Merge remote-tracking branch 'public/master' into add_options

doc/installation_osx.md

@@ -1,12 +1,25 @@
-# Apple OSX Installation  
+# Mac OS Installation  
 
-**Note:** OSX backend is temporarily unavailable. For OSX support for R200, F200, SR300 please use the [the master branch](https://github.com/IntelRealSense/librealsense/tree/master)
+**Note:** OSX support for the full range of functionality offered by the SDK is not yet complete. If you need support for R200 or the SR300, [legacy librealsense](https://github.com/IntelRealSense/librealsense/tree/legacy) offers a subset of SDK functionality. 
 
-**Note:** Due to the USB 3.0 translation layer between native hardware and virtual machine, the librealsense team does not recommend or support installation in a VM.
+## Building from Source
 
 1. Install XCode 6.0+ via the AppStore
 2. Install the Homebrew package manager via terminal - [link](http://brew.sh/)
-3. Install pkg-config and libusb via brew:
+3. Install the following packages via brew:
   * `brew install libusb pkg-config`
-4. Install glfw3 via brew:
   * `brew install homebrew/versions/glfw3`
+  * `brew install cmake`
+4. Generate XCode project:
+  * `mkdir build && cd build`
+  * `cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -G Xcode`
+5. Open and build the XCode project
+
+## What works?
+* SR300, D415 and D435 will stream depth, infrared and color at all supported resolutions
+* The Viewer, Depth-Quality Tool and most of the examples should work
+
+## What are the known issues?
+* Camera options are not yet supported (WIP)
+* Playback and record functionality is not yet supported
+* Changing configurations will often result in a crash or the new configuration not being applied (WIP)

doc/readme.md

@@ -1,9 +1,13 @@
 ## Useful Links
 * [Intel RealSense Community](https://communities.intel.com/community/tech/realsense) - Official support, Q&A and other useful content
 * [Support Site](http://www.intel.com/content/www/us/en/support/emerging-technologies/intel-realsense-technology.html) - Contains content and web ticket capability for 1:1 interaction
-* [SDK Design Guidelines](http://www.mouser.com/pdfdocs/intel-realsense-sdk-design-r200.pdf) - Guidelines and tips for designing applications using RealSense cameras
-* [R200 Datasheet](http://www.mouser.com/pdfdocs/intel_realsense_camera_r200.pdf) - In-depth information about the R200 camera hardware.
 * [Intel RealSense Stereoscopic Depth Cameras](https://arxiv.org/abs/1705.05548) - A technical paper describing the R200, LR200, SR300 and RS400 in detail. Includes theoretical background, performance expectations, post-processing suggestions, etc.  
+* [Build an Autonomous Mobile Robot with the Intel® RealSense™ Camera, ROS*, and SAWR](https://software.intel.com/en-us/articles/build-an-autonomous-mobile-robot-with-the-intel-realsense-camera-ros-and-sawr)
+
+## librealsense Wiki
+* [API How-To](https://github.com/IntelRealSense/librealsense/wiki/API-How-To) - List ot questions and answers related to the camera API
+* [Troubleshooting Q&A](https://github.com/IntelRealSense/librealsense/wiki/Troubleshooting-Q&A) - List of questions and answers related to camera setup
+* [Build Configuration](https://github.com/IntelRealSense/librealsense/wiki/Build-Configuration) - List of supported CMake flags
 
 ## Documentation
 
@@ -13,11 +17,11 @@
   * `sudo apt-get install doxygen`
   * `doxygen doc/doxygen/doxyfile`
 * [Frame Management](frame_lifetime.md) - Frame Memory Management, Threading Model and Synchronization
-* [Frame Metadata](frame_metadata.md) - support for frame-metadata attributes
+* [Frame Metadata](frame_metadata.md) - Support for frame-metadata attributes
 * [Getting Started](stepbystep/getting_started_with_openCV.md) - Getting started with OpenCV
-* [Troubleshooting](troubleshooting.md) - Useful tips when debugging issues related to the camera
 * [Error Handling](error_handling.md) - Documents librealsense error handling policy
 * Device specific topics:
-  * [RS400 and External Devices](rs400/external_devices.md) - Notes on integrating RS400 with external devices
-  * [RS400 Advanced Mode](rs400/rs400_advanced_mode.md) - Overview of the Advanced Mode APIs
-* [Record and Playback](../src/media/readme.md) - SDK Record and Playback functionality using ROS-bag file format
+  * [D400 at software.intel.com](https://software.intel.com/en-us/realsense/d400) - Camera specifications
+  * [D400 and External Devices](rs400/external_devices.md) - Notes on integrating RS400 with external devices
+  * [D400 Advanced Mode](rs400/rs400_advanced_mode.md) - Overview of the Advanced Mode APIs
+* [Record and Playback](../src/media/readme.md) - SDK Record and Playback functionality using ROS-bag file format

readme.md

@@ -9,14 +9,14 @@ Linux | Windows |
 ## Overview
 **Intel® RealSense™ SDK 2.0** is a cross-platform library for Intel® RealSense™ depth cameras (D400 series and the SR300).
 
