microsoft · vicroms · Jan 7, 2026 · Jan 6, 2026
diff --git a/ports/libmultisense/0000-platform-specific-links.patch b/ports/libmultisense/0000-platform-specific-links.patch
@@ -21,10 +21,10 @@ index 2a7367c..a0bfbd3 100644
 
  include(CMakePackageConfigHelpers)
 diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt
-index 7a4cb8e..72e2e54 100644
+index 52d9334..17a2e3f 100644
 --- a/source/LibMultiSense/CMakeLists.txt
 +++ b/source/LibMultiSense/CMakeLists.txt
-@@ -66,12 +66,12 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS}
+@@ -63,12 +63,12 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS}
  # We want to link against our child libraries.
  #
 
@@ -43,56 +43,56 @@ index 7a4cb8e..72e2e54 100644
 
  if (BUILD_TESTS)
 diff --git a/source/Utilities/Legacy/CMakeLists.txt b/source/Utilities/Legacy/CMakeLists.txt
-index 21c747d..da05f78 100644
+index 21c747d..2c4b8ed 100644
 --- a/source/Utilities/Legacy/CMakeLists.txt
 +++ b/source/Utilities/Legacy/CMakeLists.txt
-@@ -8,32 +8,16 @@ include_directories(shared)
- # Common libraries that each utility needs to link with.
- #
-
--if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
--
--set (MULTISENSE_UTILITY_LIBS
--     ${MULTISENSE_UTILITY_LIBS}
--     MultiSense
--     ws2_32
--)
--
--elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
--
--set (MULTISENSE_UTILITY_LIBS
--     ${MULTISENSE_UTILITY_LIBS}
-+find_package(Threads REQUIRED)
-+list(APPEND MULTISENSE_UTILITY_LIBS
-      MultiSense
--     pthread
-+     Threads::Threads
- )
--
--else ()
--
--set (MULTISENSE_UTILITY_LIBS
--     ${MULTISENSE_UTILITY_LIBS}
--     MultiSense
--     pthread
--     rt
--)
--
--endif ()
-+if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
-+     list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
-+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-+     list(APPEND MULTISENSE_UTILITY_LIBS rt)
-+endif()
-
- #
- # Recurse into each of these directories.
+@@ -8,32 +8,17 @@ include_directories(shared)
+ # Common libraries that each utility needs to link with.
+ #
+ 
+-if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+-
+-set (MULTISENSE_UTILITY_LIBS
+-     ${MULTISENSE_UTILITY_LIBS}
+-     MultiSense
+-     ws2_32
+-)
+-
+-elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+-
+-set (MULTISENSE_UTILITY_LIBS
+-     ${MULTISENSE_UTILITY_LIBS}
+-     MultiSense
+-     pthread
+-)
+-
+-else ()
+-
+-set (MULTISENSE_UTILITY_LIBS
+-     ${MULTISENSE_UTILITY_LIBS}
++find_package(Threads REQUIRED)
++list(APPEND MULTISENSE_UTILITY_LIBS
+      MultiSense
+-     pthread
+-     rt
++     Threads::Threads
+ )
+ 
+-endif ()
++if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
++    list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
++elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
++    list(APPEND MULTISENSE_UTILITY_LIBS rt)
++endif()
+ 
+ #
+ # Recurse into each of these directories.
 diff --git a/source/Utilities/LibMultiSense/CMakeLists.txt b/source/Utilities/LibMultiSense/CMakeLists.txt
-index 3d21f9b..0d9a992 100644
+index 405eaf0..41ded43 100644
 --- a/source/Utilities/LibMultiSense/CMakeLists.txt
 +++ b/source/Utilities/LibMultiSense/CMakeLists.txt
-@@ -1,30 +1,13 @@
--
+@@ -1,30 +1,15 @@
+ 
 -if (${CMAKE_SYSTEM_NAME} MATCHES "Windows")
 -
 -set (MULTISENSE_UTILITY_LIBS
@@ -107,11 +107,7 @@ index 3d21f9b..0d9a992 100644
 -    ${MULTISENSE_UTILITY_LIBS}
 -    MultiSense
 -    pthread
-+find_package(Threads REQUIRED)
-+list(APPEND MULTISENSE_UTILITY_LIBS
-+     MultiSense
-+     Threads::Threads
- )
+-)
 -
 -else ()
 -
@@ -120,13 +116,17 @@ index 3d21f9b..0d9a992 100644
 -    MultiSense
 -    pthread
 -    rt
--)
--
++find_package(Threads REQUIRED)
++list(APPEND MULTISENSE_UTILITY_LIBS
++     MultiSense
++     Threads::Threads
+ )
+
 -endif ()
 +if(CMAKE_SYSTEM_NAME STREQUAL "Windows" OR CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
-+     list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
++    list(APPEND MULTISENSE_UTILITY_LIBS ws2_32)
 +elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-+     list(APPEND MULTISENSE_UTILITY_LIBS rt)
++    list(APPEND MULTISENSE_UTILITY_LIBS rt)
 +endif()
 
