Merge pull request #22 from abernste/development

Merge Development to win7_support

CMake/realsense.def

@@ -68,7 +68,7 @@ EXPORTS
     rs2_keep_frame
     rs2_frame_add_ref
     rs2_pose_frame_get_pose_data
-    
+
     rs2_get_option
     rs2_set_option
     rs2_supports_option
@@ -147,6 +147,7 @@ EXPORTS
     rs2_clone_stream_profile
 
     rs2_allocate_synthetic_video_frame
+    rs2_allocate_points
     rs2_allocate_composite_frame
     rs2_synthetic_frame_ready
     rs2_create_processing_block

CMakeLists.txt

@@ -89,7 +89,7 @@ if(ANDROID_NDK_TOOLCHAIN_INCLUDED)
     set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_BSD_SOURCE")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
-
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")
     message(STATUS "Prepare RealSense SDK for Android OS (${ANDROID_NDK_ABI_NAME})")
 endif()
 
@@ -202,8 +202,7 @@ set(REALSENSE_CPP
 ## Check for Windows Version ##
 if( (${CMAKE_SYSTEM_VERSION} EQUAL 6.1) OR (FORCE_WINUSB_UVC) ) # Windows 7
     if (NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
-        set(DRIVERS inteld415_win7.cat
-                    IntelD415_win7.inf
+        set(DRIVERS IntelD415_win7.inf
                     WdfCoinstaller01011.dll
                     winusbcoinstaller2.dll
                     )
@@ -965,6 +964,7 @@ option(BUILD_EXAMPLES "Build realsense examples and tools." ON)
 option(ENFORCE_METADATA "Require WinSDK with Metadata support during compilation. Windows OS Only" OFF)
 option(BUILD_PYTHON_BINDINGS "Build Python bindings" OFF)
 option(BUILD_CSHARP_BINDINGS "Build C# bindings" OFF)
+#option(BUILD_MATLAB_BINDINGS "Build Matlab bindings" OFF)
 option(BUILD_UNITY_BINDINGS "Copy the unity project to the build folder with the required dependencies" OFF)
 option(BUILD_CV_EXAMPLES "Build OpenCV examples" OFF)
 option(BUILD_PCL_EXAMPLES "Build PCL examples" OFF)
@@ -995,6 +995,10 @@ if (BUILD_WITH_CUDA)
     add_definitions(-DRS2_USE_CUDA)
 endif()
 
+if (BUILD_MATLAB_BINDINGS)
+  add_subdirectory(wrappers/matlab)
+endif()
+
 
 # Check for unreferenced files
 FILE(GLOB_RECURSE AllSources RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
@@ -1043,4 +1047,4 @@ install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config/realsense2.pc"     DESTINATION
 # Update system cache with newly installed binaries/libraries
 if(UNIX)
     install(CODE "execute_process(COMMAND ldconfig)")
-endif()
+endif()

common/model-views.cpp

@@ -1413,7 +1413,7 @@ namespace rs2
             {
                 if (viewer.synchronization_enable && (!viewer.is_3d_view || viewer.is_3d_depth_source(f) || viewer.is_3d_texture_source(f)))
                 {
-                    viewer.s(f);
+                    viewer.s.invoke(f);
                 }
                 else
                 {
@@ -2580,7 +2580,7 @@ namespace rs2
             float val{};
             if (texture->try_pick(x, y, &val))
             {
-                ss << ", *p: 0x" << std::hex << val;
+                ss << ", *p: 0x" << std::hex << static_cast<int>(round(val));
             }
 
             if (texture->get_last_frame().is<depth_frame>())
@@ -5657,7 +5657,7 @@ namespace rs2
                 ImGui::SetCursorPos({ rc.x, rc.y + line_h });
             }
 
