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Merged
fmz merged 6 commits into from
Jul 14, 2026
Merged

Depth registration #14

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6c15880
Support depth registration
fmz Jul 7, 2026
963da72
Enable naive EMA depth averaging
fmz Jul 10, 2026
e4454e3
Rework depth registration to use original u16 vals
fmz Jul 10, 2026
4750416
Update the install
fmz Jul 10, 2026
0895019
Fixes
fmz Jul 10, 2026
7cfc928
Update release
fmz Jul 10, 2026
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222 changes: 75 additions & 147 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,12 @@ option(BUILD_TESTS "Build the test executable" ON)
option(INSTALL_TESTS "Install test executables" ON)
set(PLUGIN_NAME "SpotObserverLib")

# All runtime artifacts (plugin DLL, test executables, copied dependency DLLs)
# land in the top-level build directory, so dependency DLLs are copied exactly
# once and every executable runs from the same place. Multi-config generators
# (Visual Studio) append a per-config subdir, e.g. build/Release.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})

# Set default install directory to SpotObserver/install if not specified
if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
set(CMAKE_INSTALL_PREFIX "${CMAKE_CURRENT_SOURCE_DIR}/install" CACHE PATH "Default install directory" FORCE)
Expand Down Expand Up @@ -37,11 +43,20 @@ find_package(Protobuf REQUIRED PATHS "${Protobuf_ROOT}" NO_DEFAULT_PATH)
find_package(gRPC REQUIRED)
find_package(Threads REQUIRED)

# Support Ampere and Ada architectures - set BEFORE finding Torch
# Support Ampere and Ada architectures - set BEFORE finding Torch.
# NOTE: TorchConfig (Caffe2/public/cuda.cmake) force-sets CMAKE_CUDA_ARCHITECTURES
# to OFF and instead injects -gencode flags derived from TORCH_CUDA_ARCH_LIST into
# CMAKE_CUDA_FLAGS for every .cu in the project. TORCH_CUDA_ARCH_LIST is therefore
# what actually selects the built architectures, so derive it from our arch list
# ("Common" here used to make every .cu build for ~10 archs, sm_35 through sm_90).
set(CMAKE_CUDA_ARCHITECTURES 86;89 CACHE STRING "CUDA archs" FORCE)
#set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -gencode arch=compute_86,code=sm_86 --use_fast_math")
set(TORCH_CUDA_ARCH_LIST "Common")
set(TORCH_CUDA_ARCH_LIST "")
foreach(_arch ${CMAKE_CUDA_ARCHITECTURES})
string(REGEX REPLACE "([0-9])$" ".\\1" _arch_dotted "${_arch}")
list(APPEND TORCH_CUDA_ARCH_LIST "${_arch_dotted}")
endforeach()
message(STATUS "CMAKE_CUDA_ARCHITECTURES: ${CMAKE_CUDA_ARCHITECTURES}")
message(STATUS "TORCH_CUDA_ARCH_LIST: ${TORCH_CUDA_ARCH_LIST}")

set(USE_SYSTEM_NVTX ON)
find_package(Torch REQUIRED)
Expand All @@ -50,6 +65,9 @@ if(NOT Torch_FOUND)
endif()
message(STATUS "Found libtorch: ${TORCH_LIBRARIES}")
message(STATUS "Torch install prefix: ${TORCH_INSTALL_PREFIX}")
# Torch's config appended its arch flags to CMAKE_CUDA_FLAGS; surface them so a
# wrong -gencode set is visible at configure time.
message(STATUS "CMAKE_CUDA_FLAGS after Torch: ${CMAKE_CUDA_FLAGS}")

set(ONNX_DIR ${CMAKE_CURRENT_SOURCE_DIR}/extern/onnxruntime-win-x64-gpu-1.22.0)
# Check if ONNX_DIR exists
Expand Down Expand Up @@ -90,8 +108,24 @@ add_library(${PLUGIN_NAME} SHARED
src/load_image_to_cuda.cu
)

