Merge remote-tracking branch 'origin/development' into D4XX_MIPI

common/model-views.cpp

@@ -2014,24 +2014,28 @@ namespace rs2
     {
         // checking format
         bool is_cal_format = false;
-        for (auto it = stream_enabled.begin(); it != stream_enabled.end(); ++it)
+        // checking that the SKU is D405 - otherwise, this method should return false
+        if (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID) && !strcmp(dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID), "0B5B"))
         {
-            if (it->second)
+            for (auto it = stream_enabled.begin(); it != stream_enabled.end(); ++it)
             {
-                int selected_format_index = -1;
-                if (ui.selected_format_id.count(it->first) > 0)
-                    selected_format_index = ui.selected_format_id.at(it->first);
-
-                if (format_values.count(it->first) > 0 && selected_format_index > -1)
+                if (it->second)
                 {
-                    auto formats = format_values.at(it->first);
-                    if (formats.size() > selected_format_index)
+                    int selected_format_index = -1;
+                    if (ui.selected_format_id.count(it->first) > 0)
+                        selected_format_index = ui.selected_format_id.at(it->first);
+
+                    if (format_values.count(it->first) > 0 && selected_format_index > -1)
                     {
-                        auto format = formats[selected_format_index];
-                        if (format == RS2_FORMAT_Y16)
+                        auto formats = format_values.at(it->first);
+                        if (formats.size() > selected_format_index)
                         {
-                            is_cal_format = true;
-                            break;
+                            auto format = formats[selected_format_index];
+                            if (format == RS2_FORMAT_Y16)
+                            {
+                                is_cal_format = true;
+                                break;
+                            }
                         }
                     }
                 }
@@ -2489,7 +2493,7 @@ namespace rs2
         glPopAttrib();
     }
 
-    bool stream_model::is_stream_visible()
+    bool stream_model::is_stream_visible() const
     {
         if (dev &&
             (dev->is_paused() ||
@@ -3200,7 +3204,8 @@ namespace rs2
                 if (profile.as<rs2::video_stream_profile>())
                 {
                     stream_details.push_back({ "Hardware Size",
-                        to_string() << original_size.x << " x " << original_size.y, "" });
+                        to_string() << original_size.x << " x " << original_size.y,
+                        "Hardware size is the original frame resolution we got from the sensor, before applying post processing filters." });
 
                     stream_details.push_back({ "Display Size",
                         to_string() << size.x << " x " << size.y,
@@ -4379,7 +4384,17 @@ namespace rs2
         for (auto&& f : first)
         {
             auto first_uid = f.get_profile().unique_id();
-            if (auto second_f = second.first_or_default(f.get_profile().stream_type()))
+
+            frame second_f;
+            if (f.get_profile().stream_type() == RS2_STREAM_INFRARED)
+            {
+                second_f = second.get_infrared_frame( f.get_profile().stream_index() );
+            }
+            else
+            {
+                second_f = second.first_or_default( f.get_profile().stream_type() );
+            }
+            if ( second_f )
             {
                 auto second_uid = second_f.get_profile().unique_id();
 

common/model-views.h

@@ -750,7 +750,7 @@ namespace rs2
     public:
         stream_model();
         std::shared_ptr<texture_buffer> upload_frame(frame&& f);
-        bool is_stream_visible();
+        bool is_stream_visible() const;
         void update_ae_roi_rect(const rect& stream_rect, const mouse_info& mouse, std::string& error_message);
         void show_frame(const rect& stream_rect, const mouse_info& g, std::string& error_message);
         rect get_normalized_zoom(const rect& stream_rect, const mouse_info& g, bool is_middle_clicked, float zoom_val);

common/reflectivity/reflectivity.cpp

@@ -119,7 +119,7 @@ float reflectivity::get_reflectivity( float raw_noise_estimation,
 
     // STD based analysis
     // STD values are at the edges, hard to get data
-    if( standard_deviation >= 1.5f || standard_deviation <= 10.f )
+    if( standard_deviation >= 1.5f && standard_deviation <= 10.f )
     {
         if( standard_deviation > 2.5f )
             ref_from_std = 0.5f;  // Low confidence data due to low STD values

common/viewer.h

@@ -15,11 +15,11 @@ namespace rs2
 {
     struct popup
     {
-        const std::string header;
-        const std::string message;
-        std::function<void()> custom_command;
+        std::string header;
+        std::string message;
+        std::function< void() > custom_command;
 
-        bool operator =(const popup& p)
+        bool operator==( const popup & p ) const
         {
             return p.message == message;
         }

doc/installation.md

@@ -37,26 +37,25 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may
      Unplug any connected Intel RealSense camera.<br />  
 
   2. Install the core packages required to build *librealsense* binaries and the affected kernel modules:  
-
-    `sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev`  <br /><br />
-    Distribution-specific packages:  <br />
+ 
+     `sudo apt-get install git libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev`  <br /><br />
+     Distribution-specific packages:<br />
      * Ubuntu 14 or when running Ubuntu 16.04 live-disk:<br />
       `./scripts/install_glfw3.sh`  <br />
 