-            ImGui::SetCursorPos({ rc.x + 225, rc.y - 127 });
+            ImGui::SetCursorPos({ rc.x + 225, rc.y - 107 });
 
             if (fw_version_less_than(fw_version, min_fw_version))
             {
@@ -6111,7 +6111,7 @@ namespace rs2
         }
     }
 
-    void device_model::handle_harware_events(const std::string& serialized_data)
+    void device_model::handle_hardware_events(const std::string& serialized_data)
     {
         //TODO: Move under hour glass
         std::string event_type = get_event_type(serialized_data);

common/model-views.h

@@ -477,7 +477,7 @@ namespace rs2
             bool load_json_if_streaming = false,
             json_loading_func json_loading = [](std::function<void()> load) {load(); },
             bool draw_device_outline = true);
-        void handle_harware_events(const std::string& serialized_data);
+        void handle_hardware_events(const std::string& serialized_data);
 
         std::vector<std::shared_ptr<subdevice_model>> subdevices;
         bool is_streaming() const;

doc/android/AndroidJavaApp.md

@@ -47,6 +47,7 @@ Click on `Run` and choose `Run 'app'`. Choose your Android device and click on t
 16. Open the Terminal Emulator application and type below lines in order to move to Super User mode and change the USB permissions.
 ```shell
 su
+setenforce 0
 lsusb
 chmod 0777 /dev/bus/usb/<Bus number>/<Dev Number>
 ```

doc/android/AndroidNativeSamples.md

@@ -14,7 +14,7 @@ This document describes how to build the Intel® RealSense™ SDK 2.0 including
 7. Open Terminal on the host machine, navigate to *librealsense* root directory and type the following lines:
 ```shell
 mkdir build && cd build
-cmake .. -DANDROID_ABI=<Application Binary Interface> -DCMAKE_TOOLCHAIN_FILE=<Path to NDK folder>/build/cmake/android.toolchain.cmake -DFORCE_LIBUVC=TRUE
+cmake .. -DANDROID_ABI=<Application Binary Interface> -DCMAKE_TOOLCHAIN_FILE=<Path to NDK folder>/build/cmake/android.toolchain.cmake -DFORCE_LIBUVC=TRUE -DBUILD_SHARED_LIBS=false
 make
 ```
 
