Merge branch 'development' into patch-1

humamamouri · Jan 21, 2020 · 970f260 · 970f260
2 parents 33ec0a3 + db6cd95
commit 970f260
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Showing 229 changed files with 14,026 additions and 20,903 deletions.
diff --git a/CMake/android_config.cmake b/CMake/android_config.cmake
@@ -15,10 +15,10 @@ macro(os_set_flags)
     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")
-
+    set(HWM_OVER_XU ON)
+
     if(FORCE_RSUSB_BACKEND)
         set(BACKEND RS2_USE_ANDROID_BACKEND)
-        set(HWM_OVER_XU ON)
         set(IMPORT_DEPTH_CAM_FW OFF)
     else()
         set(BACKEND RS2_USE_V4L2_BACKEND)

diff --git a/CMake/global_config.cmake b/CMake/global_config.cmake
@@ -90,11 +90,10 @@ endmacro()
 
 macro(add_tm2)
     message(STATUS "Building with TM2")
-    add_subdirectory(third-party/libtm)
     include(libusb_config)
+    target_link_libraries(${LRS_TARGET} PRIVATE usb)
     if(USE_EXTERNAL_USB)
-        add_dependencies(tm libusb)
+        add_dependencies(${LRS_TARGET} libusb)
     endif()
-    target_compile_definitions(${LRS_TARGET} PRIVATE WITH_TRACKING=1 BUILD_STATIC=1)
-    target_link_libraries(${LRS_TARGET} PRIVATE tm ${CMAKE_THREAD_LIBS_INIT})
+    target_compile_definitions(${LRS_TARGET} PRIVATE WITH_TRACKING=1)
 endmacro()
diff --git a/CMake/libusb_config.cmake b/CMake/libusb_config.cmake
@@ -3,7 +3,7 @@ if (NOT TARGET usb)
     find_path(LIBUSB_INC libusb.h HINTS PATH_SUFFIXES libusb-1.0)
     include(FindPackageHandleStandardArgs)
     find_package_handle_standard_args(usb "libusb not found; using internal version" LIBUSB_LIB LIBUSB_INC)
-    if (USB_FOUND)
+    if (USB_FOUND AND NOT USE_EXTERNAL_USB)
         add_library(usb INTERFACE)
         target_include_directories(usb INTERFACE ${LIBUSB_INC})
         target_link_libraries(usb INTERFACE ${LIBUSB_LIB})

diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
@@ -1,8 +1,9 @@
 message(STATUS "Setting Unix configurations")
 
 macro(os_set_flags)
-    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_DEFAULT_SOURCE")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
+    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -pedantic -g -D_DEFAULT_SOURCE")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic -g -Wno-missing-field-initializers")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat -Wformat-security")
 
     execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)

diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
@@ -2,7 +2,7 @@
 # Copyright(c) 2019 Intel Corporation. All Rights Reserved.
 
 set(COMMON_SRC
-	"${CMAKE_CURRENT_LIST_DIR}/rendering.h"
+        "${CMAKE_CURRENT_LIST_DIR}/rendering.h"
         "${CMAKE_CURRENT_LIST_DIR}/model-views.h"
         "${CMAKE_CURRENT_LIST_DIR}/model-views.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/notifications.h"
@@ -23,4 +23,5 @@ set(COMMON_SRC
         "${CMAKE_CURRENT_LIST_DIR}/fw-update-helper.cpp"
         "${CMAKE_CURRENT_LIST_DIR}/on-chip-calib.h"
         "${CMAKE_CURRENT_LIST_DIR}/on-chip-calib.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/decompress-huffman.h"
 )
diff --git a/common/decompress-huffman.h b/common/decompress-huffman.h
diff --git a/common/fw-update-helper.cpp b/common/fw-update-helper.cpp
@@ -68,23 +68,23 @@ namespace rs2
 
         std::map<int, std::vector<uint8_t>> rv;
 
-        if ("" != FW_D4XX_FW_IMAGE_VERSION && !allow_rc_firmware)
+        if (strlen(FW_D4XX_FW_IMAGE_VERSION) && !allow_rc_firmware)
         {
             int size = 0;
             auto hex = fw_get_D4XX_FW_Image(size);
             auto vec = std::vector<uint8_t>(hex, hex + size);
             rv[RS2_PRODUCT_LINE_D400] = vec;
         }
 