      * Ubuntu 16:<br />
-      `sudo apt-get install libglfw3-dev`<br />
+      `sudo apt-get install libglfw3-dev`  <br />
 
      * Ubuntu 18/20:<br />
       `sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at`  <br /><br />
 
 > **Cmake Note**: 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 />
+  **Note**: <br />
+  * 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.
-    * `libudev-dev` installation is optional but recommended, when the `libudev-dev` is installed the SDK will use an event-driven approach for triggering USB detection and enumeration, if not the SDK will use a timer polling approach which is less sensitive for device detection.
+  * `libudev-dev` installation is optional but recommended, when the `libudev-dev` is installed the SDK will use an event-driven approach for triggering USB detection and enumeration, if not the SDK will use a timer polling approach which is less sensitive for device detection.
 
   3. Run Intel Realsense permissions script from librealsense root directory:<br />
     `./scripts/setup_udev_rules.sh`  
@@ -65,12 +64,13 @@ The scripts and commands below invoke `wget, git, add-apt-repository` which may
     *`./scripts/setup_udev_rules.sh --uninstall`*
 
   4. Build and apply patched kernel modules for: <br />
-
-    * **Ubuntu 14/16/18/20 with LTS kernel**
+   * **Ubuntu 20/22 (focal/jammy) with LTS kernel 5.13, 5.15 **<br />
+      `./scripts/patch-realsense-ubuntu-lts-hwe.sh`<br />
+   * **Ubuntu 14/16/18/20 with LTS kernel**<br />
       `./scripts/patch-realsense-ubuntu-lts.sh`<br />
-    * **Ubuntu with Kernel 4.16**
+   * **Ubuntu with Kernel 4.16**<br />
       `./scripts/patch-ubuntu-kernel-4.16.sh`<br />  
-    * **Intel® Joule™ with Ubuntu**
+   * **Intel® Joule™ with Ubuntu**<br />
       Based on the custom kernel provided by Canonical Ltd.  
 
       `./scripts/patch-realsense-ubuntu-xenial-joule.sh`<br />

include/librealsense2/h/rs_sensor.h

@@ -89,6 +89,7 @@ typedef enum rs2_format
     RS2_FORMAT_Z16H            , /**< Variable-length Huffman-compressed 16-bit depth values. */
     RS2_FORMAT_FG              , /**< 16-bit per-pixel frame grabber format. */
     RS2_FORMAT_Y411            , /**< 12-bit per-pixel. */
+    RS2_FORMAT_Y16I            , /**< 12-bit per pixel interleaved. 12-bit left, 12-bit right. */
     RS2_FORMAT_COUNT             /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_format;
 const char* rs2_format_to_string(rs2_format format);

include/librealsense2/rs.h

@@ -24,7 +24,7 @@ extern "C" {
 #include "h/rs_sensor.h"
 
 #define RS2_API_MAJOR_VERSION    2
-#define RS2_API_MINOR_VERSION    52
+#define RS2_API_MINOR_VERSION    53
 #define RS2_API_PATCH_VERSION    0
 #define RS2_API_BUILD_VERSION    0
 

include/librealsense2/utilities/string/chrono.h

@@ -0,0 +1,59 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+// This is in lieu of the C++20 chrono_io.h
+
+// NOTE: make sure to include this file BEFORE any usage in another header
+// (e.g., Catch should be include after this! Without these definitions, Catch
+// output does not know how to stringify durations...)
+
+#pragma once
+
+#include <chrono>
+#include <string>
+#include <sstream>
+#include <ctime>
+
+
+inline std::string to_string( const std::time_t & time )
+{
+    std::ostringstream os;
+    os << time;
+    return os.str();
+}
+
+
+template< typename Clock, typename Duration = typename Clock::duration >
+std::string to_string( const std::chrono::time_point< Clock, Duration > & tp )
+{
+    auto in_time_t = std::chrono::system_clock::to_time_t( tp );
+    return to_string( in_time_t );
+}
+
+
+template< typename Rep, typename Period = std::ratio< 1 > >
+std::string to_string( const std::chrono::duration< Rep, Period > & duration )
+{
+    auto seconds_as_int = std::chrono::duration_cast< std::chrono::seconds >( duration );
+    if( seconds_as_int == duration )
+        return std::to_string( seconds_as_int.count() ) + "s";
+    auto seconds_as_double = std::chrono::duration_cast< std::chrono::duration< double > >( duration );
+    std::ostringstream os;
+    os << seconds_as_double.count();
+    os << 's';
+    return os.str();
+}
+
+
+template< typename Clock, typename Duration = typename Clock::duration >
+std::ostream & operator<<( std::ostream & o, const std::chrono::time_point< Clock, Duration > & tp )
+{
+    return o << to_string( tp );
+}
+
+
+template< typename Rep, typename Period = std::ratio< 1 > >
+std::ostream & operator<<( std::ostream & o, const std::chrono::duration< Rep, Period > & duration )
+{
+    return o << to_string( duration );
+}

package.xml

@@ -7,7 +7,7 @@
 <package format="2">
   <name>librealsense2</name>
   <!-- The version tag needs to be updated with each new release of librealsense -->
-  <version>2.52.0</version>
+  <version>2.53.0</version>
   <description>
   Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices.
   </description>

scripts/patch-realsense-ubuntu-L4T.sh

@@ -121,7 +121,7 @@ kernel_ver=`uname -r`
 sudo cp /usr/src/linux-headers-${kernel_ver}-ubuntu18.04_aarch64/kernel-4.9/Module.symvers .
 
