IntelRealSense · maloel · Jan 4, 2023 · Jan 3, 2023 · Jan 3, 2023 · Jan 3, 2023
diff --git a/.github/workflows/buildsCI.yaml b/.github/workflows/buildsCI.yaml
@@ -53,7 +53,7 @@ jobs:
         cd ${{env.WIN_BUILD_DIR}}
         pwd
         ls        
-        cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=true
+        cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=true
 
     - name: Build
       # Build your program with the given configuration
@@ -97,7 +97,7 @@ jobs:
       run: |        
         LRS_SRC_DIR=$(pwd)   
         cd ${{env.WIN_BUILD_DIR}}
-        cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true 
+        cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true 
 
     - name: Build
       # Build your program with the given configuration
@@ -142,7 +142,7 @@ jobs:
       run: |   
         LRS_SRC_DIR=$(pwd)
         cd ${{env.WIN_BUILD_DIR}}
-        cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=false -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true -DFORCE_RSUSB_BACKEND=true -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5"
+        cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DCHECK_FOR_UPDATES=false -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true -DFORCE_RSUSB_BACKEND=true -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5"
 
     - name: Build
       # Build your program with the given configuration
@@ -178,7 +178,7 @@ jobs:
       shell: bash
       run: | 
         cd build
-        cmake .. -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=true -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
+        cmake .. -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=true -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
         cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4
 
     - name: Test
@@ -241,7 +241,7 @@ jobs:
       shell: bash
       run: |
         cd build
-        cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
+        cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
         cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4  
 
 
@@ -280,7 +280,7 @@ jobs:
       shell: bash
       run: | 
         cd build
-        cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=false -DFORCE_RSUSB_BACKEND=true -DBUILD_LEGACY_LIVE_TEST=true
+        cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DCHECK_FOR_UPDATES=false -DFORCE_RSUSB_BACKEND=true -DBUILD_LEGACY_LIVE_TEST=true
         cmake --build . --config $LRS_BUILD_CONFIG -- -j4
 
     - name: Test

diff --git a/CMake/android_config.cmake b/CMake/android_config.cmake
@@ -5,7 +5,6 @@ macro(os_set_flags)
     unset(WIN32)
     unset(UNIX)
     unset(APPLE)
-    set(BUILD_WITH_TM2 OFF)
     set(BUILD_UNIT_TESTS OFF)
     set(BUILD_LEGACY_LIVE_TEST OFF)
     set(BUILD_EXAMPLES OFF)

diff --git a/CMake/global_config.cmake b/CMake/global_config.cmake
@@ -116,12 +116,3 @@ macro(global_target_config)
 
 endmacro()
 
-macro(add_tm2)
-    message(STATUS "Building with TM2")
-    include(libusb_config)
-    target_link_libraries(${LRS_TARGET} PRIVATE usb)
-    if(USE_EXTERNAL_USB)
-        add_dependencies(${LRS_TARGET} libusb)
-    endif()
-    target_compile_definitions(${LRS_TARGET} PRIVATE WITH_TRACKING=1)
-endmacro()
diff --git a/CMake/lrs_options.cmake b/CMake/lrs_options.cmake
@@ -2,7 +2,6 @@ option(ENABLE_CCACHE "Build with ccache." ON)
 option(BUILD_WITH_CUDA "Enable CUDA" OFF)
 option(BUILD_GLSL_EXTENSIONS "Build GLSL extensions API" ON)
 option(BUILD_WITH_OPENMP "Use OpenMP" OFF)
-option(BUILD_WITH_TM2 "Build with support for Intel TM2 tracking device" ON)
 option(BUILD_EASYLOGGINGPP "Build EasyLogging++ as a part of the build" ON)
 option(BUILD_WITH_STATIC_CRT "Build with static link CRT" ON)
 option(HWM_OVER_XU "Send HWM commands over UVC XU control" ON)

diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
@@ -42,7 +42,6 @@ macro(os_set_flags)
 
     if(APPLE)
         set(FORCE_RSUSB_BACKEND ON)
-        set(BUILD_WITH_TM2 ON)
     endif()
 
     if(FORCE_RSUSB_BACKEND)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,12 +14,6 @@ if(${FORCE_LIBUVC} OR ${FORCE_WINUSB_UVC} OR ${ANDROID_USB_HOST_UVC})
     set(FORCE_RSUSB_BACKEND ON)
 endif()
 
