Initial commit

.gitattributes

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+# Auto detect text files and perform LF normalization
+* text=auto

.github/ISSUE_TEMPLATE.md

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+* Before opening a new issue, we wanted to provide you with some useful suggestions (Click "Preview" above for a better view):
+
+    * Consider checking out SDK [examples](https://github.com/IntelRealSense/librealsense/tree/master/examples#sample-code-for-intel-realsense-cameras).
+    * Have you looked in our [documentations](https://github.com/IntelRealSense/librealsense/tree/master/doc#useful-links)?
+    * Is you question a [frequently asked one](https://github.com/IntelRealSense/librealsense/wiki/Troubleshooting-Q%26A)?
+    * Try [searching our GitHub Issues](https://github.com/IntelRealSense/librealsense/issues?utf8=%E2%9C%93&q=is%3Aissue) (open and closed) for a similar issue.
+
+* All users are welcomed to report bugs, ask questions, suggest or request enhancements and generally feel free to open new issue, even if they haven't followed any of the suggestions above :)
+
+----------------------------------------------------------------------------------------------------
+
+| Required Info                         |                                                                |
+|---------------------------------|------------------------------------------- |
+| Camera Model                       | { R200 / F200 / SR300 / ZR300 / D400 } | 
+| Firmware Version                   | (Open RealSense Viewer --> Click info) | 
+| Operating System & Version |   {Win (8.1/10) / Linux (Ubuntu 14/16/17) / MacOS  | 
+| Kernel Version (Linux Only)    |  (e.g. 4.14.13)                                         | 
+| Platform                                 | PC/Raspberry Pi/ NVIDIA Jetson / etc..  |
+| SDK Version                            |  { legacy / 2.<?>.<?> }                          | 
+| Language                            |  {C/C#/labview/nodejs/opencv/pcl/python/unity }                          | 
+| Segment			|  {Robot/Smartphone/VR/AR/others }                          | 
+
+### Issue Description
+<Describe your issue / question / feature request / etc..>

.gitignore

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+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+/build/