# Unity Native-plugin API includes TODO: cleanup
set(UnityPluginAPI_INCLUDE "C:/Program Files/Unity/Hub/Editor/6000.2.8f1/Editor/Data/PluginAPI")
# Unity Native-plugin API headers (IUnityInterface.h etc.).
# Auto-detects the newest Unity Hub install; override with -DUnityPluginAPI_INCLUDE=<path>.
if(NOT UnityPluginAPI_INCLUDE)
file(GLOB _unity_editor_dirs "C:/Program Files/Unity/Hub/Editor/*")
list(SORT _unity_editor_dirs COMPARE NATURAL ORDER DESCENDING)
foreach(_unity_dir ${_unity_editor_dirs})
if(EXISTS "${_unity_dir}/Editor/Data/PluginAPI/IUnityInterface.h")
set(UnityPluginAPI_INCLUDE "${_unity_dir}/Editor/Data/PluginAPI")
break()
endif()
endforeach()
endif()
set(UnityPluginAPI_INCLUDE "${UnityPluginAPI_INCLUDE}" CACHE PATH "Path to Unity's Native Plugin API headers")
if(NOT EXISTS "${UnityPluginAPI_INCLUDE}/IUnityInterface.h")
message(FATAL_ERROR "Unity Native Plugin API headers not found (IUnityInterface.h). "
"Set -DUnityPluginAPI_INCLUDE=<Unity>/Editor/Data/PluginAPI for your installed Unity version.")
endif()
message(STATUS "Using Unity Plugin API headers: ${UnityPluginAPI_INCLUDE}")

# Include directories
# TODO: Use target_include_directories instead of include_directories
Expand Down Expand Up @@ -146,127 +180,46 @@ endif()
# Option to disable automatic DLL copying
option(COPY_DLLS "Automatically copy required DLLs to executable directory" ON)

# Copy required DLLs to executable directory after build
if(COPY_DLLS)
# Find vcpkg DLL directory dynamically
if(DEFINED CMAKE_TOOLCHAIN_FILE)
get_filename_component(VCPKG_ROOT "${CMAKE_TOOLCHAIN_FILE}" DIRECTORY)
get_filename_component(VCPKG_ROOT "${VCPKG_ROOT}" DIRECTORY)
get_filename_component(VCPKG_ROOT "${VCPKG_ROOT}" DIRECTORY)
set(VCPKG_DLL_DIR "${VCPKG_ROOT}/vcpkg_installed/x64-windows/bin")
else()
# Fallback: try to find vcpkg in common locations
set(VCPKG_DLL_DIR "")
foreach(path "$ENV{VCPKG_ROOT}/vcpkg_installed/x64-windows/bin"
"${CMAKE_SOURCE_DIR}/../vcpkg/vcpkg_installed/x64-windows/bin"
"${CMAKE_SOURCE_DIR}/../../vcpkg/vcpkg_installed/x64-windows/bin")
if(EXISTS "${path}")
set(VCPKG_DLL_DIR "${path}")
break()
endif()
endforeach()
endif()

set(OPENCV_DLL_DIR "${CMAKE_SOURCE_DIR}/extern/opencv/x64/vc16/bin")

# List of required DLLs from vcpkg
set(VCPKG_DLLS
"re2.dll"
"libprotobuf.dll"
"libprotobuf-lite.dll"
"abseil_dll.dll"
"cares.dll"
"libcrypto-3-x64.dll"
"libssl-3-x64.dll"
"zlib1.dll"
)

# List of required OpenCV DLLs
set(OPENCV_DLLS
"opencv_world4110.dll"
)

set(PLUGIN_DLLS
${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}.dll
)

set(MLLIB_DLLS)

