working sdk

.gitignore

@@ -88,4 +88,4 @@ librealsense-log.txt
 *.ini
 *.cxx
 
-.vscode/*
+.vscode/*

CMake/libusb_config.cmake

@@ -1,14 +1,52 @@
 if (NOT TARGET usb)
-    find_library(LIBUSB_LIB usb-1.0)
-    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 AND NOT USE_EXTERNAL_USB)
+    # Check if local libusb exists first
+    set(LOCAL_LIBUSB_DIR "${CMAKE_SOURCE_DIR}/third-party/libusb")
+
+    if(EXISTS "${LOCAL_LIBUSB_DIR}/CMakeLists.txt")
+        # Use local libusb from third-party/libusb
+        message(STATUS "Using local libusb from third-party/libusb")
+
+        # Set platform flags for the local libusb build
+        if(APPLE)
+            set(OB_BUILD_MACOS ON CACHE BOOL "Build for macOS" FORCE)
+        elseif(WIN32)
+            set(OB_BUILD_WIN32 ON CACHE BOOL "Build for Windows" FORCE)
+        elseif(ANDROID)
+            set(OB_BUILD_ANDROID ON CACHE BOOL "Build for Android" FORCE)
+        else()
+            set(OB_BUILD_LINUX ON CACHE BOOL "Build for Linux" FORCE)
+        endif()
+
+        # Add libusb as subdirectory
+        add_subdirectory(${LOCAL_LIBUSB_DIR} ${CMAKE_BINARY_DIR}/third-party/libusb)
+
+        # Create interface target that wraps the local libusb_static
         add_library(usb INTERFACE)
-        target_include_directories(usb INTERFACE ${LIBUSB_INC})
-        target_link_libraries(usb INTERFACE ${LIBUSB_LIB})
+        target_link_libraries(usb INTERFACE libusb_static)
+
+        # Add libusb_static to the export set so it can be installed
+        install(TARGETS libusb_static EXPORT realsense2Targets
+            LIBRARY DESTINATION lib
+            ARCHIVE DESTINATION lib
+            RUNTIME DESTINATION bin
+        )
+
+        set(USE_LOCAL_USB ON)
+
     else()
-        include(CMake/external_libusb.cmake)
+        # Fallback to system or external libusb
+        find_library(LIBUSB_LIB usb-1.0)
+        find_path(LIBUSB_INC libusb.h HINTS PATH_SUFFIXES libusb-1.0)
+        include(FindPackageHandleStandardArgs)
+        find_package_handle_standard_args(usb "libusb not found; using external version" LIBUSB_LIB LIBUSB_INC)
+        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})
+        else()
+            include(CMake/external_libusb.cmake)
+        endif()
     endif()
+
     install(TARGETS usb EXPORT realsense2Targets)
 endif()

common/fw/CMakeLists.txt

@@ -14,7 +14,7 @@ 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: ${D4XX_FW_VERSION}")
-set(D4XX_FW_SHA1 190cddd478809a0994ad742ec55cafd913ca36af)
+set(D4XX_FW_SHA1 e7a67224fd0bd823df03dc7f1135a59db93746fd)
 set(D4XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/RS4xx/FW")
 
 add_library(${PROJECT_NAME} STATIC empty.c)

common/fw/firmware-version.h

@@ -3,5 +3,5 @@
 
 #pragma once
 
-#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.17.0.9"
+#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.17.0.10"
 

common/ux-window.cpp

@@ -242,6 +242,13 @@ namespace rs2
         if (!glfwInit())
             exit(1);
 
+        glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
+        glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
+        glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
+        #ifdef __APPLE__
+            glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE); // Required on macOS
+        #endif	
+
         glfwSetErrorCallback(glfw_error_callback);
 
         _hand_cursor = glfwCreateStandardCursor(GLFW_HAND_CURSOR);

include/librealsense2/rs.h

@@ -25,7 +25,7 @@ extern "C" {
 
 #define RS2_API_MAJOR_VERSION    2
 #define RS2_API_MINOR_VERSION    56
-#define RS2_API_PATCH_VERSION    4
+#define RS2_API_PATCH_VERSION    5
 #define RS2_API_BUILD_VERSION    0
 