  add_subdirectory(ChangeIpUtility)

diff --git a/ports/libmultisense/0001-find-public-api-dependencies.patch b/ports/libmultisense/0001-find-public-api-dependencies.patch
@@ -1,15 +1,15 @@
 diff --git a/source/LibMultiSense/MultiSenseConfig.cmake.in b/source/LibMultiSense/MultiSenseConfig.cmake.in
-index cf98076..dee7a62 100644
+index dbc311d..02a3948 100644
 --- a/source/LibMultiSense/MultiSenseConfig.cmake.in
 +++ b/source/LibMultiSense/MultiSenseConfig.cmake.in
-@@ -2,6 +2,10 @@
-
+@@ -3,8 +3,9 @@
  include(CMakeFindDependencyMacro)
  find_dependency(MultiSenseWire)
-+find_dependency(Threads)
-+if (@BUILD_JSON_SERIALIZATION@)
+ if (@BUILD_JSON_SERIALIZATION@)
+-    find_dependency(nlohmann_json 3.9 REQUIRED)
 +    find_dependency(nlohmann_json 3.9)
-+endif ()
+ endif ()
++find_dependency(Threads)
 
  include("${CMAKE_CURRENT_LIST_DIR}/MultiSenseTargets.cmake")
 
diff --git a/ports/libmultisense/0003-utilities-cc-unreachable-code.patch b/ports/libmultisense/0003-utilities-cc-unreachable-code.patch
diff --git a/ports/libmultisense/portfile.cmake b/ports/libmultisense/portfile.cmake
@@ -2,13 +2,12 @@ vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO carnegierobotics/LibMultiSense
     REF ${VERSION}
-    SHA512 69472f288de46c0ecdbbbcb8c280610c1c80778d660098e3b639ab653b108096c3fb4cd92a21afd4745b959a0c80812c5bf2d42053760bbceeafd90e67c20388
+    SHA512 ccb865c6bfaed6a415cd7acf22ca24921ef53e8ac71f2f213f89fe2cdd24893d60507cba6ea60f2d690b834d3eb3631fc80da657936738028ee5ffac986f0ae8
     HEAD_REF master
     PATCHES
         0000-platform-specific-links.patch
         0001-find-public-api-dependencies.patch
         0002-disable-error-on-warning.patch
-        0003-utilities-cc-unreachable-code.patch
 )
 
 vcpkg_check_features(
@@ -46,6 +45,7 @@ if ("utilities" IN_LIST FEATURES)
     set(_tool_names
         ChangeIpUtility
         ImageCalUtility
+        MultiChannelUtility
         PointCloudUtility
         RectifiedFocalLengthUtility
         SaveImageUtility
@@ -66,6 +66,7 @@ if ("utilities" IN_LIST FEATURES)
         change_ip_utility.py
         device_info_utility.py
         image_cal_utility.py
+        multi_channel_utility.py
         point_cloud_utility.py
         rectified_focal_length_utility.py
         save_image_utility.py

diff --git a/ports/libmultisense/vcpkg.json b/ports/libmultisense/vcpkg.json
@@ -1,6 +1,6 @@
 {
   "name": "libmultisense",
-  "version": "7.2.0",
+  "version": "7.4.0",
   "description": "A C++ library for interfacing with the MultiSense S family of sensors from Carnegie Robotics.",
   "homepage": "https://github.com/carnegierobotics/LibMultiSense",
   "dependencies": [

diff --git a/versions/baseline.json b/versions/baseline.json
@@ -5169,7 +5169,7 @@
       "port-version": 0
     },
     "libmultisense": {
-      "baseline": "7.2.0",
+      "baseline": "7.4.0",
       "port-version": 0
     },
     "libmupdf": {

diff --git a/versions/l-/libmultisense.json b/versions/l-/libmultisense.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "2633712cd5d12e941deec5aea560a66172a5b0b4",
+      "version": "7.4.0",
+      "port-version": 0
+    },
     {
       "git-tree": "c56632e5b66a90b161ea41a53be72642e9353250",
       "version": "7.2.0",