-> For other Intel® RealSense™ devices, please refer to the [latest legacy release](https://github.com/IntelRealSense/librealsense/tree/v1.12.1).
+> For other Intel® RealSense™ devices (F200, R200, LR200 and ZR300), please refer to the [latest legacy release](https://github.com/IntelRealSense/librealsense/tree/v1.12.1).
 
 The SDK allows depth and color streaming, and provides intrinsic and extrinsic calibration information.
 The library also offers synthetic streams (pointcloud, depth aligned to color and vise-versa), and a built-in support for [record and playback](./src/media/readme.md) of streaming sessions.
 
 The library aims to provide an easy to use API and tools for computer vision professionals, game developers and other **Intel® RealSense™** technology enthusiasts.
 
-Developer kits containing the necessary hardware to use this library are available for purchase at [realsense.intel.com/buy](realsense.intel.com/buy).
+Developer kits containing the necessary hardware to use this library are available for purchase at [realsense.intel.com/buy](https://realsense.intel.com/buy).
 
 > Don't have access to a RealSense camera? Check-out [sample data](./doc/sample-data.md)
 
@@ -35,7 +35,7 @@ Developer kits containing the necessary hardware to use this library are availab
    These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications.
 
 **[Wrappers](https://github.com/IntelRealSense/librealsense/tree/development/wrappers)**
-  We provide a C, C++, [Python](./wrappers/python) and [Node.js](./wrappers/nodejs) API. More to come , including LabView and Matlab.
+  We provide a C, C++, [Python](./wrappers/python), [Node.js](./wrappers/nodejs) API and [ROS](https://github.com/intel-ros/realsense/releases). More to come , including LabView and Matlab.
 
 
 ## Quick Start

src/concurrency.h

@@ -7,6 +7,7 @@
 #include <condition_variable>
 #include <thread>
 #include <atomic>
+#include <functional>
 
 const int QUEUE_MAX_SIZE = 10;
 // Simplest implementation of a blocking concurrent queue for thread messaging

unit-tests/readme.md

@@ -10,13 +10,27 @@ Make sure you have Intel® RealSense™ device connected.
 ## Testing just the Software
 
 If not all unit-tests are passing this can be related to faulty device or problems with the environment setup. 
-We support recording test flows at the backend level and running tests on top of mock hardware. This helps us distingwish between hardware problems and software issues. 
-You can record unit-test into file using:
-`live-test into filename`
-To run unit-tests without actual hardware, based on recorded data, run:
-`live-test from filename`
+We support recording test flows at the backend level and running tests on top of mock hardware. This helps us distinguish between hardware problems and software issues. 
+
+* You can record unit-test into file using:
+`./live-test into <filename>`
+
+* To run unit-tests without actual hardware, based on recorded data, run:
+`./live-test from <filename>`
+
 This mode of operation lets you test your code on a variety of simulated devices.  
 
+## Test Data
+
+If you would like to run and debug unit-tests locally on your machine but you don't have a RealSense device, we publish a set of *unit-test* recordings. These files capture expected execution of the test-suite over several types of hardware (D415, D435, SR300, etc..) 
+Please see [.travis.yml](https://github.com/IntelRealSense/librealsense/blob/master/.travis.yml#L80) and [appveyor.yml](https://github.com/IntelRealSense/librealsense/blob/master/appveyor.yml#L35) for the exact URLs. 
+
+> These recordings do not contain any imaging data and therefore can only be useful for unit-tests. If you would like to run your algorithms on top of captured data, please review our [playback and record](https://github.com/IntelRealSense/librealsense/tree/master/src/media) capabilities. 
+
+In addition to running the tests locally, it is very easy to replicate our continuous integration process for your fork of the project - just sign-in to [travis-ci](https://travis-ci.org/) and [AppVeyor](https://ci.appveyor.com/) and enable builds on your fork of `librealsense`. 
+
 ## Controlling Test Execution
 
-We are using [Catch](https://github.com/philsquared/Catch) as our test framework. 
+We are using [Catch](https://github.com/philsquared/Catch) as our test framework. 
+
+To see the list of passing tests (and not just the failures), add `-d yes` to test command line.