 0
     },
     "realsense2": {
-      "baseline": "2.54.2",
+      "baseline": "2.56.2",
-      "port-version": 3
+      "port-version": 0
     },
     "recast": {
       "baseline": "deprecated",

versions/r-/realsense2.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "cd83d4d25a389c96970ee763fa48a48b9b419f5b",
+      "version": "2.56.2",
+      "port-version": 0
+    },
     {
       "git-tree": "6206dc9c187261a734853fb0983ac24302fc07ae",
       "version": "2.54.2",