Define metadata constructs for kernels prior to 4.16

Handle d4xx metadata activation
Remove debug messages

Change-Id: I415fab80f46c761603a84a63e4a1675c843830b9

examples/capture/rs-capture.cpp

@@ -8,7 +8,7 @@
 // capture depth and color video streams and render them to the screen
 int main(int argc, char * argv[]) try
 {
-    rs2::log_to_console(RS2_LOG_SEVERITY_INFO);
+    rs2::log_to_console(RS2_LOG_SEVERITY_ERROR);
     // Create a simple OpenGL window for rendering:
     window app(1280, 720, "RealSense Capture Example");
     // Declare two textures on the GPU, one for color and one for depth
@@ -19,23 +19,23 @@ int main(int argc, char * argv[]) try
 
     // Declare RealSense pipeline, encapsulating the actual device and sensors
     rs2::pipeline pipe;
-
-    rs2::config cfg;
-
-    cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);
     // Start streaming with default recommended configuration
-    pipe.start(cfg);
+    pipe.start();
 
     while(app) // Application still alive?
     {
-        rs2::frameset data = pipe.wait_for_frames(0xfffffff); // Wait for next set of frames from the camera
+        rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
 
         rs2::frame depth = color_map.process(data.get_depth_frame()); // Find and colorize the depth data
-        //rs2::frame color = data.get_color_frame();            // Find the color data
+        rs2::frame color = data.get_color_frame();            // Find the color data
+
+        // For cameras that don't have RGB sensor, we'll render infrared frames instead of color
+        if (!color)
+            color = data.get_infrared_frame();
 
         // Render depth on to the first half of the screen and color on to the second
         depth_image.render(depth, { 0,               0, app.width() / 2, app.height() });
-        //color_image.render(color, { app.width() / 2, 0, app.width() / 2, app.height() });
+        color_image.render(color, { app.width() / 2, 0, app.width() / 2, app.height() });
     }
 
     return EXIT_SUCCESS;
@@ -50,6 +50,3 @@ catch (const std::exception& e)
     std::cerr << e.what() << std::endl;
     return EXIT_FAILURE;
 }
-
-
-

src/backend.h

@@ -160,15 +160,6 @@ namespace librealsense
             uint32_t        timestamp;
             uint8_t         source_clock[6];
         };
-
-//        struct uvc_metadata_buf
-//        {
-//            uint64_t    pts;
-//            uint16_t    sof;
-//            uint8_t     length;
-//            uint8_t     flags;
-//            uint8_t*    buf;
-//        };
 #pragma pack(pop)
 
         constexpr uint8_t uvc_header_size = sizeof(uvc_header);