Merge branch 'master' into ds41t_merge_from_master

Conflicts:
	src/image.cpp

debian/TODO

@@ -0,0 +1,3 @@
+Prevent dkms from being installed or executed
+if the kernel is "new enough" to have all of the
+required patches for Intel RealSense cameras.

debian/dkms-pre-build.sh

@@ -0,0 +1,93 @@
+#!/bin/sh
+#
+# DKMS PRE_BUILD script
+# Script to be run before a build is performed.
+#
+# This script checks if the existing loadable kernel module
+# needs to be patched. Applies the correct patch if necessary.
+#
+
+set -e
+
+echo ""
+echo "dkms: Pre-build script started..."
+echo ""
+
+if [ ! -z ${1-x} ]
+then
+	kernelver="$1"
+else
+    echo "Missing kernelver, can not build"
+    exit 2
+fi
+
+PACKAGE_NAME="uvcvideo"
+PACKAGE_VERSION="1.1.1-1-realsense"
+
+PATCH_DIR="/usr/src/${PACKAGE_NAME}-${PACKAGE_VERSION}/patches/"
+PATCH="/dev/null"
+
+# Clean up old source link first
+if [ -L linux-src ]
+then
+    /bin/rm -rf $(readlink linux-src)
+    /bin/rm -rf linux-src
+fi
+
+echo "Downloading kernel sources..."
+# Get the linux kernel and change into source tree
+apt-get source linux-image-${kernelver} | egrep -v '^ ' || true
+workdir=$(pwd)
+cd linux-* 1>/dev/null 2>/dev/null || true
+currentdir=$(pwd)
+if [ ${workdir} = ${currentdir} ]
+then
+    echo ""
+    echo "ERROR: Could not download kernel sources."
+    echo "       Ensure the 'deb-src' entry for your kernel is uncommented"
+    echo "       in /etc/apt/sources.list or /etc/apt/sources.list.d/*"
+    echo "       then update APT before retrying this package:"
+    echo "           sudo apt-get update"
+    # See: http://askubuntu.com/questions/496549/error-you-must-put-some-source-uris-in-your-sources-list"
+    echo "       See: http://tinyurl.com/pxbtvh5"
+    echo ""
+    exit 86
+fi
+
+# Create a known path for the kernel sources
+/bin/ln -s $(basename $(pwd)) ../linux-src
+
+# Check for uvcvideo patches in drivers/media/usb/uvc/uvc_driver.c
+UVC_MODULE_PATH="drivers/media/usb/uvc"
+PATCHED_FORMATS=$(/bin/egrep '\((Y8I|Y12I|Z16|RW10|INVZ|INZI|INVR|INRI|INVI|RELI)\)' \
+    ${UVC_MODULE_PATH}/uvc_driver.c | /usr/bin/wc -l)
+case "${PATCHED_FORMATS}" in
+  10)
+    echo "INFO: Intel RealSense(TM) F200, R200, and SR300 cameras are already supported."
+  ;;
+  3)
+    PATCH="${PATCH_DIR}/realsense-uvcvideo-add-7-formats.patch"
+    echo "INFO: Only Intel RealSense(TM) R200 camera is currently supported."
+  ;;
+  *)
+    PATCH="${PATCH_DIR}/realsense-uvcvideo-add-10-formats.patch"
+    echo "INFO: No Intel RealSense(TM) cameras are currently supported."
+  ;;
+esac
+
+if [ ${PATCH} != "/dev/null" ]
+then
+    echo "Patching uvcvideo sources..."
+    # Apply the one, simple UVC format patch
+    patch -p1 < ${PATCH}
+fi
+
+# Copy configuration
+cp /usr/src/linux-headers-${kernelver}/.config .
+cp /usr/src/linux-headers-${kernelver}/Module.symvers .
+
+# Basic build so we can build just the uvcvideo module
+# Ensure 'olddefconfig' is first so default choices are selected
+make olddefconfig scripts modules_prepare
+
+exit 0