# Use GLOB to find all DLLs in the libtorch/lib directory
# Copy required DLLs next to the built binaries after build
if(COPY_DLLS AND WIN32)
# DLLs of imported targets (vcpkg: protobuf, gRPC, OpenSSL, abseil, ...) are
# enumerated by CMake itself via $<TARGET_RUNTIME_DLLS> — no hardcoded DLL
# names or vcpkg paths. OpenCV / LibTorch / ONNX Runtime are linked as raw
# libs (not imported targets), and torch/ONNX also load some DLLs dynamically
# at runtime (cuDNN, CUDA execution provider), so their DLLs are collected
# from their lib dirs explicitly.
set(OPENCV_DLLS "${CMAKE_SOURCE_DIR}/extern/opencv/x64/vc16/bin/opencv_world4110.dll")
file(GLOB LIBTORCH_DLLS "${TORCH_INSTALL_PREFIX}/lib/*.dll")
message(STATUS "Found LibTorch DLLs via GLOB: ${LIBTORCH_DLLS}")
list(APPEND MLLIB_DLLS ${LIBTORCH_DLLS})

# Find ONNX Runtime DLLs
file(GLOB ONNX_DLLS "${ONNX_LIB_DIR}/*.dll")
message(STATUS "Found ONNX Runtime DLLs via GLOB: ${ONNX_DLLS}")
list(APPEND MLLIB_DLLS ${ONNX_DLLS})

# Copy vcpkg DLLs (only if vcpkg directory was found)
if(VCPKG_DLL_DIR AND EXISTS "${VCPKG_DLL_DIR}")
message(STATUS "Found vcpkg DLL directory: ${VCPKG_DLL_DIR}")
foreach(dll ${VCPKG_DLLS})
if(EXISTS "${VCPKG_DLL_DIR}/${dll}")
add_custom_command(TARGET ${PLUGIN_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${VCPKG_DLL_DIR}/${dll}"
$<TARGET_FILE_DIR:${PLUGIN_NAME}>
COMMENT "Copying ${dll}"
)
else()
message(WARNING "vcpkg DLL not found: ${VCPKG_DLL_DIR}/${dll}")
endif()
endforeach()
else()
message(WARNING "vcpkg DLL directory not found. DLLs will need to be copied manually.")
endif()

# Copy OpenCV DLLs (only if OpenCV directory exists)
if(EXISTS "${OPENCV_DLL_DIR}")
message(STATUS "Found OpenCV DLL directory: ${OPENCV_DLL_DIR}")
foreach(dll ${OPENCV_DLLS})
if(EXISTS "${OPENCV_DLL_DIR}/${dll}")
add_custom_command(TARGET ${PLUGIN_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${OPENCV_DLL_DIR}/${dll}"
$<TARGET_FILE_DIR:${PLUGIN_NAME}>
COMMENT "Copying ${dll}"
)
else()
message(WARNING "OpenCV DLL not found: ${OPENCV_DLL_DIR}/${dll}")
endif()
endforeach()
else()
message(WARNING "OpenCV DLL directory not found: ${OPENCV_DLL_DIR}")
# $<TARGET_RUNTIME_DLLS> misses OpenSSL/ZLIB: they enter through CMake
# find-modules (via gRPC), whose UNKNOWN-type imported targets the genex
# cannot enumerate. Locate the vcpkg bin dir from protobuf's imported DLL
# (no path guessing) and take every DLL vcpkg built for this manifest;
# overlap with the genex is harmless for copy_if_different/install.
get_target_property(_protobuf_dll protobuf::libprotobuf IMPORTED_LOCATION_RELEASE)
if(NOT _protobuf_dll)
get_target_property(_protobuf_dll protobuf::libprotobuf IMPORTED_LOCATION)
endif()

