fixed memory leaks, bugs, add CI build

.github/workflows/build.yml

@@ -0,0 +1,163 @@
+name: Build
+
+on:
+  push:
+    branches: [main, dev]
+  pull_request:
+    branches: [main, dev]
+  workflow_dispatch:
+
+# Cancel an in-flight run when a newer commit lands on the same ref.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    name: ${{ matrix.label }}
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 60
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-22.04
+            label: linux-x86_64
+          # macos-13 (Intel) is in GitHub's deprecation window — jobs sit in
+          # the queue for hours. Apple Silicon only for now; x86_64 Mac users
+          # build from source.
+          - os: macos-14
+            label: macos-arm64
+          - os: windows-2022
+            label: windows-x86_64
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      # -------------------------------------------------------------------
+      # Linux: Intel apt repo for librealsense, plus OpenCV + GLFW system deps.
+      # -------------------------------------------------------------------
+      - name: Install Linux dependencies
+        if: runner.os == 'Linux'
+        run: |
+          set -euxo pipefail
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            ca-certificates curl gnupg lsb-release \
+            build-essential cmake ninja-build pkg-config \
+            libopencv-dev \
+            libgl1-mesa-dev libglu1-mesa-dev \
+            libxinerama-dev libxcursor-dev libxi-dev libxrandr-dev \
+            libwayland-dev libxkbcommon-dev \
+            libusb-1.0-0-dev libudev-dev \
+            libgtk-3-dev
+
+          # Intel RealSense apt repo. The .pgp file Intel hosts on their CDN
+          # is currently stale relative to the key that actually signs the apt
+          # InRelease metadata (apt logs "NO_PUBKEY FB0B24895113F120"), so we
+          # fetch the signing key directly from Ubuntu's keyserver over HTTP
+          # and dearmor it. (HTTP avoids needing dirmngr + /root/.gnupg, both
+          # of which were missing on the runner.)
+          # If this ever stops working, run `apt-get update` against the repo
+          # locally to find the current key ID and update the fingerprint below.
+          sudo install -m 0755 -d /etc/apt/keyrings
+          curl -fsSL "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0xFB0B24895113F120&options=mr" \
+            | sudo gpg --dearmor -o /etc/apt/keyrings/librealsense.gpg
+          sudo chmod 0644 /etc/apt/keyrings/librealsense.gpg
+          echo "deb [signed-by=/etc/apt/keyrings/librealsense.gpg] https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" \
+            | sudo tee /etc/apt/sources.list.d/librealsense.list
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends librealsense2-dev librealsense2-utils
+
+      # -------------------------------------------------------------------
+      # macOS (Apple Silicon, macos-14). Homebrew handles everything.
+      # If librealsense's brew formula breaks here, the most likely cause
+      # is upstream brew formula state.
+      # -------------------------------------------------------------------
+      - name: Install macOS dependencies
+        if: runner.os == 'macOS'
+        run: |
+          set -euxo pipefail
+          brew update
+          brew install cmake ninja opencv librealsense
+
+      # -------------------------------------------------------------------
+      # Windows: chocolatey for OpenCV, vcpkg for librealsense.
+      #
+      # Why not the Intel SDK installer: current Intel installer versions
+      # (InstallAware-based) have no working silent-install flag — /S and /s
+      # hang on a hidden GUI dialog, /silent and /VERYSILENT exit 0 but write
+      # nothing, and the .exe is not a format 7zip can extract. vcpkg is the
+      # reliable path. To avoid touching CMakeLists.txt (which hardcodes
+      # C:\Program Files (x86)\Intel RealSense SDK 2.0\... for Windows), we
+      # restage vcpkg's output into that same layout.