.travis.yml

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+env:
+  global:
+    - LRS_BUILD_CONFIG=Debug
+    - LRS_RUN_CONFIG=Release
+matrix:
+  include:
+    - name: "Windows Testing - cpp, Win USB (Win7)"
+      os: windows
+      language: cpp
+      env: VS15=false RS_CPP_TEST=true
+      script:
+        # map librealsense folder to overcome windows path too long issue
+        - pwd
+        - |
+          subst d: ../. 
+        - cd d:/build
+        - cmake .. -G "Visual Studio 15 2017 Win64" -DPYTHON_EXECUTABLE="C:/Python38/python.exe" -DBUILD_PYTHON_BINDINGS=true -DPYBIND11_PYTHON_VERSION=3.8 -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false -DBUILD_WITH_TM2=false -DFORCE_RSUSB_BACKEND=true -DCHECK_FOR_UPDATES=true
+        - cmake --build . --config $LRS_RUN_CONFIG -- -m
+        - cd $LRS_RUN_CONFIG
+        - ls
+        - ./live-test.exe -d yes -i [software-device]
+        - unset LRS_LOG_LEVEL
+        - C:/Python38/python.exe ../../unit-tests/run-unit-tests.py --verbose .
+
+    - name: "Windows - cpp"
+      os: windows
+      language: cpp
+      env: VS15=true
+      script:
+        # map librealsense folder to overcome windows path too long issue
+        - pwd
+        - |
+          subst d: ../. 
+        - cd d:/build
+        - cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DCHECK_FOR_UPDATES=true
+        - cmake --build . --config $LRS_BUILD_CONFIG -- -m
+        - ls $LRS_BUILD_CONFIG
+
+    - name: "Windows - C#"
+      os: windows
+      language: cpp
+      env: VS15=true
+      script:
+        # map librealsense folder to overcome windows path too long issue
+        - pwd
+        - |
+          subst d: ../. 
+        - cd d:/build
+        - cmake .. -G "Visual Studio 14 2015 Win64" -DBUILD_EXAMPLES=false -DBUILD_CSHARP_BINDINGS=true -DDOTNET_VERSION_LIBRARY="4.5" -DDOTNET_VERSION_EXAMPLES="4.5" -DCHECK_FOR_UPDATES=true
+        - cmake --build . --config $LRS_BUILD_CONFIG -- -m
+        - ls $LRS_BUILD_CONFIG
+
+    - name: "Linux Testing - cpp"
+      os: linux
+      language: cpp
+      sudo: required
+      dist: xenial
+      env: RS_CPP_TEST=true
+      script:
+        - cmake .. -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=false -DBUILD_WITH_TM2=false -DCHECK_FOR_UPDATES=true
+        - cmake --build . --config $LRS_RUN_CONFIG -- -j$(($(nproc)-1))
+        - ./unit-tests/live-test -d yes -i [software-device]
+        - for i in ./records/single_cam/*; do ./unit-tests/live-test -d yes -i ~[multicam] from "$i"; done
+        - for i in ./records/multi_cam/*; do ./unit-tests/live-test -d yes -i [multicam] from "$i"; done
+
+    - name: "Linux - cpp - static"
+      os: linux
+      language: cpp
+      sudo: required
+      dist: xenial
+      script:
+        - cd ../scripts && ./pr_check.sh && cd ../build
+        - cmake .. -DBUILD_UNIT_TESTS=true -DBUILD_EXAMPLES=true -DBUILD_WITH_TM2=true -DBUILD_SHARED_LIBS=false -DCHECK_FOR_UPDATES=true -DBUILD_PYTHON_BINDINGS=true -DPYBIND11_PYTHON_VERSION=3.5
+        - cmake --build . --config $LRS_BUILD_CONFIG -- -j$(($(nproc)-1))
+        - python3 ../unit-tests/run-unit-tests.py --verbose .
+
+    - name: "Linux - python & nodejs"
+      os: linux
+      language: cpp
+      sudo: required
+      dist: xenial
+      python: "2.7"
+      node_js: "10"
+      env: LRS_BUILD_NODEJS=true
+      script:
+        - python ../wrappers/nodejs/tools/enums.py -i ../include/librealsense2 -a ../wrappers/nodejs/src -v
+        - cmake .. -DBUILD_PYTHON_BINDINGS=true -DBUILD_NODEJS_BINDINGS=true -DPYBIND11_PYTHON_VERSION=2.7 -DCHECK_FOR_UPDATES=true
+        - cmake --build . --config $LRS_BUILD_CONFIG -- -j$(($(nproc)-1))
+        - cd ../wrappers/nodejs/
+        - npm install
+        - cd test
+        - wget http://realsense-hw-public.s3.amazonaws.com/rs-tests/nodejs_records.rec
+
+    - name: "Mac - cpp"
+      os: osx
+      language: cpp
+      sudo: required
+      osx_image: xcode7
+      script:
+        - cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true
+        - cmake --build . --config $LRS_BUILD_CONFIG -- -j$(($(nproc)-1))
+        - ls
+
+    - name: "Android - cpp"
+      os: linux
+      language: cpp
+      sudo: required
+      dist: xenial
+      env: LRS_BUILD_ANDROID=true
+      script:
+        - cmake .. -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r20b/build/cmake/android.toolchain.cmake  -DCHECK_FOR_UPDATES=true
+        - cmake --build . --config $LRS_BUILD_CONFIG -- -j$(($(nproc)-1))
+        - ls
+
+before_install:
+  - cd scripts && ./api_check.sh && cd ..
+  - if [[ "$LRS_BUILD_NODEJS" == "true" ]]; then
+      nvm install 10.15.3;
+      nvm use 10.15.3;
+      npm install -g node-gyp;
+      npm install -g mocha;
+      git clone https://chromium.googlesource.com/chromium/tools/depot_tools.git;
+      export OLDPATH=$PATH && export PATH=$PATH:$(pwd)/depot_tools;
+      cd wrappers/nodejs/tools && npm install && cd ..;
+      node ./tools/linter.js;
+      export PATH=$OLDPATH && unset OLDPATH && cd ../../;
+    fi
+  - if [[ "$LRS_BUILD_ANDROID" == "true" ]]; then
+      wget https://dl.google.com/android/repository/android-ndk-r20b-linux-x86_64.zip;
+      unzip -q android-ndk-r20b-linux-x86_64.zip -d ./;
+    fi
+  - mkdir build && cd build
+  - if [[ "$RS_CPP_TEST" == "true" ]]; then
+      export LRS_LOG_LEVEL="DEBUG";
+      url_records_path="http://realsense-hw-public.s3.amazonaws.com/rs-tests/lrs_2.8.3/";
+      records_name="records_test.txt";
+      url_records_list=$url_records_path$records_name;
+      wget $url_records_path$records_name;
+      tests_list=`cat $records_name`;
+      for record in $tests_list; do echo $url_records_path$record; wget $url_records_path$record -P "records/"$(echo $record | cut -d '/' -f 1); done;
+    fi
+
+install:
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then
+      sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test;
+      sudo apt-get update;
+      sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev;
+      sudo apt-get install -qq libusb-1.0-0-dev;
+      sudo apt-get install -qq libgtk-3-dev;
+      sudo apt-get install gcc-5 g++-5;
+      sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5;
+      sudo apt-get install libglfw3-dev libglfw3;
+    fi
+
+  - if [[ "$TRAVIS_OS_NAME" == "windows" ]]; then
+      choco install -y python3 --version 3.8.1;
+      if [[ "$VS15" == "true" ]]; then
+        choco install -y vcbuildtools --version 2015.4 --force;
+      fi;
+    fi
+
+  - if [[ "$TRAVIS_OS_NAME" == "osx" ]]; then
+      brew uninstall xctool;
+      brew install xctool --HEAD;
+      brew install homebrew/core/glfw3;
+      brew list libusb || brew install libusb;
+    fi