-# Checking Internet connection, as TM2 needs to download the FW from amazon cloud
-if(BUILD_WITH_TM2 AND NOT INTERNET_CONNECTION)
-    message(WARNING "No internet connection, disabling BUILD_WITH_TM2")
-    set(BUILD_WITH_TM2 OFF)
-endif()
-
 # Checking Internet connection, as DEPTH CAM needs to download the FW from amazon cloud
 if(IMPORT_DEPTH_CAM_FW AND NOT INTERNET_CONNECTION)
     message(WARNING "No internet connection, disabling IMPORT_DEPTH_CAM_FW")
@@ -104,10 +98,6 @@ if(BUILD_NETWORK_DEVICE)
     add_subdirectory(src/compression)
 endif()
 
-if(BUILD_WITH_TM2)
-    add_tm2()
-endif()
-
 if(IMPORT_DEPTH_CAM_FW)
     add_subdirectory(common/fw)
 endif()

diff --git a/common/fw/CMakeLists.txt b/common/fw/CMakeLists.txt
@@ -13,26 +13,19 @@ set(REALSENSE_FIRMWARE_URL "https://librealsense.intel.com" CACHE STRING
 
 string(REGEX MATCH "D4XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver})
 set(D4XX_FW_VERSION ${CMAKE_MATCH_1})
-message(STATUS "D4XX_FW_VERSION: ${D4XX_FW_VERSION}")
+#message(STATUS "D4XX_FW_VERSION: ${D4XX_FW_VERSION}")
 set(D4XX_FW_SHA1 8dc3b8a0b9fdf03410c15b30e04f57701985064a)
 set(D4XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/RS4xx/FW")
 
-
 string(REGEX MATCH "SR3XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver})
 set(SR3XX_FW_VERSION ${CMAKE_MATCH_1})
-message(STATUS "SR3XX_FW_VERSION: ${SR3XX_FW_VERSION}")
+#message(STATUS "SR3XX_FW_VERSION: ${SR3XX_FW_VERSION}")
 set(SR3XX_FW_SHA1 55237dba5d7db20e7c218975375d05b4210e9460)
 set(SR3XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/SR300/FW")
 
-string(REGEX MATCH "T26X_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver})
-set(T26X_FW_VERSION ${CMAKE_MATCH_1})
-message(STATUS "T26X_FW_VERSION: ${T26X_FW_VERSION}")
-set(T26X_FW_SHA1 c3940ccbb0e3045603e4aceaa2d73427f96e24bc)
-set(T26X_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/TM2/FW/target/${T26X_FW_VERSION}")
-
 string(REGEX MATCH "L51X_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+\.[0-9]+\.[0-9]+\.[0-9]+)\"" _ ${ver})
 set(L51X_FW_VERSION ${CMAKE_MATCH_1})
-message(STATUS "L51X_FW_VERSION: ${L51X_FW_VERSION}")
+#message(STATUS "L51X_FW_VERSION: ${L51X_FW_VERSION}")
 set(L51X_FW_SHA1 ab73e5bfc520c0aa0340cada4b3e317b8fd31a4d)
 set(L51X_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/L5xx/FW")
 
@@ -58,15 +51,15 @@ set_target_properties (${PROJECT_NAME} PROPERTIES FOLDER Resources)
 
 function(target_binary url version sha1 symbol ext)
   set(binary "${CMAKE_CURRENT_BINARY_DIR}/${symbol}-${version}${ext}")
-  message(STATUS "${url}/${symbol}-${version}${ext}")
+  message(STATUS "... ${url}/${symbol}-${version}${ext}")
   file(DOWNLOAD "${url}/${symbol}-${version}${ext}" "${binary}"
        EXPECTED_HASH SHA1=${sha1}
        STATUS status)
   list(GET status 0 error_code)
   if (NOT ${error_code} EQUAL 0)
-    message(FATAL_ERROR "Download firmwnare (${status}) - ${url}")
+      message(FATAL_ERROR "FAILED with status ${status}")
   else()
-    message(STATUS "Download firmware ${status} for ${symbol}-${version}${ext}")
+      #message(STATUS "Download firmware ${status} for ${symbol}-${version}${ext}")
   endif()
   string(TOUPPER ${symbol} SYMBOL)
   string(REPLACE "." "," version_commas ${version})
@@ -86,12 +79,11 @@ endfunction()
 
 target_binary( "${D4XX_FW_URL}"  "${D4XX_FW_VERSION}"  "${D4XX_FW_SHA1}" D4XX_FW_Image .bin)
 target_binary( "${SR3XX_FW_URL}"  "${SR3XX_FW_VERSION}"  "${SR3XX_FW_SHA1}" SR3XX_FW_Image .bin)
-target_binary( "${T26X_FW_URL}"  "${T26X_FW_VERSION}"  "${T26X_FW_SHA1}" target .mvcmd)
 target_binary( "${L51X_FW_URL}"  "${L51X_FW_VERSION}"  "${L51X_FW_SHA1}" L51X_FW_Image .bin)
 
