Merge pull request #1260 from IntelRealSense/master

Merge from master to dev

CONTRIBUTING.md

@@ -4,6 +4,11 @@ This project welcomes third-party code via GitHub pull requests.
 
 You are welcome to propose and discuss enhancements using project [issues](https://github.com/IntelRealSense/librealsense/issues).
 
+> **Branching Policy**:
+> The `master` branch is considered stable, at all times.
+> The `development` branch is the one where all contributions must be merged before being promoted to master.
+> If you plan to propose a patch, please commit into the `development` branch, or its own feature branch. 
+
 We recommend enabling [travis-ci](https://travis-ci.org/) and [AppVeyor](https://www.appveyor.com/) on your fork of `librealsense` to make sure the changes compile on all platforms and pass unit-tests.
 
 Please familirize yourself with the [Apache License 2.0](https://github.com/IntelRealSense/librealsense/blob/master/LICENSE) before contributing. 

doc/installation_osx.md

@@ -1,14 +1,14 @@
-# Mac OS Installation  
+# macOS Installation  
 
-**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:** macOS 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. 
 
 ## 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 the following packages via brew:
   * `brew install libusb pkg-config`
-  * `brew install homebrew/versions/glfw3`
+  * `brew install homebrew/core/glfw3`
   * `brew install cmake`
 4. Generate XCode project:
   * `mkdir build && cd build`

doc/readme.md

@@ -13,7 +13,7 @@
 ## Documentation
 
 * [API Architecture](api_arch.md) - Overview of the high-level concepts
-* [C API](../include/librealsense/rs.h) - With doxygen-style API comments
+* [C API](../include/librealsense2/rs.h) - With doxygen-style API comments
 * To build documentation locally from sources, on Ubuntu run the following commands:
   * `sudo apt-get install doxygen`
   * `doxygen doc/doxygen/doxyfile`
@@ -22,9 +22,9 @@
 * [Getting Started](stepbystep/getting_started_with_openCV.md) - Getting started with OpenCV
 * [Error Handling](error_handling.md) - Documents librealsense error handling policy
 * Device specific topics:
-  * [D400 at software.intel.com](https://software.intel.com/en-us/realsense/d400) - Camera specifications
+  * [D400 at realsense.intel.com/](https://realsense.intel.com/stereo) - 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
   * [D400 cameras with Raspberry Pi](./RaspberryPi3.md) - Example of low-end system without USB3 interface
-  * [D400 cameras on **rooted** Android device](./Android/Android.md) - Instructions of how to build the RealSense SDK for Android OS.
+  * [D400 cameras on **rooted** Android device](./android/Android.md) - Instructions of how to build the RealSense SDK for Android OS.
 * [Record and Playback](../src/media/readme.md) - SDK Record and Playback functionality using ROS-bag file format

examples/C/readme.md

@@ -6,3 +6,7 @@
 1. [Depth](./depth) - Streaming with depth and visualize the frames over the terminal window.
 2. [Color](./color) - Streaming with color and print the frame information.
 3. [Distance](./distance) - Streaming with depth and print the distance from the camera to the object in the center of the image.
+
+## Additional Community Contributions:
+
+1. [minimal_realsense2](https://github.com/SirDifferential/minimal_realsense2) - showcasing streaming and presets

include/librealsense2/h/rs_types.h

@@ -60,8 +60,8 @@ typedef struct rs2_intrinsics
     float         ppy;       /**< Vertical coordinate of the principal point of the image, as a pixel offset from the top edge */
     float         fx;        /**< Focal length of the image plane, as a multiple of pixel width */
     float         fy;        /**< Focal length of the image plane, as a multiple of pixel height */
-    rs2_distortion model;     /**< Distortion model of the image */
-    float         coeffs[5]; /**< Distortion coefficients */
+    rs2_distortion model;    /**< Distortion model of the image */
+    float         coeffs[5]; /**< Distortion coefficients, order: k1, k2, p1, p2, k3 */
 } rs2_intrinsics;
 
 /** \brief Motion device intrinsics: scale, bias, and variances */

readme.md

@@ -21,35 +21,26 @@ Information about the Intel® RealSense™ technology at [realsense.intel.com](h
 
 > :open_file_folder: Don't have access to a RealSense camera? Check-out [sample data](./doc/sample-data.md)
 
-## What’s included in the SDK:
-**[Tools for harnessing your depth camera’s capabilities](./tools)** Including:
-
-- **[Intel® RealSense™ Viewer](./tools/realsense-viewer)**
-   With this application, you can quickly access your Intel® RealSense™ Depth Camera to view the depth stream, visualize point clouds, record and playback streams, configure your camera settings and much more.
-
-- **[Depth Quality Tool](./tools/depth-quality)**
-   This application allows you to test the camera’s depth quality, including: standard deviation from plane fit, normalized RMS – the subpixel accuracy, distance accuracy and fill rate. You should be able to easily get and interpret several of the depth quality metrics and record and save the data for offline analysis.
-
- - **[Other Debug Tools](./tools/)** as can be seen in the tools directory
-
-**[Code Samples to Start Prototyping Quickly](./examples)**
-   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), [.NET](./wrappers/csharp), [Node.js](./wrappers/nodejs) API, as well as integration with the following 3rd-party technologies: [ROS](https://github.com/intel-ros/realsense/releases), [LabVIEW](./wrappers/labview), [OpenCV](./wrappers/opencv), [PCL](./wrappers/pcl), [Unity](./wrappers/unity), and more to come, including Unity and Matlab.
+## Download and Install
+* **Download** - The latest releases including the Intel RealSense SDK, Viewer and Depth Quality tools are available at: [**latest releases**](https://github.com/IntelRealSense/librealsense/releases). Please check the [**release notes**](https://github.com/IntelRealSense/librealsense/wiki/Release-Notes) for the supported platforms, new features and capabilities, known issues, how to upgrade the Firmware and more.
 
