Fixed Windows shared libraries build & added CI

.github/workflows/build_test.yaml

@@ -64,6 +64,25 @@ jobs:
       run: cmake --build build -j4
     - name: run tests
       run: cd build/ && ctest -j4 -C Debug --output-on-failure
+  windows-shared-libs-build:
+    runs-on: windows-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: vcpkg build
+      uses: johnwason/vcpkg-action@v6
+      id: vcpkg
+      with:
+        pkgs: jsoncpp eigen3 curl libtins glfw3 glew spdlog libpng flatbuffers gtest
+        triplet: x64-windows
+        revision: 2024.04.26
+        token: ${{ github.token }}
+        github-binarycache: true
+    - name: cmake configure
+      run: cmake . -B build -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_TOOLCHAIN_FILE=D:/a/ouster-sdk/ouster-sdk/vcpkg/scripts/buildsystems/vcpkg.cmake
+    - name: cmake build
+      run: cmake --build build -j4
+    - name: run tests
+      run: cd build/ && ctest -j4 -C Debug --output-on-failure
   windows-python-build:
     runs-on: windows-latest
     steps:

ouster_client/CMakeLists.txt

@@ -4,6 +4,7 @@ find_package(jsoncpp REQUIRED)
 find_package(CURL REQUIRED)
 find_package(spdlog REQUIRED)
 include(Coverage)
+include(GenerateExportHeader)
 
 # ==== Libraries ====
 add_library(ouster_client src/client.cpp src/types.cpp src/sensor_info.cpp src/netcompat.cpp src/lidar_scan.cpp
@@ -41,6 +42,19 @@ target_include_directories(ouster_client SYSTEM PUBLIC
   $<INSTALL_INTERFACE:include/optional-lite>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/optional-lite>)
 
+# ==== Export header ====
+
+set(ouster_client_export_filename
+  ouster_client/ouster/ouster_client_export.h)
+
+generate_export_header(ouster_client 
+  EXPORT_FILE_NAME ${PROJECT_BINARY_DIR}/${ouster_client_export_filename})
+
+target_include_directories(ouster_client PUBLIC
+  $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/ouster_client>)
+
+install(FILES ${PROJECT_BINARY_DIR}/${ouster_client_export_filename} DESTINATION include/ouster)
+
 # ==== Install ====
 install(TARGETS ouster_client
         EXPORT ouster-sdk-targets

ouster_client/include/ouster/client.h

@@ -14,6 +14,7 @@
 #include <string>
 
 #include "ouster/defaults.h"
+#include "ouster/ouster_client_export.h"
 #include "ouster/types.h"
 #include "ouster/version.h"
 
@@ -57,9 +58,11 @@ const util::version min_version = {1, 12, 0, "", "", "", ""};
  *
  * @return true on success, otherwise false.
  */
-bool init_logger(const std::string& log_level,
-                 const std::string& log_file_path = "", bool rotating = false,
-                 int max_size_in_bytes = 0, int max_files = 0);
+OUSTER_CLIENT_EXPORT bool init_logger(const std::string& log_level,
+                                      const std::string& log_file_path = "",
+                                      bool rotating = false,
+                                      int max_size_in_bytes = 0,
+                                      int max_files = 0);
 
 /** \defgroup ouster_client_init Ouster Client Client Initialization
  * @{
@@ -74,8 +77,8 @@ bool init_logger(const std::string& log_level,
  *
  * @return pointer owning the resources associated with the connection.
  */
-std::shared_ptr<client> init_client(const std::string& hostname, int lidar_port,
-                                    int imu_port);
+OUSTER_CLIENT_EXPORT std::shared_ptr<client> init_client(
+    const std::string& hostname, int lidar_port, int imu_port);
 