debian/dkms.conf

@@ -0,0 +1,12 @@
+PACKAGE_NAME="uvcvideo"
+PACKAGE_VERSION="1.1.1-1-realsense"
+MODULE_PATH="drivers/media/usb/uvc/"
+PRE_BUILD="dkms-pre-build.sh ${kernelver}"
+BUILT_MODULE_NAME[0]="$PACKAGE_NAME"
+BUILT_MODULE_LOCATION[0]="linux-src/${MODULE_PATH}"
+MAKE[0]="make -C ${dkms_tree}/${PACKAGE_NAME}/${PACKAGE_VERSION}/build/linux-src M=${MODULE_PATH}"
+CLEAN="make -C ${dkms_tree}/${PACKAGE_NAME}/${PACKAGE_VERSION}/build/linux-src M=${MODULE_PATH} clean"
+DEST_MODULE_LOCATION[0]="/kernel/${MODULE_PATH}"
+REMAKE_INITRD="yes"
+UDEV_TRIGGER="yes"
+AUTOINSTALL="yes"

debian/install

@@ -0,0 +1,4 @@
+debian/dkms.conf         /usr/src/uvcvideo-1.1.1-1-realsense
+debian/dkms-pre-build.sh /usr/src/uvcvideo-1.1.1-1-realsense
+debian/realsense-uvcvideo-add-7-formats.patch  /usr/src/uvcvideo-1.1.1-1-realsense/patches
+debian/realsense-uvcvideo-add-10-formats.patch /usr/src/uvcvideo-1.1.1-1-realsense/patches

debian/ros-indigo-librealsense.postinst → debian/postinst

@@ -1,5 +1,5 @@
 #!/bin/sh
-# postinst script for ros-indigo-librealsense
+# postinst script for ros librealsense package
 #
 # see: dh_installdeb(1)
 
@@ -48,8 +48,22 @@ case "$1" in
       fi
     fi
 
-    # Check for uvcvideo loadable kernel module patchs
-    UVC_MODULE="/lib/modules/$(uname -r)/kernel/drivers/media/usb/uvc/uvcvideo.ko"
+    IS_DKMS_INSTALLED=$(dkms status uvcvideo/1.1.1-1-realsense)
+    case "${IS_DKMS_INSTALLED}" in
+        *Installed*|*installed*)
+            echo "INFO: DKMS module already installed"
+            ;;
+        *Added*|*added*)
+            dkms build -m uvcvideo -v "1.1.1-1-realsense" && dkms install -m uvcvideo -v "1.1.1-1-realsense" || true
+            ;;
+        *)
+            dkms add -m uvcvideo -v "1.1.1-1-realsense"
+            dkms build -m uvcvideo -v "1.1.1-1-realsense" && dkms install -m uvcvideo -v "1.1.1-1-realsense" || true
+            ;;
+    esac
+
+    # Check for uvcvideo loadable kernel module patches in the running kernel
+    UVC_MODULE=$(modinfo -F filename uvcvideo)
     PATCHED_FORMATS=$(/usr/bin/strings ${UVC_MODULE} | \
       /bin/egrep '\((Y8I|Y12I|Z16|RW10|INVZ|INZI|INVR|INRI|INVI|RELI)\)' | \
       /usr/bin/wc -l)
@@ -63,7 +77,7 @@ case "$1" in
         echo "    to enable additional camera types."
       ;;
       *)
-        echo "WARNING: NO Intel RealSense(TM) cameras are supported!"
+        echo "WARNING: No Intel RealSense(TM) cameras are supported!"
         echo "    Visit https://github.com/IntelRealSense/librealsense/blob/master/doc/installation.md"
         echo "    to enable Intel RealSense (TM) camera types."
       ;;

debian/prerm

@@ -0,0 +1,44 @@
+#!/bin/sh
+# prerm script for ros librealsense package
+#
+# see: dh_installdeb(1)
+
+set -e
+
+# summary of how this script can be called:
+#        * <prerm> `remove`
+#        * <old-prerm> `upgradenew-version'
+#        * <conflictor's-prerm> `remove' in-favour package new-version
+#        * <deconfigured's-prerm> `deconfigure' in-favour package-being-installed version [removing conflicting-package version]
+#        * <new-prerm> `failed-upgrade' old-version
+# for details, see http://www.debian.org/doc/debian-policy/ or
+# the debian-policy package
+
+# source debconf library
+. /usr/share/debconf/confmodule
+
+case "$1" in
+
+  remove)
+    dkms remove -m uvcvideo -v "1.1.1-1-realsense" --all || true
+  ;;
+
+  upgrade|failed-upgrade|deconfigure)
+    exit 0
+  ;;
+
+  *)
+    echo "prerm called with unknown argument \`$1'" >&2
+    exit 1
+  ;;
+
+esac
+
+# dh_installdeb will replace this with shell code automatically
+# generated by other debhelper scripts.
+
+#DEBHELPER#
+
+db_stop
+
+exit 0