 #ifndef STRINGIFY

package.xml

@@ -6,7 +6,7 @@
 <package format="2">
   <name>librealsense2</name>
   <!-- The version tag needs to be updated with each new release of librealsense -->
-  <version>2.56.4</version>
+  <version>2.56.5</version>
   <description>
   Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices.
   </description>

src/ds/d400/d400-factory.cpp

@@ -1128,7 +1128,7 @@ namespace librealsense
     class rs455_device  :      public d400_nonmonochrome,
                                public d400_active,
                                public d400_color,
-                               public d400_motion,
+                            //    public d400_motion,
                                public ds_advanced_mode_base,
                                public firmware_logger_device,
                                public ds_thermal_tracking
@@ -1141,15 +1141,15 @@ namespace librealsense
             , d400_nonmonochrome( dev_info )
             , d400_active( dev_info )
             , d400_color( dev_info )
-            , d400_motion( dev_info )
+            // , d400_motion( dev_info )
             , ds_advanced_mode_base( d400_device::_hw_monitor, get_depth_sensor() )
             , firmware_logger_device(
                   dev_info, d400_device::_hw_monitor, get_firmware_logs_command(), get_flash_logs_command() )
             , ds_thermal_tracking( d400_device::_thermal_monitor )
         {
-            if( _fw_version >= firmware_version( 5, 16, 0, 0 ) )
-                register_feature(
-                    std::make_shared< gyro_sensitivity_feature >( get_raw_motion_sensor(), get_motion_sensor() ) );
+            // if( _fw_version >= firmware_version( 5, 16, 0, 0 ) )
+            //     register_feature(
+            //         std::make_shared< gyro_sensitivity_feature >( get_raw_motion_sensor(), get_motion_sensor() ) );
         }
 
         std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
@@ -1169,9 +1169,9 @@ namespace librealsense
             tags.push_back({ RS2_STREAM_COLOR, -1, color_width, color_height, get_color_format(), fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
             tags.push_back({ RS2_STREAM_DEPTH, -1, depth_width, depth_height, RS2_FORMAT_Z16, fps, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
             tags.push_back({ RS2_STREAM_INFRARED, -1, depth_width, depth_height, get_ir_format(), fps, profile_tag::PROFILE_TAG_SUPERSET });
-            tags.push_back({RS2_STREAM_GYRO, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_200, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
-            tags.push_back({RS2_STREAM_ACCEL, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_63, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
-            tags.push_back({RS2_STREAM_ACCEL, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_100, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            // tags.push_back({RS2_STREAM_GYRO, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_200, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            // tags.push_back({RS2_STREAM_ACCEL, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_63, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            // tags.push_back({RS2_STREAM_ACCEL, -1, 0, 0, RS2_FORMAT_MOTION_XYZ32F, (int)odr::IMU_FPS_100, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
 
             return tags;
         }
@@ -1458,9 +1458,9 @@ namespace librealsense
     std::shared_ptr<matcher> rs455_device::create_matcher(const frame_holder& frame) const
     {
         std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get(), _color_stream.get() };
-        std::vector<stream_interface*> mm_streams = { _ds_motion_common->get_accel_stream().get(),
-                                                      _ds_motion_common->get_gyro_stream().get()};
-        streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
+        // std::vector<stream_interface*> mm_streams = { _ds_motion_common->get_accel_stream().get(),
+        //                                               _ds_motion_common->get_gyro_stream().get()};
+        // streams.insert(streams.end(), mm_streams.begin(), mm_streams.end());
         return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
     }
 }