@@ -23,7 +23,6 @@ make
 8. When compilation done type the following lines to store the binaries at the same location to easily copy them to your Android device.
 ```shell
 mkdir lrs_binaries && cd lrs_binaries
-cp ../librealsense2.so ./
 cp ../examples/C/color/rs-color ./
 cp ../examples/C/depth/rs-depth ./
 cp ../examples/C/distance/rs-distance ./

doc/android/native-lib.cpp_

@@ -8,7 +8,6 @@
 #include "librealsense/include/librealsense2/hpp/rs_pipeline.hpp"
 #include "librealsense/include/librealsense2/hpp/rs_internal.hpp"
 
-
 static rs2::context ctx;
 static std::atomic<bool> streaming(false);
 static std::thread frame_thread;
@@ -21,24 +20,27 @@ Java_com_example_realsense_1app_MainActivity_startStreaming(JNIEnv *env, jobject
             return;
 
         const char* nativeClassName = env->GetStringUTFChars(className, 0);
-        jclass handlerClass = env->FindClass(nativeClassName);
-        env->ReleaseStringUTFChars(className, nativeClassName);
-        if (handlerClass == NULL) {
+        jclass localClass = env->FindClass(nativeClassName);
+        if (localClass == NULL) {
             throw std::runtime_error("FindClass(...) failed!");
         }
 
+        jclass handlerClass = reinterpret_cast<jclass>(env->NewGlobalRef(localClass));
+        env->ReleaseStringUTFChars(className, nativeClassName);
+
         jmethodID onFrame = env->GetStaticMethodID(handlerClass, "onFrame",
                                                    "(Ljava/lang/Object;II)V");
         if (onFrame == NULL) {
+            env->DeleteGlobalRef(handlerClass);
             throw std::runtime_error("GetStaticMethodID(...) failed!");
         }
 
         auto list = ctx.query_devices();
         if (0 == list.size()) {
+            env->DeleteGlobalRef(handlerClass);
             throw std::runtime_error("No RealSense devices where found!");
         }
 
-
         JavaVM* vm;
         env->GetJavaVM(&vm);
         frame_thread = std::thread([vm, handlerClass, onFrame](){
@@ -76,6 +78,7 @@ Java_com_example_realsense_1app_MainActivity_startStreaming(JNIEnv *env, jobject
             {}
 
             env->DeleteLocalRef(arr);
+            env->DeleteGlobalRef(handlerClass);
             vm->DetachCurrentThread();
         });
     }
@@ -93,9 +96,9 @@ Java_com_example_realsense_1app_MainActivity_stopStreaming(JNIEnv *env, jobject
         if (!streaming)
             return;
 
-            streaming = false;
-            if (frame_thread.joinable())
-                frame_thread.join();
+        streaming = false;
+        if (frame_thread.joinable())
+            frame_thread.join();
 
     }
     catch (const std::exception& ex)

doc/distribution_linux.md

@@ -1,12 +1,16 @@
 # Linux Distribution
 
+#### Using pre-build packages
 **Intel® RealSense™ SDK 2.0** provides installation packages in [`dpkg`](https://en.wikipedia.org/wiki/Dpkg) format for Ubuntu 16/18 LTS.    
-\* The Realsense [DKMS](https://en.wikipedia.org/wiki/Dynamic_Kernel_Module_Support) kernel drivers package (`librealsense2-dkms`) supports Ubuntu LTS kernels 4.4, 4.10, 4.13 and 4.15\*.
+The Realsense [DKMS](https://en.wikipedia.org/wiki/Dynamic_Kernel_Module_Support) kernel drivers package (`librealsense2-dkms`) supports Ubuntu LTS kernels 4.4, 4.10, 4.13 and 4.15.  
 
-**Note** Kernel 4.16 introduced a major change to uvcvideo and media subsystem. While we work to add support v4.16 in future releases,  **librealsense** is verified to run correctly with kernels v4.4-v4.15; the affected users are requested to downgrade the kernel version.
+#### Configuring and building from the source code
+While we strongly recommend to use DKMS package whenever possible, there are certain cases where installing and patching the system manually is necessary:
+ - Using SDK with linux kernel **version 4.16+**
+ - Integration of user-specific patches/modules with `librealsense` SDK.
+ - Adjusting the patches for alternative kernels/distributions.
 
-
->To build the project from sources and prepare/patch the OS manually please follow steps described [here](./installation.md).
+The steps are described in [Linux manual installation guide](./installation.md)
 
 
 ## Installing the packages:

doc/installation.md

@@ -10,17 +10,23 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may
 **Important:** Running RealSense Depth Cameras on Linux requires patching and inserting modified kernel drivers. Some OEM/Vendors choose to lock the kernel for modifications. Unlocking this capability may requires to modify BIOS settings
 
   **Make Ubuntu Up-to-date:**  
-  1. Update Ubuntu distribution, including getting the latest stable kernel