debian/realsense-uvcvideo-add-10-formats.patch

@@ -0,0 +1,130 @@
+diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c
+index 4b5b3e8fb7d3..1000aa17e896 100644
+--- a/drivers/media/usb/uvc/uvc_driver.c
++++ b/drivers/media/usb/uvc/uvc_driver.c
+@@ -147,6 +147,56 @@ static struct uvc_format_desc uvc_fmts[] = {
+ 		.guid		= UVC_GUID_FORMAT_H264,
+ 		.fcc		= V4L2_PIX_FMT_H264,
+ 	},
++	{
++		.name		= "Greyscale 8 L/R (Y8I)",
++		.guid		= UVC_GUID_FORMAT_Y8I,
++		.fcc		= V4L2_PIX_FMT_Y8I,
++	},
++	{
++		.name		= "Greyscale 12 L/R (Y12I)",
++		.guid		= UVC_GUID_FORMAT_Y12I,
++		.fcc		= V4L2_PIX_FMT_Y12I,
++	},
++	{
++		.name		= "Depth data 16-bit (Z16)",
++		.guid		= UVC_GUID_FORMAT_Z16,
++		.fcc		= V4L2_PIX_FMT_Z16,
++	},
++	{
++		.name		= "Raw data 10-bit (RW10)",
++		.guid		= UVC_GUID_FORMAT_RW10,
++		.fcc		= V4L2_PIX_FMT_RW10,
++	},
++	{
++		.name		= "Depth 16-bit (INVZ)",
++		.guid		= UVC_GUID_FORMAT_INVZ,
++		.fcc		= V4L2_PIX_FMT_INVZ,
++	},
++	{
++		.name		= "Depth:IR 16:8 24-bit (INZI)",
++		.guid		= UVC_GUID_FORMAT_INZI,
++		.fcc		= V4L2_PIX_FMT_INZI,
++	},
++	{
++		.name		= "Depth 16-bit (INVR)",
++		.guid		= UVC_GUID_FORMAT_INVR,
++		.fcc		= V4L2_PIX_FMT_INVR,
++	},
++	{
++		.name		= "Depth:IR 16:8 24-bit (INRI)",
++		.guid		= UVC_GUID_FORMAT_INRI,
++		.fcc		= V4L2_PIX_FMT_INRI,
++	},
++	{
++		.name		= "Infrared 8-bit (INVI)",
++		.guid		= UVC_GUID_FORMAT_INVI,
++		.fcc		= V4L2_PIX_FMT_INVI,
++	},
++	{
++		.name		= "FlickerIR 8-bit (RELI)",
++		.guid		= UVC_GUID_FORMAT_RELI,
++		.fcc		= V4L2_PIX_FMT_RELI,
++	},
+ };
+
+ /* ------------------------------------------------------------------------
+diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
+index 816dd1a0fd81..2a6576f96b75 100644
+--- a/drivers/media/usb/uvc/uvcvideo.h
++++ b/drivers/media/usb/uvc/uvcvideo.h
+@@ -119,12 +119,42 @@
+ #define UVC_GUID_FORMAT_H264 \
+ 	{ 'H',  '2',  '6',  '4', 0x00, 0x00, 0x10, 0x00, \
+ 	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++#define UVC_GUID_FORMAT_Y8I \
++	{ 'Y',  '8',  'I',  ' ', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++#define UVC_GUID_FORMAT_Y12I \
++	{ 'Y',  '1',  '2',  'I', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++#define UVC_GUID_FORMAT_Z16 \
++	{ 'Z',  '1',  '6',  ' ', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++#define UVC_GUID_FORMAT_RW10 \
++	{ 'R',  'W',  '1',  '0', 0x00, 0x00, 0x10, 0x00, \
++	 0x80, 0x00, 0x00, 0xaa, 0x00, 0x38, 0x9b, 0x71}
++#define UVC_GUID_FORMAT_INVZ \
++	{ 'I',  'N',  'V',  'Z', 0x90, 0x2d, 0x58, 0x4a, \