 /**
  * Connect to and configure the sensor and start listening for data.
@@ -94,7 +97,7 @@ std::shared_ptr<client> init_client(const std::string& hostname, int lidar_port,
  *
  * @return pointer owning the resources associated with the connection.
  */
-std::shared_ptr<client> init_client(
+OUSTER_CLIENT_EXPORT std::shared_ptr<client> init_client(
     const std::string& hostname, const std::string& udp_dest_host,
     lidar_mode ld_mode = MODE_UNSPEC, timestamp_mode ts_mode = TIME_FROM_UNSPEC,
     int lidar_port = 0, int imu_port = 0,
@@ -120,7 +123,7 @@ std::shared_ptr<client> init_client(
  * the sensor, otherwise only the port values within the config object will be
  * used and the rest will be ignored.
  */
-std::shared_ptr<client> mtp_init_client(
+OUSTER_CLIENT_EXPORT std::shared_ptr<client> mtp_init_client(
     const std::string& hostname, const sensor_config& config,
     const std::string& mtp_dest_host, bool main,
     int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS,
@@ -141,7 +144,8 @@ std::shared_ptr<client> mtp_init_client(
  * LIDAR_DATA) is true if lidar data is ready to read, and (s & IMU_DATA) is
  * true if imu data is ready to read.
  */
-client_state poll_client(const client& cli, int timeout_sec = 1);
+OUSTER_CLIENT_EXPORT client_state poll_client(const client& cli,
+                                              int timeout_sec = 1);
 
 /**
  * Read lidar data from the sensor. Will not block.
@@ -153,8 +157,8 @@ client_state poll_client(const client& cli, int timeout_sec = 1);
  *
  * @return true if a lidar packet was successfully read.
  */
-bool read_lidar_packet(const client& cli, uint8_t* buf,
-                       const packet_format& pf);
+OUSTER_CLIENT_EXPORT bool read_lidar_packet(const client& cli, uint8_t* buf,
+                                            const packet_format& pf);
 
 /**
  * Read lidar data from the sensor. Will not block.
@@ -166,7 +170,8 @@ bool read_lidar_packet(const client& cli, uint8_t* buf,
  *
  * @return true if a lidar packet was successfully read.
  */
-bool read_lidar_packet(const client& cli, uint8_t* buf, size_t bytes);
+OUSTER_CLIENT_EXPORT bool read_lidar_packet(const client& cli, uint8_t* buf,
+                                            size_t bytes);
 
 /**
  * Read lidar data from the sensor. Will not block.
@@ -178,7 +183,8 @@ bool read_lidar_packet(const client& cli, uint8_t* buf, size_t bytes);
  *
  * @return true if a lidar packet was successfully read.
  */
-bool read_lidar_packet(const client& cli, LidarPacket& packet);
+OUSTER_CLIENT_EXPORT bool read_lidar_packet(const client& cli,
+                                            LidarPacket& packet);
 
 /**
  * Read imu data from the sensor. Will not block.
@@ -190,7 +196,8 @@ bool read_lidar_packet(const client& cli, LidarPacket& packet);
  *
  * @return true if a lidar packet was successfully read.
  */
-bool read_imu_packet(const client& cli, uint8_t* buf, size_t bytes);
+OUSTER_CLIENT_EXPORT bool read_imu_packet(const client& cli, uint8_t* buf,
+                                          size_t bytes);
 
 /**
  * Read imu data from the sensor. Will not block.
@@ -202,7 +209,8 @@ bool read_imu_packet(const client& cli, uint8_t* buf, size_t bytes);
  *
  * @return true if an imu packet was successfully read.
  */
-bool read_imu_packet(const client& cli, uint8_t* buf, const packet_format& pf);
+OUSTER_CLIENT_EXPORT bool read_imu_packet(const client& cli, uint8_t* buf,
+                                          const packet_format& pf);
 
 /**
  * Read imu data from the sensor. Will not block.
@@ -214,7 +222,7 @@ bool read_imu_packet(const client& cli, uint8_t* buf, const packet_format& pf);
  *
  * @return true if an imu packet was successfully read.
  */
-bool read_imu_packet(const client& cli, ImuPacket& packet);
+OUSTER_CLIENT_EXPORT bool read_imu_packet(const client& cli, ImuPacket& packet);
 