-        if ("" != FW_D4XX_RC_IMAGE_VERSION && allow_rc_firmware)
+        if (strlen(FW_D4XX_RC_IMAGE_VERSION) && allow_rc_firmware)
         {
             int size = 0;
             auto hex = fw_get_D4XX_RC_Image(size);
             auto vec = std::vector<uint8_t>(hex, hex + size);
             rv[RS2_PRODUCT_LINE_D400] = vec;
         }
 
-        if ("" != FW_SR3XX_FW_IMAGE_VERSION)
+        if (strlen(FW_SR3XX_FW_IMAGE_VERSION))
         {
             int size = 0;
             auto hex = fw_get_SR3XX_FW_Image(size);
@@ -550,4 +550,4 @@ namespace rs2
 
         pinned = true;
     }
-}
+}
diff --git a/common/fw/CMakeLists.txt b/common/fw/CMakeLists.txt
@@ -27,6 +27,12 @@ message(STATUS "SR3XX_FW_VERSION: ${SR3XX_FW_VERSION}")
 set(SR3XX_FW_SHA1 55237dba5d7db20e7c218975375d05b4210e9460)
 set(SR3XX_FW_URL "http://realsense-hw-public.s3-eu-west-1.amazonaws.com/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: ${T26X_FW_VERSION}")
+set(T26X_FW_SHA1 0785bd402f54f4f58d838c5fe1a7c422b2df5d2f)
+set(T26X_FW_URL "http://realsense-hw-public.s3.amazonaws.com/Releases/TM2/FW/target/${T26X_FW_VERSION}")
+
 add_library(${PROJECT_NAME} STATIC empty.c)
 
 if (MSVC)
@@ -42,6 +48,7 @@ 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}")
   file(DOWNLOAD "${url}/${symbol}-${version}${ext}" "${binary}"
        EXPECTED_HASH SHA1=${sha1}
        STATUS status)
@@ -70,6 +77,7 @@ endfunction()
 target_binary( "${D4XX_FW_URL}"  "${D4XX_FW_VERSION}"  "${D4XX_FW_SHA1}" D4XX_FW_Image .bin)
 target_binary( "${D4XX_RC_URL}"  "${D4XX_RC_VERSION}"  "${D4XX_RC_SHA1}" D4XX_RC_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)
 
 install(TARGETS ${PROJECT_NAME} EXPORT realsense2Targets
         RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}

diff --git a/common/fw/firmware-version.h b/common/fw/firmware-version.h
@@ -5,4 +5,5 @@
 
 #define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.12.1.0"
 #define SR3XX_RECOMMENDED_FIRMWARE_VERSION "3.26.1.0"
-#define D4XX_RC_FIRMWARE_VERSION "5.12.1.0"
+#define D4XX_RC_FIRMWARE_VERSION "5.12.1.0"
+#define T26X_FIRMWARE_VERSION "0.2.0.908"
diff --git a/common/fw/uvc_fw.rc b/common/fw/uvc_fw.rc
@@ -1,3 +1,4 @@
 #include "D4XX_FW_Image.rc"
 #include "D4XX_RC_Image.rc"
 #include "SR3XX_FW_Image.rc"
+#include "target.rc"
diff --git a/common/model-views.cpp b/common/model-views.cpp
@@ -895,6 +895,7 @@ namespace rs2
         streaming(false), _pause(false),
         depth_colorizer(std::make_shared<rs2::gl::colorizer>()),
         yuy2rgb(std::make_shared<rs2::gl::yuy_decoder>()),
+        depth_decoder(std::make_shared<rs2::depth_huffman_decoder>()),
         viewer(viewer)
     {
         restore_processing_block("colorizer", depth_colorizer);
@@ -953,8 +954,8 @@ namespace rs2
                 this, shared_filter->get_info(RS2_CAMERA_INFO_NAME), shared_filter,
                 [=](rs2::frame f) { return shared_filter->process(f); }, error_message);
 