CMake/android_config.cmake

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+message(STATUS "Setting Android configurations")
+message(STATUS "Prepare RealSense SDK for Android OS (${ANDROID_NDK_ABI_NAME})")
+
+macro(os_set_flags)
+    unset(WIN32)
+    unset(UNIX)
+    unset(APPLE)
+    set(BUILD_WITH_TM2 OFF)
+    set(BUILD_UNIT_TESTS OFF)
+    set(BUILD_EXAMPLES OFF)
+    set(BUILD_WITH_OPENMP OFF)    
+    set(BUILD_GRAPHICAL_EXAMPLES OFF)
+    set(ANDROID_STL "c++_static")
+    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -fPIC -pedantic -g -D_DEFAULT_SOURCE")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic -g -Wno-missing-field-initializers")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fPIE -pie")
+    set(HWM_OVER_XU ON)
+
+    if(FORCE_RSUSB_BACKEND)
+        set(BACKEND RS2_USE_ANDROID_BACKEND)
+        set(IMPORT_DEPTH_CAM_FW OFF)
+    else()
+        set(BACKEND RS2_USE_V4L2_BACKEND)
+    endif()
+endmacro()
+
+macro(os_target_config)
+    if(BUILD_SHARED_LIBS)
+        find_library(log-lib log)
+        target_link_libraries(${LRS_TARGET} PRIVATE log)
+    endif()
+endmacro()

CMake/connectivity_check.cmake

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+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+message(STATUS "Checking internet connection...")
+file(DOWNLOAD "http://realsense-hw-public.s3-eu-west-1.amazonaws.com/Releases/connectivity_check" "${CMAKE_CURRENT_SOURCE_DIR}/connectivity_check" SHOW_PROGRESS TIMEOUT 5 STATUS status)
+list (FIND status "\"No error\"" _index)
+if (${_index} EQUAL -1)
+    message(STATUS "Failed to identify Internet connection")
+    set(INTERNET_CONNECTION OFF)
+else()
+    message(STATUS "Internet connection identified")
+    set(INTERNET_CONNECTION ON)
+endif()

CMake/cuda_config.cmake

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+info("Building with CUDA requires CMake v3.8+")
+cmake_minimum_required(VERSION 3.8.0)
+project(librealsense2 LANGUAGES CXX C CUDA)
+
+find_package(CUDA REQUIRED)
+
+include_directories(${CUDA_INCLUDE_DIRS})
+SET(ALL_CUDA_LIBS ${CUDA_LIBRARIES} ${CUDA_cusparse_LIBRARY} ${CUDA_cublas_LIBRARY})
+SET(LIBS ${LIBS} ${ALL_CUDA_LIBS})
+
+message(STATUS "CUDA_LIBRARIES: ${CUDA_INCLUDE_DIRS} ${ALL_CUDA_LIBS}")
+
+set(CUDA_PROPAGATE_HOST_FLAGS OFF)
+set(CUDA_SEPARABLE_COMPILATION ON)
+set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -O3 -gencode arch=compute_53,code=sm_53 -gencode arch=compute_62,code=sm_62;")