 #Jetpack prior to 4.4.1 requires manual reconfiguration of kernel
-if [ "4.4" == PATCHES_REV ]; then
+if [ "4.4" = "$PATCHES_REV" ]; then
 	echo -e "\e[32mUpdate the kernel tree to support HID IMU sensors\e[0m"
 	sudo sed -i '/CONFIG_HID_SENSOR_ACCEL_3D/c\CONFIG_HID_SENSOR_ACCEL_3D=m' .config
 	sudo sed -i '/CONFIG_HID_SENSOR_GYRO_3D/c\CONFIG_HID_SENSOR_GYRO_3D=m' .config
@@ -134,7 +134,7 @@ sudo git reset --hard
 echo -e "\e[32mApply Librealsense Kernel Patches\e[0m"
 sudo -s patch -p1 < ./LRS_Patches/01-realsense-camera-formats-L4T-${PATCHES_REV}.patch
 sudo -s patch -p1 < ./LRS_Patches/02-realsense-metadata-L4T-${PATCHES_REV}.patch
-if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older
+if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 	sudo -s patch -p1 < ./LRS_Patches/03-realsense-hid-L4T-4.9.patch
 fi
 sudo -s patch -p1 < ./LRS_Patches/04-media-uvcvideo-mark-buffer-error-where-overflow.patch
@@ -146,7 +146,7 @@ sudo -s make -j$(($(nproc)-1)) ARCH=arm64 M=drivers/media/usb/uvc/ modules
 echo -e "\e[32mCompiling v4l2-core modules\e[0m"
 #sudo -s make -j -C $KBASE M=$KBASE/drivers/media/v4l2-core modules
 sudo -s make -j$(($(nproc)-1)) ARCH=arm64  M=drivers/media/v4l2-core modules
-if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older
+if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 	echo -e "\e[32mCompiling accelerometer and gyro modules\e[0m"
 	sudo -s make -j$(($(nproc)-1)) ARCH=arm64  M=drivers/iio modules
 fi
@@ -155,7 +155,7 @@ echo -e "\e[32mCopying the patched modules to (~/) \e[0m"
 sudo cp drivers/media/usb/uvc/uvcvideo.ko ~/${TEGRA_TAG}-uvcvideo.ko
 sudo cp drivers/media/v4l2-core/videobuf-vmalloc.ko ~/${TEGRA_TAG}-videobuf-vmalloc.ko
 sudo cp drivers/media/v4l2-core/videobuf-core.ko ~/${TEGRA_TAG}-videobuf-core.ko
-if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older
+if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 	sudo cp drivers/iio/common/hid-sensors/hid-sensor-iio-common.ko ~/${TEGRA_TAG}-hid-sensor-iio-common.ko
 	sudo cp drivers/iio/common/hid-sensors/hid-sensor-trigger.ko ~/${TEGRA_TAG}-hid-sensor-trigger.ko
 	sudo cp drivers/iio/accel/hid-sensor-accel-3d.ko ~/${TEGRA_TAG}-hid-sensor-accel-3d.ko
@@ -164,7 +164,7 @@ fi
 popd
 
 echo -e "\e[32mMove the modified modules into the modules tree\e[0m"
-if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older
+if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 #Optional - create kernel modules directories in kernel tree
 	sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/iio/accel
 	sudo mkdir -p /lib/modules/`uname -r`/kernel/drivers/iio/gyro
@@ -180,7 +180,7 @@ sudo depmod
 
 echo -e "\e[32mInsert the modified kernel modules\e[0m"
 try_module_insert uvcvideo              ~/${TEGRA_TAG}-uvcvideo.ko                /lib/modules/`uname -r`/kernel/drivers/media/usb/uvc/uvcvideo.ko
-if [ "4.4" == PATCHES_REV ]; then # for Jetpack 4.4 and older
+if [ "4.4" = "$PATCHES_REV" ]; then # for Jetpack 4.4 and older
 	try_module_insert hid_sensor_accel_3d   ~/${TEGRA_TAG}-hid-sensor-accel-3d.ko     /lib/modules/`uname -r`/kernel/drivers/iio/accel/hid-sensor-accel-3d.ko
 	try_module_insert hid_sensor_gyro_3d    ~/${TEGRA_TAG}-hid-sensor-gyro-3d.ko      /lib/modules/`uname -r`/kernel/drivers/iio/gyro/hid-sensor-gyro-3d.ko
 	#Preventively unload all HID-related modules