-            //if (shared_filter->is<disparity_transform>())
-               // model->visible = false;
+            if (shared_filter->is<depth_huffman_decoder>())
+                model->visible = false;
 
             if (is_zo)
             {
@@ -2044,6 +2045,7 @@ namespace rs2
         profile = p;
         texture->colorize = d->depth_colorizer;
         texture->yuy2rgb = d->yuy2rgb;
+        texture->depth_decode = d->depth_decoder;
 
         if (auto vd = p.as<video_stream_profile>())
         {
@@ -3546,8 +3548,13 @@ namespace rs2
         {
             if(auto depth = viewer.get_3d_depth_source(filtered))
             {
-                if (depth.get_profile().format() == RS2_FORMAT_DISPARITY32)
-                    depth = disp_to_depth.process(depth);
+                switch (depth.get_profile().format())
+                {
+                    case RS2_FORMAT_DISPARITY32: depth = disp_to_depth.process(depth); break;
+                    case RS2_FORMAT_Z16H: depth = depth_decoder.process(depth); break;
+                    default: break;
+                }
+
                 res.push_back(pc->calculate(depth));
             }
             if(auto texture = viewer.get_3d_texture_source(filtered))
@@ -3986,69 +3993,6 @@ namespace rs2
 
     }
 
-    void device_model::draw_controllers_panel(ImFont* font, bool is_device_streaming)
-    {
-        if (!is_device_streaming)
-        {
-            controllers.clear();
-            available_controllers.clear();
-            return;
-        }
-
-        if (controllers.size() > 0 || available_controllers.size() > 0)
-        {
-            int flags = dev.is<playback>() ? ImGuiButtonFlags_Disabled : 0;
-            ImGui::PushStyleColor(ImGuiCol_Button, sensor_bg);
-            ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
-            ImGui::PushStyleColor(ImGuiCol_PopupBg, almost_white_bg);
-            ImGui::PushStyleColor(ImGuiCol_HeaderHovered, from_rgba(0, 0xae, 0xff, 255));
-            ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
-            ImGui::PushFont(font);
-            ImGui::PushStyleVar(ImGuiStyleVar_ItemSpacing, { 10,0 });
-            const float button_dim = 30.f;
-            for (auto&& c : available_controllers)
-            {
-                ImGui::PushStyleColor(ImGuiCol_Text, white);
-                ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, white);
-                std::string action = "Attach controller";
-                std::string mac = to_string() << (int)c[0] << ":" << (int)c[1] << ":" << (int)c[2] << ":" << (int)c[3] << ":" << (int)c[4] << ":" << (int)c[5];
-                std::string label = to_string() << u8"\uf11b" << "##" << action << mac;
-                if (ImGui::ButtonEx(label.c_str(), { button_dim , button_dim }, flags))
-                {
-                    dev.as<tm2>().connect_controller(c);
-                }
-                if (ImGui::IsItemHovered())
-                {
-                    ImGui::SetTooltip("%s", action.c_str());
-                }
-                ImGui::SameLine();
-                ImGui::Text("%s", mac.c_str());
-                ImGui::PopStyleColor(2);
-            }
-            for (auto&& c : controllers)
-            {
-                ImGui::PushStyleColor(ImGuiCol_Text, light_blue);
-                ImGui::PushStyleColor(ImGuiCol_TextSelectedBg, light_blue);
-                std::string action = "Detach controller";
-                std::string label = to_string() << u8"\uf11b" << "##" << action << c.first;
-                if (ImGui::ButtonEx(label.c_str(), { button_dim , button_dim }, flags))
-                {
-                    dev.as<tm2>().disconnect_controller(c.first);
-                }
-                if (ImGui::IsItemHovered())
-                {
-                    ImGui::SetTooltip("%s", action.c_str());
-                }
-                ImGui::SameLine();
-                ImGui::Text("Controller #%d (connected)", c.first);
-                ImGui::PopStyleColor(2);
-            }
-            ImGui::PopStyleVar();
-            ImGui::PopFont();
-            ImGui::PopStyleColor(5);
-        }
-    }
-
     std::vector<std::string> get_device_info(const device& dev, bool include_location)
     {
         std::vector<std::string> res;
@@ -4470,7 +4414,7 @@ namespace rs2
 
                     if (auto tm_sensor = dev.first<pose_sensor>())
                     {
-                        if (ImGui::Selectable("Export Localization map", false, is_streaming ? ImGuiSelectableFlags_Disabled : 0))
+                        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))
                             {
@@ -4489,10 +4433,7 @@ namespace rs2
 
                         if (ImGui::IsItemHovered())
                         {
-                            if (is_streaming)
-                                ImGui::SetTooltip("Stop streaming to Export localization map");
-                            else
-                                ImGui::SetTooltip("Retrieve the localization map from device");
+                            ImGui::SetTooltip("Retrieve the localization map from device");
                         }
 