third-party/libusb/AUTHORS

@@ -0,0 +1,202 @@
+Copyright © 2001 Johannes Erdfelt <[email protected]>
+Copyright © 2007-2009 Daniel Drake <[email protected]>
+Copyright © 2010-2012 Peter Stuge <[email protected]>
+Copyright © 2008-2016 Nathan Hjelm <[email protected]>
+Copyright © 2009-2013 Pete Batard <[email protected]>
+Copyright © 2009-2013 Ludovic Rousseau <[email protected]>
+Copyright © 2010-2012 Michael Plante <[email protected]>
+Copyright © 2011-2013 Hans de Goede <[email protected]>
+Copyright © 2012-2013 Martin Pieuchot <[email protected]>
+Copyright © 2012-2013 Toby Gray <[email protected]>
+Copyright © 2013-2018 Chris Dickens <[email protected]>
+
+Other contributors:
+Aaron Luft
+Adam Korcz
+Adrian Bunk
+Adrien Destugues
+Akshay Jaggi
+Alan Ott
+Alan Stern
+Aleksandr Mezin
+Alexander Pyhalov
+Alexander Schlarb
+Alexander Stein
+Alex Vatchenko
+Andrew Aldridge
+Andrew Fernandes
+Andrew Goodney
+Andy Chunyu
+Andy McFadden
+Angus Gratton
+Anil Nair
+Ankur Verma
+Anthony Clay
+Antonio Ospite
+Artem Egorkine
+Aurelien Jarno
+Axel Gembe
+Aymeric Vincent
+Baruch Siach
+Bastien Nocera
+Bei Zhang
+Bence Csokas
+Benjamin Berg
+Benjamin Dobell
+Bohdan Tymkiv
+Brent Rector
+Bruno Harbulot
+Carl Karsten
+Christophe Zeitouny
+Chris Zhu
+Chunyu Xie
+Colin Walters
+Craig Hutchinson
+Dave Camarillo
+David Engraf
+Davidlohr Bueso
+David Moore
+Dmitry Fleytman
+Dmitry Kostjuchenko
+Dmitry Zakablukov
+Doug Johnston
+Evan Hunter
+Evan Miller
+Fabrice Fontaine
+Federico Manzan
+Felipe Balbi
+Florian Albrechtskirchinger
+Francesco Montorsi
+Francisco Facioni
+Frank Li
+Frederik Carlier
+Freek Dijkstra
+Gaurav Gupta
+Graeme Gill
+Greg Kroah-Hartman
+Gustavo Zacarias
+Haidong Zheng
+Hans Ulrich Niedermann
+Harry Mallon
+Hector Martin
+Hoi-Ho Chan
+Ido Yariv
+Igor Anokhin
+Ihor Dutchak
+Ilya Konstantinov
+Jakub Klama
+James Hanko
+Jeffrey Nichols
+Jie Zhang
+Jim Chen
+Johann Richard
+John Keeping
+John Sheu
+Jonas Malaco
+Jonathon Jongsma
+Joost Muller
+Josh Gao
+Joshua Blake
+Joshua Hou
+Juan Cruz Viotti
+Julian Scheel
+Justin Bischoff
+Karsten Koenig
+Keith Ahluwalia
+Kenjiro Tsuji
+Kimura Masaru
+Konrad Rzepecki
+Kuangye Guo
+Lars Kanis
+Lars Wirzenius
+Lei Chen
+Léo Lam
+Liang Yunwang
+Luca Longinotti
+Luz Paz
+Mac Wang
+Marco Trevisan (Treviño)
+Marcus Meissner
+Mark Kuo
+Markus Heidelberg
+Martin Ettl
+Martin Koegler
+Martin Ling
+Martin Thierer
+Mathias Hjärtström
+Matthew Stapleton
+Matthias Bolte
+Michael Dickens
+Michel Zou
+Mike Frysinger
+Mikhail Gusarov
+Mikolaj Kucharski
+Morgan Leborgne
+Moritz Fischer
+Nancy Li
+Nia Alarie
+Nicholas Corgan
+Omri Iluz
+Orin Eman
+Ozkan Sezer
+Patrick Stewart
+Paul Cercueil
+Paul Fertser
+Paul Qureshi
+Pekka Nikander
+Philémon Favrod
+Pino Toscano
+Rob Walker
+Romain Vimont
+Roman Kalashnikov
+Ryan Hileman
+Ryan Schmidt
+Saleem Rashid
+Sameeh Jubran
+Sean McBride
+Sebastian Pipping
+Sebastian von Ohr
+Sergey Serb
+Shawn Hoffman
+Simon Haggett
+Simon Newton
+Slash Gordon
+Stefan Agner
+Stefan Tauner
+Steinar H. Gunderson
+Stephen Groat
+Theo Buehler
+Thomas Röfer
+Tim Hutt
+Tim Roberts
+Tobias Klauser
+Toby Peterson
+Tormod Volden
+Trygve Laugstøl
+Uri Lublin
+Uwe Bonnes
+Vasily Khoruzhick
+Vegard Storheil Eriksen
+Venkatesh Shukla
+Vianney le Clément de Saint-Marcq
+Victor Toso
+Vinicius Tinti
+Vitali Lovich
+Vladimir Beloborodov
+William Orr
+William Skellenger
+Xiaofan Chen
+Yegor Yefremov
+Zhiqiang Liu
+Zoltán Kovács
+Сергей Валерьевич
+Ларионов Даниил
+Роман Донченко
+jonner
+orbitcowboy
+osy
+parafin
+RipleyTom
+Seneral
+saur0n
+winterrace