+  * Update Ubuntu distribution, including getting the latest stable kernel:
     * `sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade`  <br />  
-  **Note:** On stock Ubuntu 14 LTS systems and Kernel prior to 4.4.0-04 the standard *apt-get upgrade* command is not sufficient to bring the distribution to the latest recommended baseline.  
-  On those systems the following should be used:   
-  `sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial `<br />    
 
+**Note:** On stock Ubuntu 14 LTS systems and Kernel prior to 4.4.0-04 the standard `apt-get upgrade` command is not sufficient to bring the distribution to the latest recommended baseline.  
+  It is recommended to upgrade the distribution with:   
+  * `sudo apt-get install --install-recommends linux-generic-lts-xenial xserver-xorg-core-lts-xenial xserver-xorg-lts-xenial xserver-xorg-video-all-lts-xenial xserver-xorg-input-all-lts-xenial libwayland-egl1-mesa-lts-xenial `<br />    
 
   * Update OS Boot and reboot to enforce the correct kernel selection with <br />`sudo update-grub && sudo reboot`<br />
 
   * Interrupt the boot process at Grub2 Boot Menu -> "Advanced Options for Ubuntu" and select the kernel version installed in the previous step. Press and hold SHIFT if the Boot menu is not presented.
-  * Complete the boot, login and verify that a supported kernel version (4.4.0-.., 4.8.0-.., 4.10.0-.. , 4.13.0-..or 4.15.0-.. as of May 2018) is in place with `uname -r`  
+  * Complete the boot, login and verify that a supported kernel version (4.**[4,8,10,13,15,16]**]) is in place with `uname -r`  
+
+
+  **Download/Clone librealsense github repository:**  
+    1. Navigate to *librealsense* root directory to run the following scripts.<br />
+       Unplug any connected Intel RealSense camera.<br />  
+
 
 
 **Prepare Linux Backend and the Dev. Environment:**  
@@ -40,10 +46,9 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may
      * Ubuntu 18:<br />
       `sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev`  <br /><br />
 
-    Cmake: *librealsense* requires version 3.8+ which is currently not made available via apt manager for Ubuntu LTS.   
+    Cmake: certain *librealsense* CMAKE flags (e.g. CUDA) require version 3.8+ which is currently not made available via apt manager for Ubuntu LTS.   
     Go to the [official CMake site](https://cmake.org/download/) to download and install the application  
 
-
      **Note** on graphic sub-system utilization:<br />
      *glfw3*, *mesa* and *gtk* packages are required if you plan to build the SDK's OpenGl-enabled examples. The *librealsense* core library and a range of demos/tools are designed for headless environment deployment.
 
@@ -53,12 +58,15 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may
     <br />
 
   4. Build and apply patched kernel modules for: <br />
-    * **Ubuntu 14/16/18 LTS**
+    * **Ubuntu 14/16/18 with LTS kernel**
       script will download, patch and build realsense-affected kernel modules (drivers).<br />
       Then it will attempt to insert the patched module instead of the active one. If failed
       the original uvc modules will be restored.  
 
       `./scripts/patch-realsense-ubuntu-lts.sh`<br />
+    * **Ubuntu with Kernel 4.16**
+
+      `./scripts/patch-ubuntu-kernel-4.16.sh`<br />  
     * **Intel® Joule™ with Ubuntu**
       Based on the custom kernel provided by Canonical Ltd.  
 

examples/align/rs-align.cpp

@@ -103,7 +103,7 @@ int main(int argc, char * argv[]) try
         pip_stream.y = altered_other_frame_rect.y + altered_other_frame_rect.h - pip_stream.h - (std::max(w, h) / 25);
 
         // Render depth (as picture in pipcture)
-        renderer.upload(c(aligned_depth_frame));
+        renderer.upload(c.process(aligned_depth_frame));
         renderer.show(pip_stream);
 
         // Using ImGui library to provide a slide controller to select the depth clipping distance

examples/capture/rs-capture.cpp

@@ -26,7 +26,7 @@ int main(int argc, char * argv[]) try
     {
         rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
 
-        rs2::frame depth = color_map(data.get_depth_frame()); // Find and colorize the depth data
+        rs2::frame depth = color_map.process(data.get_depth_frame()); // Find and colorize the depth data
         rs2::frame color = data.get_color_frame();            // Find the color data
 
         // For cameras that don't have RGB sensor, we'll render infrared frames instead of color
@@ -50,6 +50,3 @@ catch (const std::exception& e)
     std::cerr << e.what() << std::endl;
     return EXIT_FAILURE;
 }
-
-
-