# Copy ML library DLLs (Libtorch, ONNX Runtime, etc.)
foreach(dll ${MLLIB_DLLS})
if(EXISTS "${dll}")
add_custom_command(TARGET ${PLUGIN_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${dll}"
$<TARGET_FILE_DIR:${PLUGIN_NAME}>
COMMENT "Copying ${dll}"
)
else()
message(WARNING "ML library DLL not found: ${dll}")
endif()
endforeach()
get_filename_component(VCPKG_BIN_DIR "${_protobuf_dll}" DIRECTORY)
file(GLOB VCPKG_DLLS "${VCPKG_BIN_DIR}/*.dll")

set(EXTERN_RUNTIME_DLLS ${VCPKG_DLLS} ${OPENCV_DLLS} ${LIBTORCH_DLLS} ${ONNX_DLLS})

add_custom_command(TARGET ${PLUGIN_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
$<TARGET_RUNTIME_DLLS:${PLUGIN_NAME}>
${EXTERN_RUNTIME_DLLS}
$<TARGET_FILE_DIR:${PLUGIN_NAME}>
COMMAND_EXPAND_LISTS
COMMENT "Copying runtime DLLs next to ${PLUGIN_NAME}"
)
endif() # COPY_DLLS

if (BUILD_TESTS)
add_subdirectory(tests)
endif()

## Output directories
#set_target_properties(${PLUGIN_NAME}
# PROPERTIES
# RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
# LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
# ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
#)
#
# INSTALL
include(GNUInstallDirs)

Expand All @@ -285,38 +238,13 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
)

# Install required DLLs on Windows
# Install required DLLs on Windows (same set as the post-build copy above).
if(WIN32 AND COPY_DLLS)
# Install vcpkg DLLs
if(VCPKG_DLL_DIR AND EXISTS "${VCPKG_DLL_DIR}")
foreach(dll ${VCPKG_DLLS})
if(EXISTS "${VCPKG_DLL_DIR}/${dll}")
install(FILES "${VCPKG_DLL_DIR}/${dll}"
DESTINATION ${CMAKE_INSTALL_BINDIR}
)
endif()
endforeach()
endif()

# Install OpenCV DLLs
if(EXISTS "${OPENCV_DLL_DIR}")
foreach(dll ${OPENCV_DLLS})
if(EXISTS "${OPENCV_DLL_DIR}/${dll}")
install(FILES "${OPENCV_DLL_DIR}/${dll}"
DESTINATION ${CMAKE_INSTALL_BINDIR}
)
endif()
endforeach()
endif()

# Install ML library DLLs
foreach(dll ${MLLIB_DLLS})
if(EXISTS "${dll}")
install(FILES "${dll}"
DESTINATION ${CMAKE_INSTALL_BINDIR}
)
endif()
endforeach()
install(FILES
$<TARGET_RUNTIME_DLLS:${PLUGIN_NAME}>
${EXTERN_RUNTIME_DLLS}
DESTINATION ${CMAKE_INSTALL_BINDIR}
)
endif()

# Export targets for find_package support
Expand Down
1 change: 1 addition & 0 deletions PySpotObserver/examples/basic_streaming.py
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
build_config_from_args,
parse_camera_list,
)

from pyspotobserver import CameraType, SpotConfig, SpotConnection

logging.basicConfig(
Expand Down
10 changes: 5 additions & 5 deletions PySpotObserver/pyspotobserver/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,17 +5,17 @@
and streaming camera data with support for both synchronous and asynchronous patterns.
"""

from .config import SpotConfig, CameraType
from .connection import SpotAuthenticationError, SpotConnection, SpotConnectionError
from .camera_stream import SpotCamStream, SpotCamStreamError
from .config import CameraType, SpotConfig
from .connection import SpotAuthenticationError, SpotConnection, SpotConnectionError

__version__ = "0.1.0"
__all__ = [
"SpotConfig",
"CameraType",
"SpotConnection",
"SpotConnectionError",
"SpotAuthenticationError",
"SpotCamStream",
"SpotCamStreamError",
"SpotConfig",
"SpotConnection",
"SpotConnectionError",
]
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