++	 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
++#define UVC_GUID_FORMAT_INZI \
++	{ 'I',  'N',  'Z',  'I', 0x66, 0x1a, 0x42, 0xa2, \
++	 0x90, 0x65, 0xd0, 0x18, 0x14, 0xa8, 0xef, 0x8a}
++#define UVC_GUID_FORMAT_INVR \
++	{ 'I',  'N',  'V',  'R', 0x90, 0x2d, 0x58, 0x4a, \
++	 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
++#define UVC_GUID_FORMAT_INRI \
++	{ 'I',  'N',  'R',  'I', 0x90, 0x2d, 0x58, 0x4a, \
++	 0x92, 0x0b, 0x77, 0x3f, 0x1f, 0x2c, 0x55, 0x6b}
++#define UVC_GUID_FORMAT_INVI \
++	{ 'I',  'N',  'V',  'I', 0xdb, 0x57, 0x49, 0x5e, \
++	 0x8e, 0x3f, 0xf4, 0x79, 0x53, 0x2b, 0x94, 0x6f}
++#define UVC_GUID_FORMAT_RELI \
++	{ 'R',  'E',  'L',  'I', 0x14, 0x13, 0x43, 0xf9, \
++	 0xa7, 0x5a, 0xee, 0x6b, 0xbf, 0x01, 0x2e, 0x23}
+
+ /* ------------------------------------------------------------------------
+  * Driver specific constants.
+  */
+
+-#define DRIVER_VERSION		"1.1.1"
++#define DRIVER_VERSION		"1.1.1-1-realsense"
+
+ /* Number of isochronous URBs. */
+ #define UVC_URBS		5
+diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h
+index 3228fbebcd63..155a7a5a7cec 100644
+--- a/include/uapi/linux/videodev2.h
++++ b/include/uapi/linux/videodev2.h
+@@ -606,6 +606,16 @@ struct v4l2_pix_format {
+ #define V4L2_PIX_FMT_JPGL	v4l2_fourcc('J', 'P', 'G', 'L') /* JPEG-Lite */
+ #define V4L2_PIX_FMT_SE401      v4l2_fourcc('S', '4', '0', '1') /* se401 janggu compressed rgb */
+ #define V4L2_PIX_FMT_S5C_UYVY_JPG v4l2_fourcc('S', '5', 'C', 'I') /* S5C73M3 interleaved UYVY/JPEG */
++#define V4L2_PIX_FMT_Y8I      v4l2_fourcc('Y', '8', 'I', ' ') /* Greyscale 8-bit L/R interleaved */
++#define V4L2_PIX_FMT_Y12I     v4l2_fourcc('Y', '1', '2', 'I') /* Greyscale 12-bit L/R interleaved */
++#define V4L2_PIX_FMT_Z16      v4l2_fourcc('Z', '1', '6', ' ') /* Depth data 16-bit */
++#define V4L2_PIX_FMT_RW10     v4l2_fourcc('R', 'W', '1', '0') /* Raw data 10-bit */
++#define V4L2_PIX_FMT_INVZ     v4l2_fourcc('I', 'N', 'V', 'Z') /* 16 Depth */
++#define V4L2_PIX_FMT_INZI     v4l2_fourcc('I', 'N', 'Z', 'I') /* 24 Depth/IR 16:8 */
++#define V4L2_PIX_FMT_INVR     v4l2_fourcc('I', 'N', 'V', 'R') /* 16 Depth */
++#define V4L2_PIX_FMT_INRI     v4l2_fourcc('I', 'N', 'R', 'I') /* 24 Depth/IR 16:8 */
++#define V4L2_PIX_FMT_INVI     v4l2_fourcc('I', 'N', 'V', 'I') /* 8 IR */
++#define V4L2_PIX_FMT_RELI     v4l2_fourcc('R', 'E', 'L', 'I') /* 8 IR alternating on off illumination */
+
+ /* SDR formats - used only for Software Defined Radio devices */
+ #define V4L2_SDR_FMT_CU8          v4l2_fourcc('C', 'U', '0', '8') /* IQ u8 */