+      # -------------------------------------------------------------------
+      - name: Export GHA cache env (for vcpkg x-gha binary cache)
+        if: runner.os == 'Windows'
+        uses: actions/github-script@v7
+        with:
+          script: |
+            core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
+            core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');
+
+      - name: Install Windows dependencies
+        if: runner.os == 'Windows'
+        timeout-minutes: 25
+        shell: pwsh
+        env:
+          VCPKG_BINARY_SOURCES: 'clear;x-gha,readwrite'
+        run: |
+          $ErrorActionPreference = 'Stop'
+
+          Write-Host "Installing OpenCV via chocolatey..."
+          choco install opencv --version=4.10.0 -y --no-progress
+          $opencvDir = "C:\tools\opencv\build"
+          if (-not (Test-Path "$opencvDir\OpenCVConfig.cmake")) {
+            $opencvDir = Get-ChildItem -Path "C:\tools\opencv" -Recurse -Filter "OpenCVConfig.cmake" | Select-Object -First 1 -ExpandProperty Directory | Select-Object -ExpandProperty FullName
+          }
+          "OpenCV_DIR=$opencvDir"            | Out-File -FilePath $env:GITHUB_ENV -Append
+          "$opencvDir\x64\vc16\bin"          | Out-File -FilePath $env:GITHUB_PATH -Append
+
+          Write-Host "Installing librealsense via vcpkg (first run ~10-15 min, cached runs ~30s)..."
+          & "C:\vcpkg\vcpkg.exe" install realsense2:x64-windows --triplet=x64-windows
+          if ($LASTEXITCODE -ne 0) { throw "vcpkg install realsense2:x64-windows failed (exit $LASTEXITCODE)." }
+
+          $vcpkgInstalled = "C:\vcpkg\installed\x64-windows"
+          $vcpkgLib = "$vcpkgInstalled\lib\realsense2.lib"
+          $vcpkgDll = "$vcpkgInstalled\bin\realsense2.dll"
+          $vcpkgInc = "$vcpkgInstalled\include\librealsense2"
+          foreach ($p in @($vcpkgLib, $vcpkgDll, $vcpkgInc)) {
+            if (-not (Test-Path $p)) { throw "vcpkg did not produce $p" }
+          }
+
+          $intelDir = "C:\Program Files (x86)\Intel RealSense SDK 2.0"
+          Write-Host "Restaging vcpkg output to $intelDir to satisfy CMakeLists.txt hardcoded paths..."
+          New-Item -ItemType Directory -Force -Path "$intelDir\lib\x64", "$intelDir\bin\x64", "$intelDir\include" | Out-Null
+          Copy-Item $vcpkgLib -Destination "$intelDir\lib\x64\realsense2.lib" -Force
+          Copy-Item $vcpkgDll -Destination "$intelDir\bin\x64\realsense2.dll" -Force
+          Copy-Item $vcpkgInc -Destination "$intelDir\include\librealsense2" -Recurse -Force
+
+          if (-not (Test-Path "$intelDir\lib\x64\realsense2.lib")) {
+            throw "Restage failed: $intelDir\lib\x64\realsense2.lib missing."
+          }
+          Write-Host "RealSense SDK staged at $intelDir."
+
+      # -------------------------------------------------------------------
+      # Configure + build. Windows is pinned to the x64 VS generator so we
+      # never accidentally pick up a 32-bit toolchain (the OpenCV / RealSense
+      # libs we install above are x64-only). /MT linkage on Windows + prebuilt
+      # OpenCV (/MD) relies on the /FORCE linker flag already set in CMakeLists.
+      # -------------------------------------------------------------------
+      - name: Configure (Windows x64)
+        if: runner.os == 'Windows'
+        run: cmake -S . -B build -G "Visual Studio 17 2022" -A x64 -DCMAKE_BUILD_TYPE=Release
+
+      - name: Configure (Linux / macOS)
+        if: runner.os != 'Windows'
+        run: cmake -S . -B build -DCMAKE_BUILD_TYPE=Release
+
+      - name: Build
+        run: cmake --build build --config Release --parallel