 /**
  * Get metadata text blob from the sensor.
@@ -232,7 +240,7 @@ bool read_imu_packet(const client& cli, ImuPacket& packet);
  *
  * @return a text blob of metadata parseable into a sensor_info struct.
  */
-std::string get_metadata(
+OUSTER_CLIENT_EXPORT std::string get_metadata(
     client& cli, int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
 
 /**
@@ -248,9 +256,9 @@ std::string get_metadata(
  *
  * @return true if sensor config successfully populated.
  */
-bool get_config(const std::string& hostname, sensor_config& config,
-                bool active = true,
-                int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
+OUSTER_CLIENT_EXPORT bool get_config(
+    const std::string& hostname, sensor_config& config, bool active = true,
+    int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
 
 // clang-format off
 /**
@@ -278,9 +286,10 @@ enum config_flags : uint8_t {
  *
  * @return true if config params successfuly set on sensor.
  */
-bool set_config(const std::string& hostname, const sensor_config& config,
-                uint8_t config_flags = 0,
-                int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
+OUSTER_CLIENT_EXPORT bool set_config(
+    const std::string& hostname, const sensor_config& config,
+    uint8_t config_flags = 0,
+    int timeout_sec = DEFAULT_HTTP_REQUEST_TIMEOUT_SECONDS);
 
 /**
  * Return the port used to listen for lidar UDP data.
@@ -289,7 +298,7 @@ bool set_config(const std::string& hostname, const sensor_config& config,
  *
  * @return the port number.
  */
-int get_lidar_port(const client& cli);
+OUSTER_CLIENT_EXPORT int get_lidar_port(const client& cli);
 
 /**
  * Return the port used to listen for imu UDP data.
@@ -298,7 +307,7 @@ int get_lidar_port(const client& cli);
  *
  * @return the port number.
  */
-int get_imu_port(const client& cli);
+OUSTER_CLIENT_EXPORT int get_imu_port(const client& cli);
 
 /**
  * Check if ip address in multicast range.
@@ -307,7 +316,7 @@ int get_imu_port(const client& cli);
  *
  * @return true if addr is in multicast range.
  */
-bool in_multicast(const std::string& addr);
+OUSTER_CLIENT_EXPORT bool in_multicast(const std::string& addr);
 
 }  // namespace sensor
 }  // namespace ouster

ouster_client/include/ouster/field.h

@@ -16,6 +16,7 @@
 #include <vector>
 
 #include "ouster/array_view.h"
+#include "ouster/ouster_client_export.h"
 #include "ouster/types.h"
 
 namespace ouster {
@@ -29,7 +30,8 @@ namespace impl {
  *
  * @return vector of stride offsets
  */
-std::vector<size_t> calculate_strides(const std::vector<size_t>& shape);
+OUSTER_CLIENT_EXPORT std::vector<size_t> calculate_strides(
+    const std::vector<size_t>& shape);
 
 }  // namespace impl
 
@@ -39,24 +41,24 @@ namespace impl {
 // clang-format off
 
 template <typename T> int type_size() { return sizeof(T); }
-template <> int type_size<void>();
+template <> OUSTER_CLIENT_EXPORT int type_size<void>();
 
 template <typename T> size_t type_hash() { return typeid(T).hash_code(); }
-template <> size_t type_hash<void>();
+template <> OUSTER_CLIENT_EXPORT size_t type_hash<void>();
 
 template <typename T>
 ChanFieldType type_cft() { return ChanFieldType::UNREGISTERED; }
-template <> ChanFieldType type_cft<void>();
-template <> ChanFieldType type_cft<uint8_t>();
-template <> ChanFieldType type_cft<uint16_t>();
-template <> ChanFieldType type_cft<uint32_t>();
-template <> ChanFieldType type_cft<uint64_t>();
-template <> ChanFieldType type_cft<int8_t>();
-template <> ChanFieldType type_cft<int16_t>();
-template <> ChanFieldType type_cft<int32_t>();
-template <> ChanFieldType type_cft<int64_t>();
-template <> ChanFieldType type_cft<float>();
-template <> ChanFieldType type_cft<double>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<void>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<uint8_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<uint16_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<uint32_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<uint64_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<int8_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<int16_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<int32_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<int64_t>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<float>();
+template <> OUSTER_CLIENT_EXPORT ChanFieldType type_cft<double>();
 