CMake/embedd_udev_rules.cmake

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+file(READ "config/99-realsense-libusb.rules" contents HEX)
+
+set(UDEV_HEADER "${CMAKE_CURRENT_BINARY_DIR}/udev-rules.h")
+
+file(WRITE "${UDEV_HEADER}" "#ifndef __UDEV_RULES_H__\n")
+file(APPEND "${UDEV_HEADER}" "#define __UDEV_RULES_H__\n")
+file(APPEND "${UDEV_HEADER}" "#ifdef __cplusplus\n")
+file(APPEND "${UDEV_HEADER}" "extern \"C\" {\n")
+file(APPEND "${UDEV_HEADER}" "#endif\n")
+
+file(APPEND "${UDEV_HEADER}" "const char "
+  "realsense_udev_rules[] = {")
+
+string(LENGTH "${contents}" contents_length)
+math(EXPR contents_length "${contents_length} - 1")
+
+foreach(iter RANGE 0 ${contents_length} 2)
+  string(SUBSTRING ${contents} ${iter} 2 line)
+  file(APPEND "${UDEV_HEADER}" "0x${line},")
+endforeach()
+
+file(APPEND "${UDEV_HEADER}" "};\n")
+
+file(APPEND "${UDEV_HEADER}" "#ifdef __cplusplus\n")
+file(APPEND "${UDEV_HEADER}" "}\n")
+file(APPEND "${UDEV_HEADER}" "#endif\n")
+
+file(APPEND "${UDEV_HEADER}" "#endif//\n")

CMake/external_libcurl.cmake

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+if(CHECK_FOR_UPDATES)
+    include(ExternalProject)
+    message(STATUS "Building libcurl enabled")
+
+    set(CURL_FLAGS -DBUILD_CURL_EXE=OFF -DBUILD_SHARED_LIBS=OFF -DUSE_WIN32_LDAP=OFF -DHTTP_ONLY=ON -DCURL_ZLIB=OFF -DCURL_DISABLE_CRYPTO_AUTH=ON -DCMAKE_USE_OPENSSL=OFF -DCMAKE_USE_LIBSSH2=OFF -DBUILD_TESTING=OFF )
+    if (WIN32)
+        set(CURL_FLAGS ${CURL_FLAGS} -DCURL_STATIC_CRT=ON )
+    endif()
+
+    ExternalProject_Add(
+        libcurl
+        PREFIX libcurl
+        GIT_REPOSITORY "https://github.com/curl/curl.git"
+        GIT_TAG "53cdc2c963e33bc0cc1a51ad2df79396202e07f8" # curl-7_70_0
+        SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/libcurl
+        CMAKE_ARGS  -DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}
+                    -DCMAKE_C_FLAGS=${CMAKE_C_FLAGS}
+                    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+                    -DCMAKE_C_FLAGS_DEBUG=${CMAKE_C_FLAGS_DEBUG}
+                    -DCMAKE_C_FLAGS_MINSIZEREL=${CMAKE_C_FLAGS_MINSIZEREL}
+                    -DCMAKE_C_FLAGS_RELEASE=${CMAKE_C_FLAGS_RELEASE}
+                    -DCMAKE_C_FLAGS_RELWITHDEBINFO=${CMAKE_C_FLAGS_RELWITHDEBINFO}
+                    -DCMAKE_CXX_STANDARD_LIBRARIES=${CMAKE_CXX_STANDARD_LIBRARIES}
+                    -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install
+                    -DCMAKE_INSTALL_LIBDIR=lib
+                    -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+                    -DANDROID_ABI=${ANDROID_ABI}
+                    -DANDROID_STL=${ANDROID_STL} ${CURL_FLAGS}
+        UPDATE_COMMAND ""
+        PATCH_COMMAND ""
+        TEST_COMMAND ""
+    )
+
+    set(CURL_DEBUG_TARGET_NAME "libcurl-d")
+    set(CURL_RELEASE_TARGET_NAME "libcurl")
+    add_library(curl INTERFACE)
+    add_definitions(-DCURL_STATICLIB) # Mandatory for building libcurl as static lib
+
+    target_include_directories(curl INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/include>)
+
+    # libcurl require ws2_32.lib for windows only
+    if (WIN32)
+        target_link_libraries(curl INTERFACE ws2_32.lib)
+    endif()
+
+    target_link_libraries(curl INTERFACE debug ${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/lib/${CURL_DEBUG_TARGET_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})
+    target_link_libraries(curl INTERFACE optimized ${CMAKE_CURRENT_BINARY_DIR}/libcurl/libcurl_install/lib/${CURL_RELEASE_TARGET_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})
+
+endif() #CHECK_FOR_UPDATES