 
-
 install(TARGETS ${PROJECT_NAME} EXPORT realsense2Targets
         RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
+
diff --git a/common/fw/fw.rc b/common/fw/fw.rc
@@ -1,4 +1,4 @@
 #include "D4XX_FW_Image.rc"
 #include "SR3XX_FW_Image.rc"
 #include "L51X_FW_Image.rc"
-#include "target.rc"
+
diff --git a/common/model-views.cpp b/common/model-views.cpp
@@ -4112,7 +4112,7 @@ namespace rs2
                     fps = s.second.profile.fps();
             }
             auto curr_frame = p.get_position();
-            uint64_t step = fps ? uint64_t(1000.0 / (float)fps * 1e6) : 1e6;
+            uint64_t step = fps ? uint64_t(1000.0 / (float)fps * 1e6) : 1000000ULL;
             if (curr_frame >= step)
             {
                 p.seek(std::chrono::nanoseconds(curr_frame - step));
@@ -4215,7 +4215,7 @@ namespace rs2
                     fps = s.second.profile.fps();
             }
             auto curr_frame = p.get_position();
-            uint64_t step = fps ? uint64_t(1000.0 / (float)fps * 1e6) : 1e6;
+            uint64_t step = fps ? uint64_t(1000.0 / (float)fps * 1e6) : 1000000ULL;
             p.seek(std::chrono::nanoseconds(curr_frame + step));
         }
         if (ImGui::IsItemHovered())
@@ -5039,87 +5039,6 @@ namespace rs2
 
             bool something_to_show = false;
             ImGui::PushStyleColor(ImGuiCol_Text, dark_grey);
-            if (auto tm2_extensions = dev.as<rs2::tm2>())
-            {
-                something_to_show = true;
-                try
-                {
-                    if (!tm2_extensions.is_loopback_enabled() && ImGui::Selectable("Enable loopback...", false, is_streaming ? ImGuiSelectableFlags_Disabled : 0))
-                    {
-                        if (const char* ret = file_dialog_open(file_dialog_mode::open_file, "ROS-bag\0*.bag\0", NULL, NULL))
-                        {
-                            tm2_extensions.enable_loopback(ret);
-                        }
-                    }
-                    if (tm2_extensions.is_loopback_enabled() && ImGui::Selectable("Disable loopback...", false, is_streaming ? ImGuiSelectableFlags_Disabled : 0))
-                    {
-                        tm2_extensions.disable_loopback();
-                    }
-                    if (ImGui::IsItemHovered())
-                    {
-                        if (is_streaming)
-                            ImGui::SetTooltip("Stop streaming to use loopback functionality");
-                        else
-                            ImGui::SetTooltip("Enter the device to loopback mode (inject frames from file to FW)");
-                    }
-
-                    if (auto tm_sensor = dev.first<pose_sensor>())
-                    {
-                        if (ImGui::Selectable("Export Localization map"))
-                        {
-                            if (auto target_path = file_dialog_open(save_file, "Tracking device Localization map (RAW)\0*.map\0", NULL, NULL))
-                            {
-                                error_message = safe_call([&]()
-                                {
-                                    std::stringstream ss;
-                                    ss << "Exporting localization map to " << target_path << " ... ";
-                                    viewer.not_model->add_log(ss.str());
-                                    bin_file_from_bytes(target_path, tm_sensor.export_localization_map());
-                                    ss.clear();
-                                    ss << "completed";
-                                    viewer.not_model->add_log(ss.str());
-                                });
-                            }
-                        }
-
-                        if (ImGui::IsItemHovered())
-                        {
-                            ImGui::SetTooltip("Retrieve the localization map from device");
-                        }
-
-                        if (ImGui::Selectable("Import Localization map", false, is_streaming ? ImGuiSelectableFlags_Disabled : 0))
-                        {
-                            if (auto source_path = file_dialog_open(open_file, "Tracking device Localization map (RAW)\0*.map\0", NULL, NULL))
-                            {
-                                error_message = safe_call([&]()
-                                {
-                                    std::stringstream ss;
-                                    ss << "Importing localization map from " << source_path << " ... ";
-                                    tm_sensor.import_localization_map(bytes_from_bin_file(source_path));
-                                    ss << "completed";
-                                    viewer.not_model->add_log(ss.str());
-                                });
-                            }
-                        }
-
-                        if (ImGui::IsItemHovered())
-                        {
-                            if (is_streaming)
-                                ImGui::SetTooltip("Stop streaming to Import localization map");
-                            else
-                                ImGui::SetTooltip("Load localization map from host to device");
-                        }
-                    }
-                }
-                catch (const rs2::error& e)
-                {
-                    error_message = error_to_string(e);
-                }
-                catch (const std::exception& e)
-                {
-                    error_message = e.what();
-                }
-            }
 