                         if (ImGui::Selectable("Import Localization map", false, is_streaming ? ImGuiSelectableFlags_Disabled : 0))
@@ -5459,7 +5400,6 @@ namespace rs2
         {
             return sm->streaming;
         });
-        draw_controllers_panel(window.get_font(), is_streaming);
 
         pos = ImGui::GetCursorPos();
 
@@ -5983,28 +5923,6 @@ namespace rs2
     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);
-        if (event_type == "Controller Event")
-        {
-            std::string subtype = get_subtype(serialized_data);
-            if (subtype == "Connection")
-            {
-                std::array<uint8_t, 6> mac_addr = get_mac(serialized_data);
-                int id = get_id(serialized_data);
-                controllers[id] = mac_addr;
-                available_controllers.erase(mac_addr);
-            }
-            else if (subtype == "Discovery")
-            {
-                std::array<uint8_t, 6> mac_addr = get_mac(serialized_data);
-                available_controllers.insert(mac_addr);
-            }
-            else if (subtype == "Disconnection")
-            {
-                int id = get_id(serialized_data);
-                controllers.erase(id);
-            }
-        }
     }
 
     device_changes::device_changes(rs2::context& ctx)
@@ -6032,15 +5950,6 @@ namespace rs2
         _changes.pop();
         return true;
     }
-    void tm2_model::draw_controller_pose_object()
-    {
-        const float sphere_radius = 0.02f;
-        const float controller_height = 0.2f;
-        //TODO: Draw controller holder as cylinder
-        texture_buffer::draw_circle(1, 0, 0, 0, 1, 0, sphere_radius, { 0.0, controller_height + sphere_radius, 0.0 }, 1.0f);
-        texture_buffer::draw_circle(0, 1, 0, 0, 0, 1, sphere_radius, { 0.0, controller_height + sphere_radius, 0.0 }, 1.0f);
-        texture_buffer::draw_circle(1, 0, 0, 0, 0, 1, sphere_radius, { 0.0, controller_height + sphere_radius, 0.0 }, 1.0f);
-    }
 
     // Aggregate the trajectory path
     void tm2_model::update_model_trajectory(const pose_frame& pose, bool track)

diff --git a/common/model-views.h b/common/model-views.h
@@ -532,7 +532,6 @@ namespace rs2
         tm2_model() : _trajectory_tracking(true)
         {   
         }
-        void draw_controller_pose_object();
         void draw_trajectory(bool is_trajectory_button_pressed);
         void update_model_trajectory(const pose_frame& pose, bool track);
         void record_trajectory(bool on) { _trajectory_tracking = on; };
@@ -712,6 +711,7 @@ namespace rs2
         std::shared_ptr<rs2::colorizer> depth_colorizer;
         std::shared_ptr<rs2::yuy_decoder> yuy2rgb;
         std::shared_ptr<processing_block_model> zero_order_artifact_fix;
+        std::shared_ptr<rs2::depth_huffman_decoder> depth_decoder;
 
         std::vector<std::shared_ptr<processing_block_model>> post_processing;
         bool post_processing_enabled = true;
@@ -830,8 +830,6 @@ namespace rs2
         bool allow_remove = true;
         bool show_depth_only = false;
         bool show_stream_selection = true;
-        std::map<int, std::array<uint8_t, 6>> controllers;
-        std::set<std::array<uint8_t, 6>> available_controllers;
         std::vector<std::pair<std::string, std::string>> infos;
         std::vector<std::string> restarting_device_info;
         std::set<std::string> advanced_mode_settings_file_names;
@@ -845,7 +843,6 @@ namespace rs2
         int draw_playback_controls(ux_window& window, ImFont* font, viewer_model& view);
         advanced_mode_control amc;
         std::string pretty_time(std::chrono::nanoseconds duration);
-        void draw_controllers_panel(ImFont* font, bool is_device_streaming);
         float draw_device_panel(float panel_width,
                                 ux_window& window,
                                 std::string& error_message,
@@ -957,6 +954,7 @@ namespace rs2
         rs2::frameset model;
         std::shared_ptr<processing_block_model> pc_gen;
         rs2::disparity_transform disp_to_depth;
+        rs2::depth_huffman_decoder depth_decoder;
 
         /* Post processing filter rendering */
         std::atomic<bool> render_thread_active; // True when render post processing filter rendering thread is active, False otherwise