 // clang-format on
 
@@ -68,7 +70,7 @@ template <> ChanFieldType type_cft<double>();
  * Unlike FieldType this fully describes a Field's dimensions rather than
  * abstract away the lidar width and height or packet count.
  */
-struct FieldDescriptor {
+struct OUSTER_CLIENT_EXPORT FieldDescriptor {
     /**
      * type hash of the described field
      */
@@ -266,7 +268,7 @@ auto fd_array(sensor::ChanFieldType tag, Args&&... args) -> FieldDescriptor {
  * Non-owning wrapper over a memory pointer that allows for type safe
  * conversion to typed pointer, eigen array or ArrayView
  */
-class FieldView {
+class OUSTER_CLIENT_EXPORT FieldView {
    protected:
     void* ptr_;
     FieldDescriptor desc_;
@@ -639,15 +641,15 @@ enum class FieldClass {
  *
  * @return string representation of the FieldClass, or "UNKNOWN".
  */
-std::string to_string(FieldClass f);
+OUSTER_CLIENT_EXPORT std::string to_string(FieldClass f);
 
 /**
  * RAII memory-owning container for arbitrary typed and sized arrays and POD
  * structs with optional type checking
  *
  * For usage examples, check unit tests
  */
-class Field : public FieldView {
+class OUSTER_CLIENT_EXPORT Field : public FieldView {
    protected:
     FieldClass class_;
 
@@ -730,7 +732,7 @@ class Field : public FieldView {
  *
  * @return reinterpreted view of uint8_t, uint16_t, uint32_t or uint64_t type
  */
-FieldView uint_view(const FieldView& other);
+OUSTER_CLIENT_EXPORT FieldView uint_view(const FieldView& other);
 
 }  // namespace ouster
 
@@ -742,6 +744,6 @@ namespace std {
  * @param[in] a Field to swap with b
  * @param[in] b Field to swap with a
  */
-void swap(ouster::Field& a, ouster::Field& b);
+OUSTER_CLIENT_EXPORT void swap(ouster::Field& a, ouster::Field& b);
 
 }  // namespace std

ouster_client/include/ouster/image_processing.h

@@ -10,13 +10,14 @@
 
 #include <Eigen/Core>
 
+#include "ouster/ouster_client_export.h"
 #include "ouster/types.h"
 
 namespace ouster {
 namespace viz {
 
 /** Adjusts brightness to between 0 and 1. */
-class AutoExposure {
+class OUSTER_CLIENT_EXPORT AutoExposure {
     const double lo_percentile, hi_percentile;  // percentiles used for scaling
     const int ae_update_every;
 
@@ -79,7 +80,7 @@ class AutoExposure {
  * thereby correcting subtle horizontal line artifacts in images, especially the
  * ambient image.
  */
-class BeamUniformityCorrector {
+class OUSTER_CLIENT_EXPORT BeamUniformityCorrector {
    private:
     int counter = 0;
     Eigen::ArrayXd dark_count;

ouster_client/include/ouster/impl/lidar_scan_impl.h

@@ -288,7 +288,8 @@ struct zero_field {
  * @param[in] pf packet format
  * @param[in] ls lidar scan to check for RAW_HEADERS field presence.
  */
-bool raw_headers_enabled(const sensor::packet_format& pf, const LidarScan& ls);
+OUSTER_CLIENT_EXPORT bool raw_headers_enabled(const sensor::packet_format& pf,
+                                              const LidarScan& ls);
 
 /**
  * OutputItT - STL compatible output iterator over LidarPacket value type