             if (_allow_remove)
             {
@@ -7173,7 +7092,7 @@ namespace rs2
                 reset_trajectory();
 
             rs2_pose pose_data = const_cast<pose_frame&>(pose).get_pose_data();
-            auto t = tm2_pose_to_world_transformation(pose_data);
+            auto t = pose_to_world_transformation(pose_data);
             float model[4][4];
             t.to_column_major((float*)model);
 

diff --git a/common/rendering.h b/common/rendering.h
@@ -197,31 +197,31 @@ namespace rs2
         return { a * b.x, a * b.y };
     }
 
-    inline matrix4 tm2_pose_to_world_transformation(const rs2_pose& pose)
+    inline matrix4 pose_to_world_transformation(const rs2_pose& pose)
     {
         matrix4 rotation(pose.rotation);
         matrix4 translation(pose.translation);
-        matrix4 G_tm2_body_to_tm2_world = translation * rotation;
+        matrix4 G_body_to_world = translation * rotation;
         float rotate_180_y[4][4] = { { -1, 0, 0, 0 },
                                      { 0, 1, 0, 0 },
                                      { 0, 0,-1, 0 },
                                      { 0, 0, 0, 1 } };
-        matrix4 G_vr_body_to_tm2_body(rotate_180_y);
-        matrix4 G_vr_body_to_tm2_world = G_tm2_body_to_tm2_world * G_vr_body_to_tm2_body;
+        matrix4 G_vr_body_to_body(rotate_180_y);
+        matrix4 G_vr_body_to_world = G_body_to_world * G_vr_body_to_body;
 
         float rotate_90_x[4][4] = { { 1, 0, 0, 0 },
                                     { 0, 0,-1, 0 },
                                     { 0, 1, 0, 0 },
                                     { 0, 0, 0, 1 } };
-        matrix4 G_tm2_world_to_vr_world(rotate_90_x);
-        matrix4 G_vr_body_to_vr_world = G_tm2_world_to_vr_world * G_vr_body_to_tm2_world;
+        matrix4 G_world_to_vr_world(rotate_90_x);
+        matrix4 G_vr_body_to_vr_world = G_world_to_vr_world * G_vr_body_to_world;
 
         return G_vr_body_to_vr_world;
     }
 
-    inline rs2_pose correct_tm2_pose(const rs2_pose& pose)
+    inline rs2_pose correct_pose(const rs2_pose& pose)
     {
-        matrix4 G_vr_body_to_vr_world = tm2_pose_to_world_transformation(pose);
+        matrix4 G_vr_body_to_vr_world = pose_to_world_transformation(pose);
         rs2_pose res = pose;
         res.translation.x = G_vr_body_to_vr_world.mat[0][3];
         res.translation.y = G_vr_body_to_vr_world.mat[1][3];
@@ -949,7 +949,7 @@ namespace rs2
             draw_axes(0.3f, 2.f);
 
             // Drawing pose:
-            matrix4 pose_trans = tm2_pose_to_world_transformation(pose);
+            matrix4 pose_trans = pose_to_world_transformation(pose);
             float model[16];
             pose_trans.to_column_major(model);
 

diff --git a/common/viewer.cpp b/common/viewer.cpp
@@ -2087,7 +2087,7 @@ namespace rs2
                 pose = f;
                 rs2_pose pose_data = pose.get_pose_data();
 
-                auto t = tm2_pose_to_world_transformation(pose_data);
+                auto t = pose_to_world_transformation(pose_data);
                 float model[4][4];
                 t.to_column_major((float*)model);
                 auto m = model;