-> :rocket: Please get the latest release from [releases](https://github.com/IntelRealSense/librealsense/releases) and check the supported platforms, new features and capabilities, known issues, how to upgrade the Firmware and more.
-
-## Quick Start
-
-#### Step 1: Download and Install
-After installing the Intel RealSense SDK (on [Linux](./doc/distribution_linux.md) \ [Windows](./doc/distribution_windows.md) \ [Mac OS](doc/installation_osx.md)), and connecting the depth camera, you are ready to start writing your first application.
+* **Install** - You can also install or build from source the SDK (on [Linux](./doc/distribution_linux.md) \ [Windows](./doc/distribution_windows.md) \ [Mac OS](doc/installation_osx.md)), connect your D400 depth camera and you are ready to start writing your first application.
 
 > **Support & Issues**: If you need product support (e.g. ask a question about / are having problems with the device), please check the [FAQ & Troubleshooting](https://github.com/IntelRealSense/librealsense/wiki/Troubleshooting-Q%26A) section.
 > If not covered there, please search our [Closed GitHub Issues](https://github.com/IntelRealSense/librealsense/issues?utf8=%E2%9C%93&q=is%3Aclosed) page,  [Community](https://communities.intel.com/community/tech/realsense) and [Support](https://www.intel.com/content/www/us/en/support/emerging-technologies/intel-realsense-technology.html) sites.
 > If you still cannot find an answer to your question, please [open a new issue](https://github.com/IntelRealSense/librealsense/issues/new).
 
-#### Step 2: Ready to Hack!
+## What’s included in the SDK:
+| What | Description | Download link|
+| ------- | ------- | ------- |
+| **[Intel® RealSense™ Viewer](./tools/realsense-viewer)** | With this application, you can quickly access your Intel® RealSense™ Depth Camera to view the depth stream, visualize point clouds, record and playback streams, configure your camera settings, modify advanced controls, enable depth visualization and post processing  and much more. | [**Intel.RealSense.Viewer.exe**](https://github.com/IntelRealSense/librealsense/releases) |
+| **[Depth Quality Tool](./tools/depth-quality)** | This application allows you to test the camera’s depth quality, including: standard deviation from plane fit, normalized RMS – the subpixel accuracy, distance accuracy and fill rate. You should be able to easily get and interpret several of the depth quality metrics and record and save the data for offline analysis. |[**Depth.Quality.Tool.exe**](https://github.com/IntelRealSense/librealsense/releases) |
+| **[Other Debug Tools](./tools/)** | Device enumeration, FW logger, etc as can be seen at the tools directory | Included in [**Intel.RealSense.SDK.exe**](https://github.com/IntelRealSense/librealsense/releases)|
+| **[Code Samples to Start Prototyping Quickly](./examples)** |These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications. Check some of the [**C++ examples**](./examples) including capture, pointcloud and more and basic [**C examples**](./examples/C) | Included in [**Intel.RealSense.SDK.exe**](https://github.com/IntelRealSense/librealsense/releases) |
+| **[Wrappers](https://github.com/IntelRealSense/librealsense/tree/development/wrappers)** | [Python](./wrappers/python), [.NET](./wrappers/csharp), [Node.js](./wrappers/nodejs) API, as well as integration with the following 3rd-party technologies: [ROS](https://github.com/intel-ros/realsense/releases), [LabVIEW](./wrappers/labview), [OpenCV](./wrappers/opencv), [PCL](./wrappers/pcl), [Unity](./wrappers/unity), and more to come, including Matlab and OpenNI. | |
+
+
+## Ready to Hack!
 
 Our library offers a high level API for using Intel RealSense depth cameras (in addition to lower level ones).
 The following snippet shows how to start streaming frames and extracting the depth value of a pixel:

tools/depth-quality/readme.md

@@ -6,6 +6,7 @@
 
 This application allows you to test the camera’s depth quality, including: Z-Accuracy, Sub-Pixel and Z RMS errors (spatial noise) and Fill Rate.
 You should be able to easily get and interpret several of the depth quality metrics, or record and save the data for offline analysis.
+<br>Please refer to [RealSense DepthQualityTesting White Paper](https://www.intel.com/content/dam/support/us/en/documents/emerging-technologies/intel-realsense-technology/RealSense_DepthQualityTesting.pdf) for further information.
 
 ## Quick Start
 * Position the depth camera within a range of 0.3 - 2 meter from a flat non-reflective surface.