├── .github └── ISSUE_TEMPLATE.md ├── .gitignore ├── .travis.yml ├── CMake ├── android_config.cmake ├── connectivity_check.cmake ├── cuda_config.cmake ├── embedd_udev_rules.cmake ├── external_libusb.cmake ├── global_config.cmake ├── include_os.cmake ├── install_config.cmake ├── libusb_config.cmake ├── lrs_macros.cmake ├── lrs_options.cmake ├── opengl_config.cmake ├── realsense2-glConfig.cmake.in ├── realsense2Config.cmake.in ├── unix_config.cmake ├── version_config.cmake └── windows_config.cmake ├── CMakeLists.txt ├── CONTRIBUTING.md ├── CS690K_2023_Fall └── casadi_examples.ipynb ├── LICENSE ├── NOTICE ├── appveyor.yml ├── cmake_uninstall.cmake ├── code-of-conduct.md ├── common ├── CMakeLists.txt ├── android_helpers.h ├── fw-update-helper.cpp ├── fw-update-helper.h ├── fw │ ├── CMakeLists.txt │ ├── empty.c │ ├── firmware-version.h │ ├── fw.c.in │ ├── fw.h.in │ ├── fw.rc.in │ └── uvc_fw.rc ├── model-views.cpp ├── model-views.h ├── notifications.cpp ├── notifications.h ├── on-chip-calib.cpp ├── on-chip-calib.h ├── opengl3.cpp ├── opengl3.h ├── os.cpp ├── os.h ├── parser.hpp ├── realsense-ui-advanced-mode.h ├── rendering.h ├── res │ ├── d415.h │ ├── d435.h │ ├── icon.h │ ├── int-rs-splash.hpp │ ├── int-rs-splash.png │ ├── sr300.h │ └── t265.h ├── rs-config.cpp ├── rs-config.h ├── tiny-profiler.h ├── ux-alignment.cpp ├── ux-alignment.h ├── ux-window.cpp ├── ux-window.h ├── viewer.cpp ├── viewer.h └── windows-app-bootstrap.cpp ├── config ├── 99-realsense-libusb.rules ├── librealsense-gl.pc.in ├── librealsense.pc.in ├── usb-R200-in ├── usb-R200-in_udev └── uvc.conf ├── doc ├── .gitattributes ├── DSO-1369.md ├── RaspberryPi3.md ├── android.md ├── api_arch.md ├── d435i.md ├── depth-from-stereo.md ├── distribution_linux.md ├── distribution_windows.md ├── doxygen │ └── doxyfile ├── error_handling.md ├── frame_lifetime.md ├── frame_metadata.md ├── img │ ├── LRS_CS_axis_base.png │ ├── T265_orientation_axis.png │ ├── T265_sensor_extrinsics.png │ ├── WinSDK_10.0.10586.png │ ├── ds5_branches.png │ ├── matlab_select.png │ ├── playback_screenshot.png │ ├── realsense.png │ ├── record_screenshot.png │ ├── sensors_within_device.png │ ├── t265_pose_orientation.png │ ├── t265_snapshot.png │ ├── t265_trajectory_tracker.gif │ ├── win7 │ │ ├── device_manager.png │ │ ├── device_manager_after.png │ │ ├── driver_setup.png │ │ └── installer.png │ ├── win_deploy_device_manager.PNG │ ├── win_deploy_downloads.PNG │ ├── win_device_guid.png │ ├── win_device_interface.png │ ├── win_device_sibling_interfaces.png │ ├── win_md_reg_key.png │ ├── win_retarget_platform.png │ ├── win_samples.PNG │ ├── win_shortcuts.PNG │ ├── win_step1.PNG │ ├── win_step2.PNG │ ├── win_step3.PNG │ ├── win_step4.PNG │ ├── windows_cmake.png │ ├── windows_pointcloud_preview.PNG │ ├── windows_viewer_preview.PNG │ └── winver_Win10.png ├── installation.md ├── installation_jetson.md ├── installation_odroid.md ├── installation_osx.md ├── installation_raspbian.md ├── installation_win7.md ├── installation_windows.md ├── libuvc_installation.md ├── metadata │ ├── metadata-cpp-config-ui.png │ ├── metadata_acquisition_flow.bmp │ ├── metadata_acquisition_flow.svg │ ├── metadata_diagrams_sources_generation.md │ ├── metadata_registration_flow.bmp │ ├── metadata_registration_flow.svg │ └── rs-save-to-disk-output-DEPTH-metadata.csv ├── post-processing-filters.md ├── readme.md ├── rs400 │ ├── advanced_mode_sample.png │ └── rs400_advanced_mode.md ├── rs400_advanced_mode.md ├── rs400_support.md ├── sample-data.md ├── stepbystep │ ├── getting_started_with_openCV.md │ └── resources │ │ ├── Image_BGR.png │ │ ├── Image_Depth.png │ │ ├── Image_IR-noColorMap.png │ │ └── Image_IR.png ├── t265.md └── troubleshooting.md ├── examples ├── C │ ├── color │ │ ├── CMakeLists.txt │ │ ├── readme.md │ │ └── rs-color.c │ ├── depth │ │ ├── CMakeLists.txt │ │ ├── readme.md │ │ └── rs-depth.c │ ├── distance │ │ ├── CMakeLists.txt │ │ ├── readme.md │ │ └── rs-distance.c │ ├── example.h │ └── readme.md ├── CMakeLists.txt ├── align-advanced │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-align-advanced.cpp ├── align │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-align.cpp ├── ar-basic │ ├── CMakeLists.txt │ ├── coordinates.jpg │ ├── example.gif │ ├── readme.md │ └── rs-ar-basic.cpp ├── callback │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-callback.cpp ├── capture │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-capture.cpp ├── cheetah-vision │ ├── CMakeLists.txt │ ├── SE3.hpp │ ├── cheetah_localization.cpp │ ├── cheetah_pointcloud.cpp │ ├── cheetah_pointcloud.h │ ├── cheetah_vision.cpp │ ├── cheetah_vision.h │ └── dummy.txt ├── cmake │ ├── CMakeLists.txt │ ├── hello_librealsense2.cpp │ └── readme.md ├── depth.md ├── example.hpp ├── gl │ ├── CMakeLists.txt │ ├── output.PNG │ ├── readme.md │ └── rs-gl.cpp ├── hello-realsense │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-hello-realsense.cpp ├── measure │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-measure.cpp ├── motion │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-motion.cpp ├── multicam │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-multicam.cpp ├── pointcloud │ ├── .rs-pointcloud.cpp.swp │ ├── CMakeLists.txt │ ├── glvisualization.txt │ ├── readme.md │ ├── rs-pointcloud.cpp │ └── rs-pointcloud.h ├── pose-and-image │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-pose-and-image.cpp ├── pose-apriltag │ ├── CMakeLists.txt │ ├── readme.md │ ├── rs-pose-apriltag.cpp │ └── tag36_11_00000_out180mm_in144mm.pdf ├── pose-predict │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-pose-predict.cpp ├── pose │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-pose.cpp ├── post-processing │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-post-processing.cpp ├── readme.md ├── record-playback │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-record-playback.cpp ├── save-to-disk │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-save-to-disk.cpp ├── sensor-control │ ├── CMakeLists.txt │ ├── api_how_to.h │ ├── helper.h │ ├── readme.md │ └── rs-sensor-control.cpp ├── software-device │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-software-device.cpp ├── tracking-and-depth │ ├── CMakeLists.txt │ ├── H_t265_d400.cfg │ ├── bracket_t265nd435_external.stl │ ├── readme.md │ └── rs-tracking-and-depth.cpp └── trajectory │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-trajectory.cpp ├── hw10_soln.ipynb ├── hw11_soln-test.ipynb ├── hw6_soln.ipynb ├── hw7_soln.ipynb ├── hw9_soln.ipynb ├── include ├── CMakeLists.txt ├── librealsense2-gl │ ├── rs_processing_gl.h │ └── rs_processing_gl.hpp ├── librealsense2 │ ├── h │ │ ├── rs_advanced_mode_command.h │ │ ├── rs_config.h │ │ ├── rs_context.h │ │ ├── rs_device.h │ │ ├── rs_frame.h │ │ ├── rs_internal.h │ │ ├── rs_option.h │ │ ├── rs_pipeline.h │ │ ├── rs_processing.h │ │ ├── rs_record_playback.h │ │ ├── rs_sensor.h │ │ └── rs_types.h │ ├── hpp │ │ ├── rs_context.hpp │ │ ├── rs_device.hpp │ │ ├── rs_export.hpp │ │ ├── rs_frame.hpp │ │ ├── rs_internal.hpp │ │ ├── rs_options.hpp │ │ ├── rs_pipeline.hpp │ │ ├── rs_processing.hpp │ │ ├── rs_record_playback.hpp │ │ ├── rs_sensor.hpp │ │ └── rs_types.hpp │ ├── rs.h │ ├── rs.hpp │ ├── rs_advanced_mode.h │ ├── rs_advanced_mode.hpp │ └── rsutil.h └── readme.md ├── package.xml ├── readme.md ├── scripts ├── 0001-Debug-ioctl-fmt-desc.patch ├── 01-xhci-Add-helper-to-get-hardware-dequeue-pointer-for.patch ├── 02-xhci-Add-stream-id-to-to-xhci_dequeue_state-structur.patch ├── 03-xhci-Find-out-where-an-endpoint-or-stream-stopped-fr.patch ├── 04-xhci-remove-unused-stopped_td-pointer.patch ├── api_check.sh ├── install-r200-udev-fix.sh ├── install_dependencies-4.4.sh ├── install_glfw3.sh ├── install_qt.sh ├── libuvc_installation.sh ├── patch-arch.sh ├── patch-hid-16.04.sh ├── patch-opensuse-leap15.sh ├── patch-opensusetumbleweed.sh ├── patch-realsense-ubuntu-lts.sh ├── patch-realsense-ubuntu-odroid-xu4-4.14.sh ├── patch-realsense-ubuntu-odroid.sh ├── patch-realsense-ubuntu-xenial-joule.sh ├── patch-ubuntu-kernel-4.16.sh ├── patch-utils.sh ├── patch-uvcvideo-16.04.simple.sh ├── patch-uvcvideo-4.4.sh ├── patch-uvcvideo-fc23.sh ├── patch-uvcvideo-ubuntu-mainline.sh ├── patch-xhci-realsense-ubuntu-xenial.sh ├── pr_check.sh ├── realsense-camera-formats-opensuse.patch ├── realsense-camera-formats.patch ├── realsense-camera-formats_fc25.patch ├── realsense-camera-formats_ubuntu-bionic-hwe-edge.patch ├── realsense-camera-formats_ubuntu-bionic-hwe.patch ├── realsense-camera-formats_ubuntu-bionic-master.patch ├── realsense-camera-formats_ubuntu-xenial-Ubuntu-hwe-4.13.0-45.50_16.04.1.patch ├── realsense-camera-formats_ubuntu-xenial-Ubuntu-hwe-4.8.0-58.63_16.04.1.patch ├── realsense-camera-formats_ubuntu-xenial-hwe-zesty.patch ├── realsense-camera-formats_ubuntu-xenial-hwe.patch ├── realsense-camera-formats_ubuntu-xenial-master.patch ├── realsense-camera-formats_ubuntu-xenial-v4.16.patch ├── realsense-camera-formats_ubuntu-xenial.patch ├── realsense-fourcc-ioctl-ubuntu-xenial-joule.patch ├── realsense-hid-ubuntu-bionic-hwe-edge.patch ├── realsense-hid-ubuntu-bionic-hwe.patch ├── realsense-hid-ubuntu-bionic-master.patch ├── realsense-hid-ubuntu-xenial-Ubuntu-hwe-4.13.0-45.50_16.04.1.patch ├── realsense-hid-ubuntu-xenial-Ubuntu-hwe-4.8.0-58.63_16.04.1.patch ├── realsense-hid-ubuntu-xenial-hwe-zesty.patch ├── realsense-hid-ubuntu-xenial-hwe.patch ├── realsense-hid-ubuntu-xenial-joule.patch ├── realsense-hid-ubuntu-xenial-master.patch ├── realsense-hid-ubuntu-xenial-v4.16.patch ├── realsense-metadata-ubuntu-bionic-hwe-edge.patch ├── realsense-metadata-ubuntu-bionic-hwe.patch ├── realsense-metadata-ubuntu-bionic-master.patch ├── realsense-metadata-ubuntu-xenial-Ubuntu-hwe-4.13.0-45.50_16.04.1.patch ├── realsense-metadata-ubuntu-xenial-Ubuntu-hwe-4.8.0-58.63_16.04.1.patch ├── realsense-metadata-ubuntu-xenial-hwe-zesty.patch ├── realsense-metadata-ubuntu-xenial-hwe.patch ├── realsense-metadata-ubuntu-xenial-joule.patch ├── realsense-metadata-ubuntu-xenial-master.patch ├── realsense-metadata-ubuntu-xenial-v4.16.patch ├── realsense-powerlinefrequency-control-fix.patch ├── realsense_metadata_win10.ps1 ├── setup_udev_rules.sh ├── untabify.sh └── v1-media-uvcvideo-mark-buffer-error-where-overflow.patch ├── src ├── CMakeLists.txt ├── algo.cpp ├── algo.h ├── android │ ├── CMakeLists.txt │ ├── android-backend.cpp │ ├── android-backend.h │ ├── android-uvc.cpp │ ├── android-uvc.h │ ├── device_watcher.cpp │ ├── device_watcher.h │ ├── jni │ │ ├── advanced_mode.cpp │ │ ├── config.cpp │ │ ├── context.cpp │ │ ├── device.cpp │ │ ├── device_list.cpp │ │ ├── error.cpp │ │ ├── error.h │ │ ├── frame.cpp │ │ ├── frame_queue.cpp │ │ ├── frameset.cpp │ │ ├── options.cpp │ │ ├── pipeline.cpp │ │ ├── processing.cpp │ │ ├── sensor.cpp │ │ └── stream_profile.cpp │ └── usb_host │ │ ├── android_uvc.cpp │ │ └── android_uvc.h ├── api.h ├── archive.cpp ├── archive.h ├── backend.cpp ├── backend.h ├── command_transfer.h ├── concurrency.h ├── context.cpp ├── context.h ├── core │ ├── CMakeLists.txt │ ├── advanced_mode.h │ ├── debug.h │ ├── extension.h │ ├── info.h │ ├── motion.h │ ├── options.h │ ├── processing.h │ ├── roi.h │ ├── serialization.h │ ├── streaming.h │ └── video.h ├── cuda │ ├── CMakeLists.txt │ ├── cuda-conversion.cu │ ├── cuda-conversion.cuh │ ├── cuda-pointcloud.cu │ ├── cuda-pointcloud.cuh │ └── rscuda_utils.cuh ├── device.cpp ├── device.h ├── device_hub.cpp ├── device_hub.h ├── ds5 │ ├── CMakeLists.txt │ ├── advanced_mode │ │ ├── advanced_mode.cpp │ │ ├── json_loader.hpp │ │ ├── presets.cpp │ │ ├── presets.h │ │ └── rs_advanced_mode.cpp │ ├── ds5-active.cpp │ ├── ds5-active.h │ ├── ds5-color.cpp │ ├── ds5-color.h │ ├── ds5-device.cpp │ ├── ds5-device.h │ ├── ds5-factory.cpp │ ├── ds5-factory.h │ ├── ds5-fw-update-device.cpp │ ├── ds5-fw-update-device.h │ ├── ds5-motion.cpp │ ├── ds5-motion.h │ ├── ds5-nonmonochrome.cpp │ ├── ds5-nonmonochrome.h │ ├── ds5-options.cpp │ ├── ds5-options.h │ ├── ds5-private.cpp │ ├── ds5-private.h │ ├── ds5-timestamp.cpp │ └── ds5-timestamp.h ├── environment.cpp ├── environment.h ├── error-handling.cpp ├── error-handling.h ├── frame-archive.h ├── frame-validator.cpp ├── frame-validator.h ├── fw-update │ ├── CMakeLists.txt │ ├── fw-update-device-interface.h │ ├── fw-update-device.cpp │ ├── fw-update-device.h │ ├── fw-update-factory.cpp │ ├── fw-update-factory.h │ ├── fw-update-unsigned.cpp │ └── fw-update-unsigned.h ├── gl │ ├── CMakeLists.txt │ ├── align-gl.cpp │ ├── align-gl.h │ ├── camera-shader.cpp │ ├── camera-shader.h │ ├── colorizer-gl.cpp │ ├── colorizer-gl.h │ ├── pc-shader.cpp │ ├── pc-shader.h │ ├── pointcloud-gl.cpp │ ├── pointcloud-gl.h │ ├── realsense-gl.def │ ├── rs-gl.cpp │ ├── synthetic-stream-gl.cpp │ ├── synthetic-stream-gl.h │ ├── upload.cpp │ ├── upload.h │ ├── yuy2rgb-gl.cpp │ └── yuy2rgb-gl.h ├── global_timestamp_reader.cpp ├── global_timestamp_reader.h ├── hid │ ├── CMakeLists.txt │ ├── hid-device.cpp │ ├── hid-device.h │ └── hid-types.h ├── hw-monitor.cpp ├── hw-monitor.h ├── image-avx.cpp ├── image-avx.h ├── image.cpp ├── image.h ├── ivcam │ ├── CMakeLists.txt │ ├── ivcam-private.cpp │ ├── ivcam-private.h │ ├── sr300-fw-update-device.cpp │ ├── sr300-fw-update-device.h │ ├── sr300.cpp │ └── sr300.h ├── l500 │ ├── CMakeLists.txt │ ├── l500-color.cpp │ ├── l500-color.h │ ├── l500-depth.cpp │ ├── l500-depth.h │ ├── l500-device.cpp │ ├── l500-device.h │ ├── l500-factory.cpp │ ├── l500-factory.h │ ├── l500-motion.cpp │ ├── l500-motion.h │ ├── l500-private.cpp │ └── l500-private.h ├── libusb │ ├── CMakeLists.txt │ ├── device-libusb.cpp │ ├── device-libusb.h │ ├── endpoint-libusb.h │ ├── enumerator-libusb.cpp │ ├── handle-libusb.h │ ├── interface-libusb.cpp │ ├── interface-libusb.h │ ├── messenger-libusb.cpp │ └── messenger-libusb.h ├── libuvc │ ├── CMakeLists.txt │ ├── ctrl-gen.cpp │ ├── ctrl-gen.py │ ├── ctrl.cpp │ ├── device.cpp │ ├── diag.cpp │ ├── frame.cpp │ ├── init.cpp │ ├── libuvc.cpp │ ├── libuvc.h │ ├── libuvc_config.h │ ├── libuvc_config.h.in │ ├── libuvc_internal.h │ ├── misc.cpp │ ├── stream.cpp │ ├── utlist.h │ └── uvc_types.h ├── linux │ ├── CMakeLists.txt │ ├── backend-hid.cpp │ ├── backend-hid.h │ ├── backend-v4l2.cpp │ └── backend-v4l2.h ├── log.cpp ├── log.h ├── media │ ├── CMakeLists.txt │ ├── playback │ │ ├── playback_device.cpp │ │ ├── playback_device.h │ │ ├── playback_sensor.cpp │ │ └── playback_sensor.h │ ├── readme.md │ ├── record │ │ ├── record_device.cpp │ │ ├── record_device.h │ │ ├── record_sensor.cpp │ │ └── record_sensor.h │ └── ros │ │ ├── ros_file_format.h │ │ ├── ros_reader.cpp │ │ ├── ros_reader.h │ │ ├── ros_writer.cpp │ │ └── ros_writer.h ├── metadata-parser.h ├── metadata.h ├── mf │ ├── CMakeLists.txt │ ├── mf-backend.cpp │ ├── mf-backend.h │ ├── mf-hid.cpp │ ├── mf-hid.h │ ├── mf-uvc.cpp │ └── mf-uvc.h ├── mock │ ├── CMakeLists.txt │ ├── recorder.cpp │ ├── recorder.h │ ├── sql.cpp │ └── sql.h ├── option.cpp ├── option.h ├── pipeline │ ├── CMakeLists.txt │ ├── aggregator.cpp │ ├── aggregator.h │ ├── config.cpp │ ├── config.h │ ├── pipeline.cpp │ ├── pipeline.h │ ├── profile.cpp │ ├── profile.h │ └── resolver.h ├── proc │ ├── CMakeLists.txt │ ├── align.cpp │ ├── align.h │ ├── colorizer.cpp │ ├── colorizer.h │ ├── cuda │ │ ├── CMakeLists.txt │ │ ├── cuda-align.cu │ │ ├── cuda-align.cuh │ │ ├── cuda-align.h │ │ ├── cuda-pointcloud.cpp │ │ └── cuda-pointcloud.h │ ├── decimation-filter.cpp │ ├── decimation-filter.h │ ├── disparity-transform.cpp │ ├── disparity-transform.h │ ├── hole-filling-filter.cpp │ ├── hole-filling-filter.h │ ├── occlusion-filter.cpp │ ├── occlusion-filter.h │ ├── pointcloud.cpp │ ├── pointcloud.h │ ├── processing-blocks-factory.cpp │ ├── processing-blocks-factory.h │ ├── rates-printer.cpp │ ├── rates-printer.h │ ├── spatial-filter.cpp │ ├── spatial-filter.h │ ├── sse │ │ ├── CMakeLists.txt │ │ ├── sse-align.cpp │ │ ├── sse-align.h │ │ ├── sse-pointcloud.cpp │ │ └── sse-pointcloud.h │ ├── syncer-processing-block.cpp │ ├── syncer-processing-block.h │ ├── synthetic-stream.cpp │ ├── synthetic-stream.h │ ├── temporal-filter.cpp │ ├── temporal-filter.h │ ├── threshold.cpp │ ├── threshold.h │ ├── units-transform.cpp │ ├── units-transform.h │ ├── yuy2rgb.cpp │ ├── yuy2rgb.h │ ├── zero-order.cpp │ └── zero-order.h ├── readme.md ├── realsense.def ├── res │ ├── CMakeLists.txt │ ├── librealsense.rc │ └── resource.h ├── rs.cpp ├── sensor.cpp ├── sensor.h ├── software-device.cpp ├── software-device.h ├── source.cpp ├── source.h ├── stream.cpp ├── stream.h ├── sync.cpp ├── sync.h ├── tm2 │ ├── CMakeLists.txt │ ├── controller_event_serializer.h │ ├── tm-context.cpp │ ├── tm-context.h │ ├── tm-conversions.h │ ├── tm-device.cpp │ ├── tm-device.h │ ├── tm-info.cpp │ └── tm-info.h ├── types.cpp ├── types.h ├── usb │ ├── CMakeLists.txt │ ├── usb-device.h │ ├── usb-endpoint.h │ ├── usb-enumerator.h │ ├── usb-interface.h │ ├── usb-messenger.h │ └── usb-types.h ├── usbhost │ ├── CMakeLists.txt │ ├── device-usbhost.cpp │ ├── device-usbhost.h │ ├── endpoint-usbhost.h │ ├── enumerator-usbhost.cpp │ ├── interface-usbhost.cpp │ ├── interface-usbhost.h │ ├── messenger-usbhost.cpp │ ├── messenger-usbhost.h │ ├── usbhost.c │ └── usbhost.h ├── verify.c ├── win │ ├── CMakeLists.txt │ ├── win-helpers.cpp │ └── win-helpers.h ├── win7 │ ├── CMakeLists.txt │ ├── drivers │ │ └── IntelRealSense_D400_series_win7.inf │ ├── win7-backend.cpp │ ├── win7-backend.h │ ├── win7-hid.cpp │ ├── win7-hid.h │ ├── win7-usb.cpp │ ├── win7-usb.h │ ├── win7-uvc.cpp │ ├── win7-uvc.h │ └── winusb_uvc │ │ ├── winusb_uvc.cpp │ │ └── winusb_uvc.h └── winusb │ ├── CMakeLists.txt │ ├── device-winusb.cpp │ ├── device-winusb.h │ ├── endpoint-winusb.h │ ├── enumerator-winusb.cpp │ ├── handle-winusb.h │ ├── interface-winusb.cpp │ ├── interface-winusb.h │ ├── messenger-winusb.cpp │ └── messenger-winusb.h ├── third-party ├── CMakeLists.txt ├── arcball_camera.h ├── easyloggingpp │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENCE │ ├── README.md │ └── src │ │ ├── easylogging++.cc │ │ └── easylogging++.h ├── glad │ ├── KHR │ │ └── khrplatform.h │ ├── glad.c │ ├── glad │ │ └── glad.h │ └── glext.h ├── glfw │ ├── .appveyor.yml │ ├── .gitattributes │ ├── .gitignore │ ├── .travis.yml │ ├── CMake │ │ ├── GenerateMappings.cmake │ │ ├── MacOSXBundleInfo.plist.in │ │ ├── amd64-mingw32msvc.cmake │ │ ├── i586-mingw32msvc.cmake │ │ ├── i686-pc-mingw32.cmake │ │ ├── i686-w64-mingw32.cmake │ │ ├── modules │ │ │ ├── FindEpollShim.cmake │ │ │ ├── FindOSMesa.cmake │ │ │ ├── FindVulkan.cmake │ │ │ ├── FindWaylandProtocols.cmake │ │ │ └── FindXKBCommon.cmake │ │ └── x86_64-w64-mingw32.cmake │ ├── CMakeLists.txt │ ├── LICENSE.md │ ├── README.md │ ├── cmake_uninstall.cmake.in │ ├── deps │ │ ├── KHR │ │ │ └── khrplatform.h │ │ ├── getopt.c │ │ ├── getopt.h │ │ ├── glad.c │ │ ├── glad │ │ │ └── glad.h │ │ ├── linmath.h │ │ ├── mingw │ │ │ ├── _mingw_dxhelper.h │ │ │ ├── dinput.h │ │ │ └── xinput.h │ │ ├── nuklear.h │ │ ├── nuklear_glfw_gl2.h │ │ ├── stb_image_write.h │ │ ├── tinycthread.c │ │ ├── tinycthread.h │ │ ├── vs2008 │ │ │ └── stdint.h │ │ └── vulkan │ │ │ ├── vk_platform.h │ │ │ ├── vulkan.h │ │ │ └── vulkan_core.h │ ├── docs │ │ ├── CMakeLists.txt │ │ ├── CONTRIBUTING.md │ │ ├── Doxyfile.in │ │ ├── DoxygenLayout.xml │ │ ├── build.dox │ │ ├── compat.dox │ │ ├── compile.dox │ │ ├── context.dox │ │ ├── extra.css │ │ ├── extra.less │ │ ├── footer.html │ │ ├── header.html │ │ ├── input.dox │ │ ├── internal.dox │ │ ├── intro.dox │ │ ├── main.dox │ │ ├── monitor.dox │ │ ├── moving.dox │ │ ├── news.dox │ │ ├── quick.dox │ │ ├── spaces.svg │ │ ├── vulkan.dox │ │ └── window.dox │ ├── examples │ │ ├── CMakeLists.txt │ │ ├── boing.c │ │ ├── gears.c │ │ ├── glfw.icns │ │ ├── glfw.ico │ │ ├── glfw.rc │ │ ├── heightmap.c │ │ ├── offscreen.c │ │ ├── particles.c │ │ ├── sharing.c │ │ ├── simple.c │ │ ├── splitview.c │ │ └── wave.c │ ├── include │ │ └── GLFW │ │ │ ├── glfw3.h │ │ │ └── glfw3native.h │ ├── src │ │ ├── CMakeLists.txt │ │ ├── cocoa_init.m │ │ ├── cocoa_joystick.h │ │ ├── cocoa_joystick.m │ │ ├── cocoa_monitor.m │ │ ├── cocoa_platform.h │ │ ├── cocoa_time.c │ │ ├── cocoa_window.m │ │ ├── context.c │ │ ├── egl_context.c │ │ ├── egl_context.h │ │ ├── glfw3.pc.in │ │ ├── glfw3Config.cmake.in │ │ ├── glfw_config.h.in │ │ ├── glx_context.c │ │ ├── glx_context.h │ │ ├── init.c │ │ ├── input.c │ │ ├── internal.h │ │ ├── linux_joystick.c │ │ ├── linux_joystick.h │ │ ├── mappings.h │ │ ├── mappings.h.in │ │ ├── monitor.c │ │ ├── nsgl_context.h │ │ ├── nsgl_context.m │ │ ├── null_init.c │ │ ├── null_joystick.c │ │ ├── null_joystick.h │ │ ├── null_monitor.c │ │ ├── null_platform.h │ │ ├── null_window.c │ │ ├── osmesa_context.c │ │ ├── osmesa_context.h │ │ ├── posix_thread.c │ │ ├── posix_thread.h │ │ ├── posix_time.c │ │ ├── posix_time.h │ │ ├── vulkan.c │ │ ├── wgl_context.c │ │ ├── wgl_context.h │ │ ├── win32_init.c │ │ ├── win32_joystick.c │ │ ├── win32_joystick.h │ │ ├── win32_monitor.c │ │ ├── win32_platform.h │ │ ├── win32_thread.c │ │ ├── win32_time.c │ │ ├── win32_window.c │ │ ├── window.c │ │ ├── wl_init.c │ │ ├── wl_monitor.c │ │ ├── wl_platform.h │ │ ├── wl_window.c │ │ ├── x11_init.c │ │ ├── x11_monitor.c │ │ ├── x11_platform.h │ │ ├── x11_window.c │ │ ├── xkb_unicode.c │ │ └── xkb_unicode.h │ └── tests │ │ ├── CMakeLists.txt │ │ ├── clipboard.c │ │ ├── cursor.c │ │ ├── empty.c │ │ ├── events.c │ │ ├── gamma.c │ │ ├── glfwinfo.c │ │ ├── icon.c │ │ ├── iconify.c │ │ ├── inputlag.c │ │ ├── joysticks.c │ │ ├── monitors.c │ │ ├── msaa.c │ │ ├── opacity.c │ │ ├── reopen.c │ │ ├── tearing.c │ │ ├── threads.c │ │ ├── timeout.c │ │ ├── title.c │ │ ├── vulkan.c │ │ └── windows.c ├── imgui │ ├── LICENSE │ ├── imconfig.h │ ├── imgui-fonts-fontawesome.hpp │ ├── imgui-fonts-karla.hpp │ ├── imgui.cpp │ ├── imgui.h │ ├── imgui_draw.cpp │ ├── imgui_impl_glfw.cpp │ ├── imgui_impl_glfw.h │ ├── imgui_internal.h │ ├── stb_rect_pack.h │ ├── stb_textedit.h │ └── stb_truetype.h ├── json.hpp ├── libtm │ ├── .gitignore │ ├── CMakeLists.txt │ ├── fw │ │ ├── CMakeLists.txt │ │ ├── empty.c │ │ ├── fw.c.in │ │ ├── fw.h.in │ │ └── fw.rc.in │ ├── libtm │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ ├── TrackingCommon.h │ │ │ ├── TrackingData.h │ │ │ ├── TrackingDevice.h │ │ │ └── TrackingManager.h │ │ └── src │ │ │ ├── .bdsignore │ │ │ ├── CMakeLists.txt │ │ │ ├── Common.cpp │ │ │ ├── Common.h │ │ │ ├── CompleteTask.h │ │ │ ├── Device.cpp │ │ │ ├── Device.h │ │ │ ├── Loader.cpp │ │ │ ├── Loader.h │ │ │ ├── Main.cpp │ │ │ ├── Manager.cpp │ │ │ ├── Manager.h │ │ │ ├── Message.cpp │ │ │ ├── Message.h │ │ │ ├── Protocol.cpp │ │ │ ├── Protocol.h │ │ │ ├── UsbPlugListener.cpp │ │ │ ├── UsbPlugListener.h │ │ │ ├── Version.h.in │ │ │ ├── infra │ │ │ ├── Dispatcher.cpp │ │ │ ├── Dispatcher.h │ │ │ ├── EmbeddedList.h │ │ │ ├── Event.h │ │ │ ├── EventHandler.h │ │ │ ├── Event_bsd.cpp │ │ │ ├── Event_lin.cpp │ │ │ ├── Event_win.cpp │ │ │ ├── Fence.h │ │ │ ├── Fsm.cpp │ │ │ ├── Fsm.h │ │ │ ├── Log.cpp │ │ │ ├── Log.h │ │ │ ├── Poller.h │ │ │ ├── Poller_bsd.cpp │ │ │ ├── Poller_lin.cpp │ │ │ ├── Poller_win.cpp │ │ │ ├── Utils.cpp │ │ │ └── Utils.h │ │ │ └── version.rc.in │ └── tools │ │ ├── CMakeLists.txt │ │ └── libtm_util │ │ ├── CMakeLists.txt │ │ └── libtm_util.cpp ├── libusb │ └── CMakeLists.txt ├── rapidxml │ ├── LICENSE │ ├── rapidxml.hpp │ └── rapidxml_utils.hpp ├── realsense-file │ ├── CMakeLists.txt │ ├── boost │ │ └── boost │ │ │ ├── assert.hpp │ │ │ ├── call_traits.hpp │ │ │ ├── config.hpp │ │ │ ├── config │ │ │ ├── compiler │ │ │ │ ├── clang.hpp │ │ │ │ ├── gcc.hpp │ │ │ │ └── visualc.hpp │ │ │ ├── detail │ │ │ │ └── posix_features.hpp │ │ │ ├── no_tr1 │ │ │ │ └── functional.hpp │ │ │ ├── platform │ │ │ │ ├── linux.hpp │ │ │ │ ├── macos.hpp │ │ │ │ └── win32.hpp │ │ │ ├── posix_features.hpp │ │ │ ├── select_compiler_config.hpp │ │ │ ├── select_platform_config.hpp │ │ │ ├── select_stdlib_config.hpp │ │ │ ├── stdlib │ │ │ │ ├── dinkumware.hpp │ │ │ │ ├── libcpp.hpp │ │ │ │ └── libstdcpp3.hpp │ │ │ ├── suffix.hpp │ │ │ └── user.hpp │ │ │ ├── core │ │ │ ├── addressof.hpp │ │ │ ├── demangle.hpp │ │ │ ├── enable_if.hpp │ │ │ ├── explicit_operator_bool.hpp │ │ │ ├── no_exceptions_support.hpp │ │ │ ├── noncopyable.hpp │ │ │ ├── ref.hpp │ │ │ ├── swap.hpp │ │ │ └── typeinfo.hpp │ │ │ ├── cstdint.hpp │ │ │ ├── current_function.hpp │ │ │ ├── detail │ │ │ ├── call_traits.hpp │ │ │ ├── indirect_traits.hpp │ │ │ ├── iterator.hpp │ │ │ ├── no_exceptions_support.hpp │ │ │ ├── reference_content.hpp │ │ │ ├── sp_typeinfo.hpp │ │ │ ├── utf8_codecvt_facet.ipp │ │ │ └── workaround.hpp │ │ │ ├── enable_if.hpp │ │ │ ├── exception │ │ │ └── exception.hpp │ │ │ ├── foreach.hpp │ │ │ ├── foreach_fwd.hpp │ │ │ ├── format.hpp │ │ │ ├── format │ │ │ ├── alt_sstream.hpp │ │ │ ├── alt_sstream_impl.hpp │ │ │ ├── detail │ │ │ │ ├── compat_workarounds.hpp │ │ │ │ ├── config_macros.hpp │ │ │ │ ├── msvc_disambiguater.hpp │ │ │ │ ├── unset_macros.hpp │ │ │ │ ├── workarounds_gcc-2_95.hpp │ │ │ │ └── workarounds_stlport.hpp │ │ │ ├── exceptions.hpp │ │ │ ├── feed_args.hpp │ │ │ ├── format_class.hpp │ │ │ ├── format_fwd.hpp │ │ │ ├── format_implementation.hpp │ │ │ ├── free_funcs.hpp │ │ │ ├── group.hpp │ │ │ ├── internals.hpp │ │ │ ├── internals_fwd.hpp │ │ │ └── parsing.hpp │ │ │ ├── function.hpp │ │ │ ├── function │ │ │ ├── detail │ │ │ │ ├── function_iterate.hpp │ │ │ │ ├── gen_maybe_include.pl │ │ │ │ ├── maybe_include.hpp │ │ │ │ └── prologue.hpp │ │ │ ├── function_base.hpp │ │ │ ├── function_fwd.hpp │ │ │ ├── function_template.hpp │ │ │ └── gen_function_N.pl │ │ │ ├── function_equal.hpp │ │ │ ├── integer.hpp │ │ │ ├── integer_fwd.hpp │ │ │ ├── integer_traits.hpp │ │ │ ├── io │ │ │ └── ios_state.hpp │ │ │ ├── io_fwd.hpp │ │ │ ├── iterator.hpp │ │ │ ├── iterator │ │ │ ├── detail │ │ │ │ ├── config_def.hpp │ │ │ │ ├── config_undef.hpp │ │ │ │ ├── enable_if.hpp │ │ │ │ └── facade_iterator_category.hpp │ │ │ ├── interoperable.hpp │ │ │ ├── iterator_adaptor.hpp │ │ │ ├── iterator_categories.hpp │ │ │ ├── iterator_facade.hpp │ │ │ ├── iterator_traits.hpp │ │ │ └── reverse_iterator.hpp │ │ │ ├── limits.hpp │ │ │ ├── move │ │ │ ├── core.hpp │ │ │ ├── detail │ │ │ │ ├── config_begin.hpp │ │ │ │ ├── config_end.hpp │ │ │ │ ├── meta_utils.hpp │ │ │ │ ├── meta_utils_core.hpp │ │ │ │ ├── type_traits.hpp │ │ │ │ └── workaround.hpp │ │ │ ├── traits.hpp │ │ │ ├── utility.hpp │ │ │ └── utility_core.hpp │ │ │ ├── mpl │ │ │ ├── always.hpp │ │ │ ├── and.hpp │ │ │ ├── apply.hpp │ │ │ ├── apply_fwd.hpp │ │ │ ├── apply_wrap.hpp │ │ │ ├── arg.hpp │ │ │ ├── arg_fwd.hpp │ │ │ ├── assert.hpp │ │ │ ├── aux_ │ │ │ │ ├── adl_barrier.hpp │ │ │ │ ├── arg_typedef.hpp │ │ │ │ ├── arity.hpp │ │ │ │ ├── arity_spec.hpp │ │ │ │ ├── config │ │ │ │ │ ├── adl.hpp │ │ │ │ │ ├── arrays.hpp │ │ │ │ │ ├── bcc.hpp │ │ │ │ │ ├── bind.hpp │ │ │ │ │ ├── compiler.hpp │ │ │ │ │ ├── ctps.hpp │ │ │ │ │ ├── dtp.hpp │ │ │ │ │ ├── eti.hpp │ │ │ │ │ ├── gcc.hpp │ │ │ │ │ ├── gpu.hpp │ │ │ │ │ ├── has_apply.hpp │ │ │ │ │ ├── has_xxx.hpp │ │ │ │ │ ├── integral.hpp │ │ │ │ │ ├── intel.hpp │ │ │ │ │ ├── lambda.hpp │ │ │ │ │ ├── msvc.hpp │ │ │ │ │ ├── msvc_typename.hpp │ │ │ │ │ ├── nttp.hpp │ │ │ │ │ ├── overload_resolution.hpp │ │ │ │ │ ├── pp_counter.hpp │ │ │ │ │ ├── preprocessor.hpp │ │ │ │ │ ├── static_constant.hpp │ │ │ │ │ ├── ttp.hpp │ │ │ │ │ ├── use_preprocessed.hpp │ │ │ │ │ └── workaround.hpp │ │ │ │ ├── full_lambda.hpp │ │ │ │ ├── has_apply.hpp │ │ │ │ ├── has_type.hpp │ │ │ │ ├── include_preprocessed.hpp │ │ │ │ ├── integral_wrapper.hpp │ │ │ │ ├── lambda_arity_param.hpp │ │ │ │ ├── lambda_support.hpp │ │ │ │ ├── msvc_never_true.hpp │ │ │ │ ├── na.hpp │ │ │ │ ├── na_assert.hpp │ │ │ │ ├── na_fwd.hpp │ │ │ │ ├── na_spec.hpp │ │ │ │ ├── nested_type_wknd.hpp │ │ │ │ ├── nttp_decl.hpp │ │ │ │ ├── preprocessed │ │ │ │ │ ├── gcc │ │ │ │ │ │ ├── and.hpp │ │ │ │ │ │ ├── apply.hpp │ │ │ │ │ │ ├── apply_fwd.hpp │ │ │ │ │ │ ├── apply_wrap.hpp │ │ │ │ │ │ ├── arg.hpp │ │ │ │ │ │ ├── bind_fwd.hpp │ │ │ │ │ │ ├── full_lambda.hpp │ │ │ │ │ │ ├── or.hpp │ │ │ │ │ │ ├── placeholders.hpp │ │ │ │ │ │ ├── quote.hpp │ │ │ │ │ │ └── template_arity.hpp │ │ │ │ │ └── plain │ │ │ │ │ │ ├── and.hpp │ │ │ │ │ │ ├── apply.hpp │ │ │ │ │ │ ├── apply_fwd.hpp │ │ │ │ │ │ ├── apply_wrap.hpp │ │ │ │ │ │ ├── arg.hpp │ │ │ │ │ │ ├── bind_fwd.hpp │ │ │ │ │ │ ├── full_lambda.hpp │ │ │ │ │ │ ├── or.hpp │ │ │ │ │ │ ├── placeholders.hpp │ │ │ │ │ │ ├── quote.hpp │ │ │ │ │ │ └── template_arity.hpp │ │ │ │ ├── preprocessor │ │ │ │ │ ├── def_params_tail.hpp │ │ │ │ │ ├── default_params.hpp │ │ │ │ │ ├── enum.hpp │ │ │ │ │ └── params.hpp │ │ │ │ ├── static_cast.hpp │ │ │ │ ├── template_arity.hpp │ │ │ │ ├── template_arity_fwd.hpp │ │ │ │ ├── type_wrapper.hpp │ │ │ │ ├── value_wknd.hpp │ │ │ │ └── yes_no.hpp │ │ │ ├── bind_fwd.hpp │ │ │ ├── bool.hpp │ │ │ ├── bool_fwd.hpp │ │ │ ├── eval_if.hpp │ │ │ ├── has_xxx.hpp │ │ │ ├── identity.hpp │ │ │ ├── if.hpp │ │ │ ├── int.hpp │ │ │ ├── int_fwd.hpp │ │ │ ├── integral_c.hpp │ │ │ ├── integral_c_fwd.hpp │ │ │ ├── integral_c_tag.hpp │ │ │ ├── lambda.hpp │ │ │ ├── lambda_fwd.hpp │ │ │ ├── limits │ │ │ │ └── arity.hpp │ │ │ ├── logical.hpp │ │ │ ├── not.hpp │ │ │ ├── or.hpp │ │ │ ├── placeholders.hpp │ │ │ ├── protect.hpp │ │ │ ├── quote.hpp │ │ │ ├── size_t.hpp │ │ │ ├── size_t_fwd.hpp │ │ │ ├── void.hpp │ │ │ └── void_fwd.hpp │ │ │ ├── next_prior.hpp │ │ │ ├── noncopyable.hpp │ │ │ ├── none.hpp │ │ │ ├── none_t.hpp │ │ │ ├── optional.hpp │ │ │ ├── optional │ │ │ ├── bad_optional_access.hpp │ │ │ ├── optional.hpp │ │ │ └── optional_fwd.hpp │ │ │ ├── preprocessor │ │ │ ├── arithmetic │ │ │ │ ├── add.hpp │ │ │ │ ├── dec.hpp │ │ │ │ ├── inc.hpp │ │ │ │ └── sub.hpp │ │ │ ├── array │ │ │ │ ├── data.hpp │ │ │ │ ├── elem.hpp │ │ │ │ └── size.hpp │ │ │ ├── cat.hpp │ │ │ ├── comma_if.hpp │ │ │ ├── config │ │ │ │ └── config.hpp │ │ │ ├── control │ │ │ │ ├── detail │ │ │ │ │ ├── msvc │ │ │ │ │ │ └── while.hpp │ │ │ │ │ └── while.hpp │ │ │ │ ├── expr_iif.hpp │ │ │ │ ├── if.hpp │ │ │ │ ├── iif.hpp │ │ │ │ └── while.hpp │ │ │ ├── debug │ │ │ │ └── error.hpp │ │ │ ├── detail │ │ │ │ ├── auto_rec.hpp │ │ │ │ ├── check.hpp │ │ │ │ └── is_binary.hpp │ │ │ ├── empty.hpp │ │ │ ├── enum.hpp │ │ │ ├── enum_params.hpp │ │ │ ├── facilities │ │ │ │ ├── detail │ │ │ │ │ └── is_empty.hpp │ │ │ │ ├── empty.hpp │ │ │ │ ├── expand.hpp │ │ │ │ ├── identity.hpp │ │ │ │ ├── is_1.hpp │ │ │ │ ├── is_empty.hpp │ │ │ │ ├── is_empty_variadic.hpp │ │ │ │ └── overload.hpp │ │ │ ├── identity.hpp │ │ │ ├── inc.hpp │ │ │ ├── iterate.hpp │ │ │ ├── iteration │ │ │ │ ├── detail │ │ │ │ │ ├── bounds │ │ │ │ │ │ ├── lower1.hpp │ │ │ │ │ │ └── upper1.hpp │ │ │ │ │ └── iter │ │ │ │ │ │ └── forward1.hpp │ │ │ │ └── iterate.hpp │ │ │ ├── list │ │ │ │ ├── adt.hpp │ │ │ │ ├── append.hpp │ │ │ │ ├── detail │ │ │ │ │ ├── fold_left.hpp │ │ │ │ │ └── fold_right.hpp │ │ │ │ ├── fold_left.hpp │ │ │ │ ├── fold_right.hpp │ │ │ │ ├── for_each_i.hpp │ │ │ │ ├── reverse.hpp │ │ │ │ └── transform.hpp │ │ │ ├── logical │ │ │ │ ├── and.hpp │ │ │ │ ├── bitand.hpp │ │ │ │ ├── bool.hpp │ │ │ │ └── compl.hpp │ │ │ ├── punctuation │ │ │ │ ├── comma.hpp │ │ │ │ ├── comma_if.hpp │ │ │ │ ├── detail │ │ │ │ │ └── is_begin_parens.hpp │ │ │ │ ├── is_begin_parens.hpp │ │ │ │ └── paren.hpp │ │ │ ├── repeat.hpp │ │ │ ├── repetition │ │ │ │ ├── detail │ │ │ │ │ ├── for.hpp │ │ │ │ │ └── msvc │ │ │ │ │ │ └── for.hpp │ │ │ │ ├── enum.hpp │ │ │ │ ├── enum_binary_params.hpp │ │ │ │ ├── enum_params.hpp │ │ │ │ ├── enum_trailing_params.hpp │ │ │ │ ├── for.hpp │ │ │ │ ├── repeat.hpp │ │ │ │ └── repeat_from_to.hpp │ │ │ ├── slot │ │ │ │ ├── detail │ │ │ │ │ ├── def.hpp │ │ │ │ │ └── shared.hpp │ │ │ │ └── slot.hpp │ │ │ ├── stringize.hpp │ │ │ ├── tuple │ │ │ │ ├── detail │ │ │ │ │ └── is_single_return.hpp │ │ │ │ ├── eat.hpp │ │ │ │ ├── elem.hpp │ │ │ │ ├── rem.hpp │ │ │ │ ├── size.hpp │ │ │ │ └── to_list.hpp │ │ │ └── variadic │ │ │ │ ├── elem.hpp │ │ │ │ └── size.hpp │ │ │ ├── range │ │ │ ├── begin.hpp │ │ │ ├── config.hpp │ │ │ ├── const_iterator.hpp │ │ │ ├── detail │ │ │ │ ├── common.hpp │ │ │ │ ├── extract_optional_type.hpp │ │ │ │ ├── implementation_help.hpp │ │ │ │ ├── msvc_has_iterator_workaround.hpp │ │ │ │ └── sfinae.hpp │ │ │ ├── end.hpp │ │ │ ├── iterator.hpp │ │ │ ├── mutable_iterator.hpp │ │ │ ├── range_fwd.hpp │ │ │ ├── rbegin.hpp │ │ │ ├── rend.hpp │ │ │ └── reverse_iterator.hpp │ │ │ ├── ref.hpp │ │ │ ├── static_assert.hpp │ │ │ ├── throw_exception.hpp │ │ │ ├── type.hpp │ │ │ ├── type_traits │ │ │ ├── add_const.hpp │ │ │ ├── add_cv.hpp │ │ │ ├── add_lvalue_reference.hpp │ │ │ ├── add_pointer.hpp │ │ │ ├── add_reference.hpp │ │ │ ├── add_rvalue_reference.hpp │ │ │ ├── add_volatile.hpp │ │ │ ├── aligned_storage.hpp │ │ │ ├── alignment_of.hpp │ │ │ ├── alignment_traits.hpp │ │ │ ├── arithmetic_traits.hpp │ │ │ ├── array_traits.hpp │ │ │ ├── broken_compiler_spec.hpp │ │ │ ├── common_type.hpp │ │ │ ├── composite_traits.hpp │ │ │ ├── conditional.hpp │ │ │ ├── config.hpp │ │ │ ├── conversion_traits.hpp │ │ │ ├── copy_cv.hpp │ │ │ ├── cv_traits.hpp │ │ │ ├── decay.hpp │ │ │ ├── declval.hpp │ │ │ ├── detail │ │ │ │ ├── bool_trait_def.hpp │ │ │ │ ├── bool_trait_undef.hpp │ │ │ │ ├── common_arithmetic_type.hpp │ │ │ │ ├── common_type_impl.hpp │ │ │ │ ├── composite_member_pointer_type.hpp │ │ │ │ ├── composite_pointer_type.hpp │ │ │ │ ├── config.hpp │ │ │ │ ├── has_binary_operator.hpp │ │ │ │ ├── has_postfix_operator.hpp │ │ │ │ ├── has_prefix_operator.hpp │ │ │ │ ├── ice_and.hpp │ │ │ │ ├── ice_eq.hpp │ │ │ │ ├── ice_not.hpp │ │ │ │ ├── ice_or.hpp │ │ │ │ ├── is_function_ptr_helper.hpp │ │ │ │ ├── is_function_ptr_tester.hpp │ │ │ │ ├── is_mem_fun_pointer_impl.hpp │ │ │ │ ├── is_mem_fun_pointer_tester.hpp │ │ │ │ ├── mp_defer.hpp │ │ │ │ ├── template_arity_spec.hpp │ │ │ │ └── yes_no_type.hpp │ │ │ ├── extent.hpp │ │ │ ├── floating_point_promotion.hpp │ │ │ ├── function_traits.hpp │ │ │ ├── has_bit_and.hpp │ │ │ ├── has_bit_and_assign.hpp │ │ │ ├── has_bit_or.hpp │ │ │ ├── has_bit_or_assign.hpp │ │ │ ├── has_bit_xor.hpp │ │ │ ├── has_bit_xor_assign.hpp │ │ │ ├── has_complement.hpp │ │ │ ├── has_dereference.hpp │ │ │ ├── has_divides.hpp │ │ │ ├── has_divides_assign.hpp │ │ │ ├── has_equal_to.hpp │ │ │ ├── has_greater.hpp │ │ │ ├── has_greater_equal.hpp │ │ │ ├── has_left_shift.hpp │ │ │ ├── has_left_shift_assign.hpp │ │ │ ├── has_less.hpp │ │ │ ├── has_less_equal.hpp │ │ │ ├── has_logical_and.hpp │ │ │ ├── has_logical_not.hpp │ │ │ ├── has_logical_or.hpp │ │ │ ├── has_minus.hpp │ │ │ ├── has_minus_assign.hpp │ │ │ ├── has_modulus.hpp │ │ │ ├── has_modulus_assign.hpp │ │ │ ├── has_multiplies.hpp │ │ │ ├── has_multiplies_assign.hpp │ │ │ ├── has_negate.hpp │ │ │ ├── has_new_operator.hpp │ │ │ ├── has_not_equal_to.hpp │ │ │ ├── has_nothrow_assign.hpp │ │ │ ├── has_nothrow_constructor.hpp │ │ │ ├── has_nothrow_copy.hpp │ │ │ ├── has_nothrow_destructor.hpp │ │ │ ├── has_operator.hpp │ │ │ ├── has_plus.hpp │ │ │ ├── has_plus_assign.hpp │ │ │ ├── has_post_decrement.hpp │ │ │ ├── has_post_increment.hpp │ │ │ ├── has_pre_decrement.hpp │ │ │ ├── has_pre_increment.hpp │ │ │ ├── has_right_shift.hpp │ │ │ ├── has_right_shift_assign.hpp │ │ │ ├── has_trivial_assign.hpp │ │ │ ├── has_trivial_constructor.hpp │ │ │ ├── has_trivial_copy.hpp │ │ │ ├── has_trivial_destructor.hpp │ │ │ ├── has_trivial_move_assign.hpp │ │ │ ├── has_trivial_move_constructor.hpp │ │ │ ├── has_unary_minus.hpp │ │ │ ├── has_unary_plus.hpp │ │ │ ├── has_virtual_destructor.hpp │ │ │ ├── ice.hpp │ │ │ ├── integral_constant.hpp │ │ │ ├── integral_promotion.hpp │ │ │ ├── intrinsics.hpp │ │ │ ├── is_abstract.hpp │ │ │ ├── is_arithmetic.hpp │ │ │ ├── is_array.hpp │ │ │ ├── is_assignable.hpp │ │ │ ├── is_base_and_derived.hpp │ │ │ ├── is_base_of.hpp │ │ │ ├── is_base_of_tr1.hpp │ │ │ ├── is_class.hpp │ │ │ ├── is_complex.hpp │ │ │ ├── is_compound.hpp │ │ │ ├── is_const.hpp │ │ │ ├── is_constructible.hpp │ │ │ ├── is_convertible.hpp │ │ │ ├── is_copy_assignable.hpp │ │ │ ├── is_copy_constructible.hpp │ │ │ ├── is_default_constructible.hpp │ │ │ ├── is_destructible.hpp │ │ │ ├── is_empty.hpp │ │ │ ├── is_enum.hpp │ │ │ ├── is_final.hpp │ │ │ ├── is_float.hpp │ │ │ ├── is_floating_point.hpp │ │ │ ├── is_function.hpp │ │ │ ├── is_fundamental.hpp │ │ │ ├── is_integral.hpp │ │ │ ├── is_lvalue_reference.hpp │ │ │ ├── is_member_function_pointer.hpp │ │ │ ├── is_member_object_pointer.hpp │ │ │ ├── is_member_pointer.hpp │ │ │ ├── is_nothrow_move_assignable.hpp │ │ │ ├── is_nothrow_move_constructible.hpp │ │ │ ├── is_object.hpp │ │ │ ├── is_pod.hpp │ │ │ ├── is_pointer.hpp │ │ │ ├── is_polymorphic.hpp │ │ │ ├── is_reference.hpp │ │ │ ├── is_rvalue_reference.hpp │ │ │ ├── is_same.hpp │ │ │ ├── is_scalar.hpp │ │ │ ├── is_signed.hpp │ │ │ ├── is_stateless.hpp │ │ │ ├── is_union.hpp │ │ │ ├── is_unsigned.hpp │ │ │ ├── is_virtual_base_of.hpp │ │ │ ├── is_void.hpp │ │ │ ├── is_volatile.hpp │ │ │ ├── make_signed.hpp │ │ │ ├── make_unsigned.hpp │ │ │ ├── make_void.hpp │ │ │ ├── object_traits.hpp │ │ │ ├── promote.hpp │ │ │ ├── rank.hpp │ │ │ ├── reference_traits.hpp │ │ │ ├── remove_all_extents.hpp │ │ │ ├── remove_bounds.hpp │ │ │ ├── remove_const.hpp │ │ │ ├── remove_cv.hpp │ │ │ ├── remove_cv_ref.hpp │ │ │ ├── remove_extent.hpp │ │ │ ├── remove_pointer.hpp │ │ │ ├── remove_reference.hpp │ │ │ ├── remove_volatile.hpp │ │ │ ├── same_traits.hpp │ │ │ ├── transform_traits.hpp │ │ │ ├── type_identity.hpp │ │ │ └── type_with_alignment.hpp │ │ │ ├── utility │ │ │ ├── addressof.hpp │ │ │ ├── base_from_member.hpp │ │ │ ├── compare_pointees.hpp │ │ │ ├── declval.hpp │ │ │ ├── detail │ │ │ │ ├── in_place_factory_prefix.hpp │ │ │ │ └── in_place_factory_suffix.hpp │ │ │ ├── enable_if.hpp │ │ │ ├── in_place_factory.hpp │ │ │ └── swap.hpp │ │ │ └── version.hpp │ ├── config.cmake │ ├── lz4 │ │ ├── LICENSE │ │ ├── lz4.c │ │ ├── lz4.h │ │ ├── lz4frame.c │ │ ├── lz4frame.h │ │ ├── lz4frame_static.h │ │ ├── lz4hc.c │ │ ├── lz4hc.h │ │ ├── lz4opt.h │ │ ├── xxhash.c │ │ └── xxhash.h │ └── rosbag │ │ ├── config.cmake │ │ ├── console_bridge │ │ ├── config.cmake │ │ ├── include │ │ │ └── console_bridge │ │ │ │ ├── console.h │ │ │ │ └── exportdecl.h │ │ └── src │ │ │ └── console.cpp │ │ ├── cpp_common │ │ ├── config.cmake │ │ ├── include │ │ │ └── ros │ │ │ │ ├── cpp_common_decl.h │ │ │ │ ├── datatypes.h │ │ │ │ ├── debug.h │ │ │ │ ├── exception.h │ │ │ │ ├── header.h │ │ │ │ ├── macros.h │ │ │ │ ├── platform.h │ │ │ │ └── types.h │ │ └── src │ │ │ ├── debug.cpp │ │ │ └── header.cpp │ │ ├── msgs │ │ ├── diagnostic_msgs │ │ │ └── KeyValue.h │ │ ├── geometry_msgs │ │ │ ├── Accel.h │ │ │ ├── AccelStamped.h │ │ │ ├── AccelWithCovariance.h │ │ │ ├── AccelWithCovarianceStamped.h │ │ │ ├── Inertia.h │ │ │ ├── InertiaStamped.h │ │ │ ├── Point.h │ │ │ ├── Point32.h │ │ │ ├── PointStamped.h │ │ │ ├── Polygon.h │ │ │ ├── PolygonStamped.h │ │ │ ├── Pose.h │ │ │ ├── Pose2D.h │ │ │ ├── PoseArray.h │ │ │ ├── PoseStamped.h │ │ │ ├── PoseWithCovariance.h │ │ │ ├── PoseWithCovarianceStamped.h │ │ │ ├── Quaternion.h │ │ │ ├── QuaternionStamped.h │ │ │ ├── Transform.h │ │ │ ├── TransformStamped.h │ │ │ ├── Twist.h │ │ │ ├── TwistStamped.h │ │ │ ├── TwistWithCovariance.h │ │ │ ├── TwistWithCovarianceStamped.h │ │ │ ├── Vector3.h │ │ │ ├── Vector3Stamped.h │ │ │ ├── Wrench.h │ │ │ └── WrenchStamped.h │ │ ├── realsense_legacy_msgs │ │ │ ├── compressed_frame_info.h │ │ │ ├── controller_command.h │ │ │ ├── controller_event.h │ │ │ ├── controller_vendor_data.h │ │ │ ├── extrinsics.h │ │ │ ├── frame_info.h │ │ │ ├── legacy_headers.h │ │ │ ├── metadata.h │ │ │ ├── motion_intrinsics.h │ │ │ ├── motion_stream_info.h │ │ │ ├── occupancy_map.h │ │ │ ├── pose.h │ │ │ ├── stream_extrinsics.h │ │ │ ├── stream_info.h │ │ │ └── vendor_data.h │ │ ├── realsense_msgs │ │ │ ├── ImuIntrinsic.h │ │ │ ├── Notification.h │ │ │ └── StreamInfo.h │ │ ├── rosgraph_msgs │ │ │ ├── Clock.h │ │ │ ├── Log.h │ │ │ └── TopicStatistics.h │ │ ├── sensor_msgs │ │ │ ├── BatteryState.h │ │ │ ├── CameraInfo.h │ │ │ ├── ChannelFloat32.h │ │ │ ├── CompressedImage.h │ │ │ ├── FluidPressure.h │ │ │ ├── Illuminance.h │ │ │ ├── Image.h │ │ │ ├── Imu.h │ │ │ ├── JointState.h │ │ │ ├── Joy.h │ │ │ ├── JoyFeedback.h │ │ │ ├── JoyFeedbackArray.h │ │ │ ├── LaserEcho.h │ │ │ ├── LaserScan.h │ │ │ ├── MagneticField.h │ │ │ ├── MultiDOFJointState.h │ │ │ ├── MultiEchoLaserScan.h │ │ │ ├── NavSatFix.h │ │ │ ├── NavSatStatus.h │ │ │ ├── PointCloud.h │ │ │ ├── PointCloud2.h │ │ │ ├── PointField.h │ │ │ ├── Range.h │ │ │ ├── RegionOfInterest.h │ │ │ ├── RelativeHumidity.h │ │ │ ├── SetCameraInfo.h │ │ │ ├── SetCameraInfoRequest.h │ │ │ ├── SetCameraInfoResponse.h │ │ │ ├── Temperature.h │ │ │ ├── TimeReference.h │ │ │ ├── distortion_models.h │ │ │ ├── fill_image.h │ │ │ ├── image_encodings.h │ │ │ ├── impl │ │ │ │ └── point_cloud2_iterator.h │ │ │ ├── point_cloud2_iterator.h │ │ │ ├── point_cloud_conversion.h │ │ │ └── point_field_conversion.h │ │ └── std_msgs │ │ │ ├── Bool.h │ │ │ ├── Byte.h │ │ │ ├── ByteMultiArray.h │ │ │ ├── Char.h │ │ │ ├── ColorRGBA.h │ │ │ ├── Duration.h │ │ │ ├── Empty.h │ │ │ ├── Float32.h │ │ │ ├── Float32MultiArray.h │ │ │ ├── Float64.h │ │ │ ├── Float64MultiArray.h │ │ │ ├── Header.h │ │ │ ├── Int16.h │ │ │ ├── Int16MultiArray.h │ │ │ ├── Int32.h │ │ │ ├── Int32MultiArray.h │ │ │ ├── Int64.h │ │ │ ├── Int64MultiArray.h │ │ │ ├── Int8.h │ │ │ ├── Int8MultiArray.h │ │ │ ├── MultiArrayDimension.h │ │ │ ├── MultiArrayLayout.h │ │ │ ├── String.h │ │ │ ├── Time.h │ │ │ ├── UInt16.h │ │ │ ├── UInt16MultiArray.h │ │ │ ├── UInt32.h │ │ │ ├── UInt32MultiArray.h │ │ │ ├── UInt64.h │ │ │ ├── UInt64MultiArray.h │ │ │ ├── UInt8.h │ │ │ ├── UInt8MultiArray.h │ │ │ ├── builtin_bool.h │ │ │ ├── builtin_double.h │ │ │ ├── builtin_float.h │ │ │ ├── builtin_int16.h │ │ │ ├── builtin_int32.h │ │ │ ├── builtin_int64.h │ │ │ ├── builtin_int8.h │ │ │ ├── builtin_string.h │ │ │ ├── builtin_uint16.h │ │ │ ├── builtin_uint32.h │ │ │ ├── builtin_uint64.h │ │ │ ├── builtin_uint8.h │ │ │ ├── header_deprecated_def.h │ │ │ └── trait_macros.h │ │ ├── rosbag_storage │ │ ├── config.cmake │ │ ├── include │ │ │ └── rosbag │ │ │ │ ├── bag.h │ │ │ │ ├── bag_player.h │ │ │ │ ├── buffer.h │ │ │ │ ├── chunked_file.h │ │ │ │ ├── constants.h │ │ │ │ ├── exceptions.h │ │ │ │ ├── macros.h │ │ │ │ ├── message_instance.h │ │ │ │ ├── query.h │ │ │ │ ├── stream.h │ │ │ │ ├── structures.h │ │ │ │ └── view.h │ │ └── src │ │ │ ├── bag.cpp │ │ │ ├── bag_player.cpp │ │ │ ├── buffer.cpp │ │ │ ├── chunked_file.cpp │ │ │ ├── lz4_stream.cpp │ │ │ ├── message_instance.cpp │ │ │ ├── query.cpp │ │ │ ├── stream.cpp │ │ │ ├── uncompressed_stream.cpp │ │ │ └── view.cpp │ │ ├── roscpp_serialization │ │ ├── config.cmake │ │ ├── include │ │ │ └── ros │ │ │ │ ├── roscpp_serialization_macros.h │ │ │ │ ├── serialization.h │ │ │ │ └── serialized_message.h │ │ └── src │ │ │ └── serialization.cpp │ │ ├── roscpp_traits │ │ ├── config.cmake │ │ └── include │ │ │ └── ros │ │ │ ├── builtin_message_traits.h │ │ │ ├── message_event.h │ │ │ ├── message_forward.h │ │ │ ├── message_operations.h │ │ │ ├── message_traits.h │ │ │ └── service_traits.h │ │ ├── roslz4 │ │ ├── config.cmake │ │ ├── include │ │ │ └── roslz4 │ │ │ │ └── lz4s.h │ │ └── src │ │ │ ├── lz4s.c │ │ │ ├── xxhash.c │ │ │ └── xxhash.h │ │ └── rostime │ │ ├── config.cmake │ │ ├── include │ │ └── ros │ │ │ ├── duration.h │ │ │ ├── impl │ │ │ ├── duration.h │ │ │ └── time.h │ │ │ ├── rate.h │ │ │ ├── rostime_decl.h │ │ │ └── time.h │ │ └── src │ │ ├── duration.cpp │ │ ├── rate.cpp │ │ └── time.cpp ├── sqlite │ ├── CMakeLists.txt │ ├── sqlite3.c │ └── sqlite3.h ├── stb_easy_font.h ├── stb_image.h ├── stb_image_write.h ├── tclap │ ├── AUTHORS │ ├── COPYING │ ├── README │ └── include │ │ └── tclap │ │ ├── Arg.h │ │ ├── ArgException.h │ │ ├── ArgTraits.h │ │ ├── CmdLine.h │ │ ├── CmdLineInterface.h │ │ ├── CmdLineOutput.h │ │ ├── Constraint.h │ │ ├── DocBookOutput.h │ │ ├── HelpVisitor.h │ │ ├── IgnoreRestVisitor.h │ │ ├── MultiArg.h │ │ ├── MultiSwitchArg.h │ │ ├── OptionalUnlabeledTracker.h │ │ ├── StandardTraits.h │ │ ├── StdOutput.h │ │ ├── SwitchArg.h │ │ ├── UnlabeledMultiArg.h │ │ ├── UnlabeledValueArg.h │ │ ├── ValueArg.h │ │ ├── ValuesConstraint.h │ │ ├── VersionVisitor.h │ │ ├── Visitor.h │ │ ├── XorHandler.h │ │ └── ZshCompletionOutput.h └── tinyfiledialogs │ ├── tinyfiledialogs.c │ └── tinyfiledialogs.h ├── tools ├── .gitattributes ├── CMakeLists.txt ├── benchmark │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-benchmark.cpp ├── convert │ ├── CMakeLists.txt │ ├── converter.hpp │ ├── converters │ │ ├── converter-bin.hpp │ │ ├── converter-csv.hpp │ │ ├── converter-ply.hpp │ │ ├── converter-png.hpp │ │ └── converter-raw.hpp │ ├── readme.md │ └── rs-convert.cpp ├── data-collect │ ├── CMakeLists.txt │ ├── readme.md │ ├── rs-data-collect.cpp │ └── rs-data-collect.h ├── depth-quality │ ├── CMakeLists.txt │ ├── depth-metrics.h │ ├── depth-quality-model.cpp │ ├── depth-quality-model.h │ ├── readme.md │ ├── res │ │ ├── DPi.gif │ │ ├── DQT_Z_Accuracy.vsdx │ │ ├── DepthQualityTool.vsdx │ │ ├── Di.gif │ │ ├── Zi_ZPi.png │ │ ├── accuracy.gif │ │ ├── distance.gif │ │ ├── icon.ico │ │ ├── realsense-viewer.rc │ │ ├── resource.h │ │ ├── rms.gif │ │ ├── std.gif │ │ ├── subpixel_rms.gif │ │ ├── z_accuracy.png │ │ ├── z_accuracy_d_rotated.gif │ │ ├── z_accuracy_percentage.gif │ │ └── z_error_rms.gif │ └── rs-depth-quality.cpp ├── enumerate-devices │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-enumerate-devices.cpp ├── fw-logger │ ├── CMakeLists.txt │ ├── fw-log-data.cpp │ ├── fw-log-data.h │ ├── fw-logs-formating-options.cpp │ ├── fw-logs-formating-options.h │ ├── fw-logs-parser.cpp │ ├── fw-logs-parser.h │ ├── fw-logs-xml-helper.cpp │ ├── fw-logs-xml-helper.h │ ├── readme.md │ ├── rs-fw-logger.cpp │ ├── string-formatter.cpp │ └── string-formatter.h ├── fw-update │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-fw-update.cpp ├── readme.md ├── realsense-viewer │ ├── CMakeLists.txt │ ├── readme.md │ ├── realsense-viewer.cpp │ └── res │ │ ├── icon.ico │ │ ├── realsense-viewer.rc │ │ └── resource.h ├── recorder │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-record.cpp ├── rosbag-inspector │ ├── CMakeLists.txt │ ├── files_container.h │ ├── print_helpers.h │ ├── readme.md │ ├── rosbag_content.h │ └── rs-rosbag-inspector.cpp ├── rs-imu-calibration │ ├── README.md │ ├── images │ │ ├── IMG_4918.jpg │ │ ├── IMG_4919.JPG │ │ ├── IMG_4920.JPG │ │ ├── IMG_4921.JPG │ │ ├── IMG_4922.JPG │ │ ├── IMG_4923.JPG │ │ └── IMG_4924.JPG │ └── rs-imu-calibration.py └── terminal │ ├── CMakeLists.txt │ ├── auto-complete.cpp │ ├── auto-complete.h │ ├── readme.md │ └── rs-terminal.cpp ├── unit-tests ├── CMakeLists.txt ├── catch │ └── catch.hpp ├── internal │ ├── CMakeLists.txt │ ├── internal-tests-extrinsic.cpp │ ├── internal-tests-main.cpp │ ├── internal-tests-types.cpp │ └── internal-tests-usb.cpp ├── readme.md ├── resources │ ├── calibration_odometry.json │ └── single_depth_color_640x480.bag ├── unit-tests-common.h ├── unit-tests-internal.cpp ├── unit-tests-live.cpp ├── unit-tests-main.cpp ├── unit-tests-post-processing-from-bag.cpp ├── unit-tests-post-processing.cpp └── unit-tests-post-processing.h └── wrappers ├── CMakeLists.txt ├── android ├── .gitignore ├── build.gradle ├── config.cmake ├── examples │ ├── capture │ │ ├── .gitignore │ │ ├── build.gradle │ │ ├── proguard-rules.pro │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── intel │ │ │ │ └── realsense │ │ │ │ └── capture │ │ │ │ └── MainActivity.java │ │ │ └── res │ │ │ ├── layout │ │ │ └── activity_main.xml │ │ │ └── values │ │ │ ├── attrs.xml │ │ │ ├── colors.xml │ │ │ ├── strings.xml │ │ │ └── styles.xml │ ├── java_example │ │ ├── .gitignore │ │ ├── app │ │ │ ├── .gitignore │ │ │ ├── build.gradle │ │ │ ├── proguard-rules.pro │ │ │ └── src │ │ │ │ └── main │ │ │ │ ├── AndroidManifest.xml │ │ │ │ ├── java │ │ │ │ └── com │ │ │ │ │ └── example │ │ │ │ │ └── realsense_java_example │ │ │ │ │ └── MainActivity.java │ │ │ │ └── res │ │ │ │ ├── drawable-v24 │ │ │ │ └── ic_launcher_foreground.xml │ │ │ │ ├── drawable │ │ │ │ └── ic_launcher_background.xml │ │ │ │ ├── layout │ │ │ │ └── activity_main.xml │ │ │ │ ├── mipmap-anydpi-v26 │ │ │ │ ├── ic_launcher.xml │ │ │ │ └── ic_launcher_round.xml │ │ │ │ ├── mipmap-hdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-mdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-xhdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-xxhdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-xxxhdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ └── values │ │ │ │ ├── colors.xml │ │ │ │ ├── strings.xml │ │ │ │ └── styles.xml │ │ ├── build.gradle │ │ ├── gradle.properties │ │ ├── gradlew │ │ ├── gradlew.bat │ │ ├── readme.md │ │ └── settings.gradle │ ├── native_example │ │ ├── .gitignore │ │ ├── app │ │ │ ├── .gitignore │ │ │ ├── CMakeLists.txt │ │ │ ├── build.gradle │ │ │ ├── proguard-rules.pro │ │ │ └── src │ │ │ │ └── main │ │ │ │ ├── AndroidManifest.xml │ │ │ │ ├── cpp │ │ │ │ └── native-lib.cpp │ │ │ │ ├── java │ │ │ │ └── com │ │ │ │ │ └── example │ │ │ │ │ └── realsense_native_example │ │ │ │ │ └── MainActivity.java │ │ │ │ ├── jni │ │ │ │ └── native-lib.c │ │ │ │ └── res │ │ │ │ ├── drawable-v24 │ │ │ │ └── ic_launcher_foreground.xml │ │ │ │ ├── drawable │ │ │ │ └── ic_launcher_background.xml │ │ │ │ ├── layout │ │ │ │ └── activity_main.xml │ │ │ │ ├── mipmap-anydpi-v26 │ │ │ │ ├── ic_launcher.xml │ │ │ │ └── ic_launcher_round.xml │ │ │ │ ├── mipmap-hdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-mdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-xhdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-xxhdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ ├── mipmap-xxxhdpi │ │ │ │ ├── ic_launcher.png │ │ │ │ └── ic_launcher_round.png │ │ │ │ └── values │ │ │ │ ├── colors.xml │ │ │ │ ├── strings.xml │ │ │ │ └── styles.xml │ │ ├── build.gradle │ │ ├── gradle.properties │ │ ├── gradlew │ │ ├── gradlew.bat │ │ ├── readme.md │ │ └── settings.gradle │ ├── playback │ │ ├── .gitignore │ │ ├── build.gradle │ │ ├── proguard-rules.pro │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── intel │ │ │ │ └── realsense │ │ │ │ └── playback │ │ │ │ └── MainActivity.java │ │ │ └── res │ │ │ ├── layout │ │ │ └── activity_main.xml │ │ │ └── values │ │ │ ├── attrs.xml │ │ │ ├── colors.xml │ │ │ ├── strings.xml │ │ │ └── styles.xml │ ├── processing │ │ ├── .gitignore │ │ ├── build.gradle │ │ ├── proguard-rules.pro │ │ └── src │ │ │ └── main │ │ │ ├── AndroidManifest.xml │ │ │ ├── java │ │ │ └── com │ │ │ │ └── intel │ │ │ │ └── realsense │ │ │ │ └── processing │ │ │ │ └── MainActivity.java │ │ │ └── res │ │ │ ├── layout-land │ │ │ └── activity_main.xml │ │ │ ├── layout │ │ │ └── activity_main.xml │ │ │ └── values │ │ │ ├── attrs.xml │ │ │ ├── colors.xml │ │ │ ├── strings.xml │ │ │ └── styles.xml │ └── recording │ │ ├── .gitignore │ │ ├── build.gradle │ │ ├── proguard-rules.pro │ │ └── src │ │ └── main │ │ ├── AndroidManifest.xml │ │ ├── java │ │ └── com │ │ │ └── intel │ │ │ └── realsense │ │ │ └── recording │ │ │ └── MainActivity.java │ │ └── res │ │ ├── layout │ │ └── activity_main.xml │ │ └── values │ │ ├── attrs.xml │ │ ├── colors.xml │ │ ├── strings.xml │ │ └── styles.xml ├── gradle.properties ├── gradlew ├── gradlew.bat ├── librealsense │ ├── .gitignore │ ├── CMakeLists.txt │ ├── build.gradle │ ├── proguard-rules.pro │ └── src │ │ ├── androidTest │ │ └── java │ │ │ └── com │ │ │ └── intel │ │ │ └── realsense │ │ │ └── librealsense │ │ │ ├── ExampleInstrumentedTest.java │ │ │ ├── JniPipelineTests.java │ │ │ └── JniRsContextTests.java │ │ ├── main │ │ ├── AndroidManifest.xml │ │ ├── assets │ │ │ └── presets │ │ │ │ ├── BodyScanPreset.json │ │ │ │ ├── D415_RemoveIR.json │ │ │ │ ├── DefaultPreset_D415.json │ │ │ │ ├── DefaultPreset_D435.json │ │ │ │ ├── HandGesturePreset.json │ │ │ │ ├── HighResHighAccuracyPreset.json │ │ │ │ ├── HighResHighDensityPreset.json │ │ │ │ ├── HighResMidDensityPreset.json │ │ │ │ ├── LowResHighAccuracyPreset.json │ │ │ │ ├── LowResHighDensityPreset.json │ │ │ │ ├── LowResMidDensityPreset.json │ │ │ │ ├── MidResHighAccuracyPreset.json │ │ │ │ ├── MidResHighDensityPreset.json │ │ │ │ ├── MidResMidDensityPreset.json │ │ │ │ └── ShortRangePreset.json │ │ ├── java │ │ │ └── com │ │ │ │ └── intel │ │ │ │ └── realsense │ │ │ │ └── librealsense │ │ │ │ ├── Align.java │ │ │ │ ├── CameraInfo.java │ │ │ │ ├── Colorizer.java │ │ │ │ ├── Config.java │ │ │ │ ├── DecimationFilter.java │ │ │ │ ├── DepthFrame.java │ │ │ │ ├── Device.java │ │ │ │ ├── DeviceCallback.java │ │ │ │ ├── DeviceList.java │ │ │ │ ├── DeviceListener.java │ │ │ │ ├── DeviceWatcher.java │ │ │ │ ├── DeviceWatcherActivity.java │ │ │ │ ├── DisparityTransformFilter.java │ │ │ │ ├── Enumerator.java │ │ │ │ ├── Extension.java │ │ │ │ ├── Filter.java │ │ │ │ ├── FilterInterface.java │ │ │ │ ├── Frame.java │ │ │ │ ├── FrameCallback.java │ │ │ │ ├── FrameMetadata.java │ │ │ │ ├── FrameQueue.java │ │ │ │ ├── FrameReleaser.java │ │ │ │ ├── FrameSet.java │ │ │ │ ├── GLFrame.java │ │ │ │ ├── GLMotionFrame.java │ │ │ │ ├── GLPointsFrame.java │ │ │ │ ├── GLRenderer.java │ │ │ │ ├── GLRsSurfaceView.java │ │ │ │ ├── GLVideoFrame.java │ │ │ │ ├── HoleFillingFilter.java │ │ │ │ ├── LrsClass.java │ │ │ │ ├── MotionFrame.java │ │ │ │ ├── MotionStreamProfile.java │ │ │ │ ├── Option.java │ │ │ │ ├── Options.java │ │ │ │ ├── OptionsInterface.java │ │ │ │ ├── Pipeline.java │ │ │ │ ├── PipelineProfile.java │ │ │ │ ├── Pointcloud.java │ │ │ │ ├── Points.java │ │ │ │ ├── ProcessingBlock.java │ │ │ │ ├── ProcessingBlockInterface.java │ │ │ │ ├── ProductLine.java │ │ │ │ ├── ProgressListener.java │ │ │ │ ├── RsContext.java │ │ │ │ ├── Sensor.java │ │ │ │ ├── SpatialFilter.java │ │ │ │ ├── StreamFormat.java │ │ │ │ ├── StreamProfile.java │ │ │ │ ├── StreamType.java │ │ │ │ ├── TemporalFilter.java │ │ │ │ ├── ThresholdFilter.java │ │ │ │ ├── TimestampDomain.java │ │ │ │ ├── Updatable.java │ │ │ │ ├── UpdateDevice.java │ │ │ │ ├── UsbDesc.java │ │ │ │ ├── UsbUtilities.java │ │ │ │ ├── VideoFrame.java │ │ │ │ ├── VideoStreamProfile.java │ │ │ │ └── ZeroOrderInvalidationFilter.java │ │ ├── jni │ │ │ └── rscontext.c │ │ └── res │ │ │ ├── mipmap-hdpi │ │ │ └── ic_launcher.png │ │ │ ├── mipmap-mdpi │ │ │ └── ic_launcher.png │ │ │ ├── mipmap-xhdpi │ │ │ └── ic_launcher.png │ │ │ ├── mipmap-xxhdpi │ │ │ └── ic_launcher.png │ │ │ ├── mipmap-xxxhdpi │ │ │ └── ic_launcher.png │ │ │ ├── values │ │ │ └── strings.xml │ │ │ └── xml │ │ │ └── usb_filter.xml │ │ └── test │ │ └── java │ │ └── com │ │ └── intel │ │ └── realsense │ │ └── librealsense │ │ └── ExampleUnitTest.java ├── readme.md ├── settings.gradle └── tools │ └── camera │ ├── .gitignore │ ├── build.gradle │ ├── proguard-rules.pro │ └── src │ └── main │ ├── AndroidManifest.xml │ ├── java │ └── com │ │ └── intel │ │ └── realsense │ │ └── camera │ │ ├── DetachedActivity.java │ │ ├── FileBrowserActivity.java │ │ ├── FirmwareUpdateDialog.java │ │ ├── FirmwareUpdateProgressDialog.java │ │ ├── InfoActivity.java │ │ ├── PlaybackActivity.java │ │ ├── PresetsActivity.java │ │ ├── PreviewActivity.java │ │ ├── RecordingActivity.java │ │ ├── SettingsActivity.java │ │ ├── StreamProfileAdapter.java │ │ ├── StreamProfileSelector.java │ │ ├── Streamer.java │ │ └── StreamingStats.java │ └── res │ ├── drawable │ └── fragment_template.xml │ ├── layout-land │ ├── activity_playback.xml │ ├── activity_preview.xml │ └── activity_recording.xml │ ├── layout │ ├── activity_detached.xml │ ├── activity_info.xml │ ├── activity_list_view.xml │ ├── activity_playback.xml │ ├── activity_presets.xml │ ├── activity_preview.xml │ ├── activity_recording.xml │ ├── activity_settings.xml │ ├── files_list_view.xml │ ├── firmware_update_notification.xml │ ├── firmware_update_progress.xml │ └── stream_profile_list_view.xml │ └── values │ ├── attrs.xml │ ├── colors.xml │ ├── strings.xml │ └── styles.xml ├── csharp ├── .gitignore ├── CMakeLists.txt ├── Documentation │ ├── cookbook.md │ └── pinvoke.md ├── Intel.RealSense │ ├── .nuget │ │ └── Intel.RealSense.targets │ ├── Base │ │ ├── CMakeLists.txt │ │ ├── DeleterHandle.cs │ │ ├── Object.cs │ │ └── PooledObject.cs │ ├── CMakeLists.txt │ ├── Context.cs │ ├── Devices │ │ ├── AdvancedDevice.cs │ │ ├── CMakeLists.txt │ │ ├── Device.cs │ │ ├── DeviceList.cs │ │ ├── PlaybackDevice.cs │ │ ├── RecordDevice.cs │ │ ├── SoftwareDevice.cs │ │ ├── UpdatableDevice.cs │ │ └── UpdateDevice.cs │ ├── Frames │ │ ├── CMakeLists.txt │ │ ├── DepthFrame.cs │ │ ├── DisparityFrame.cs │ │ ├── Frame.cs │ │ ├── FrameQueue.cs │ │ ├── FrameSet.cs │ │ ├── FramesReleaser.cs │ │ ├── MotionFrame.cs │ │ ├── Points.cs │ │ ├── PoseFrame.cs │ │ └── VideoFrame.cs │ ├── GlobalSuppressions.cs │ ├── Helpers │ │ ├── CMakeLists.txt │ │ ├── ErrorMarshaler.cs │ │ ├── ICompositeDisposable.cs │ │ ├── Log.cs │ │ └── ObjectPool.cs │ ├── NativeMethods.cs │ ├── Options │ │ ├── CMakeLists.txt │ │ ├── IOption.cs │ │ ├── IOptions.cs │ │ ├── IOptionsContainer.cs │ │ ├── OptionInternal.cs │ │ └── OptionsList.cs │ ├── Pipeline │ │ ├── CMakeLists.txt │ │ ├── Config.cs │ │ ├── Pipeline.cs │ │ └── PipelineProfile.cs │ ├── Processing │ │ ├── Align.cs │ │ ├── CMakeLists.txt │ │ ├── Colorizer.cs │ │ ├── CustomProcessingBlock.cs │ │ ├── DecimationFilter.cs │ │ ├── DisparityTransform.cs │ │ ├── FrameSource.cs │ │ ├── HoleFillingFilter.cs │ │ ├── PointCloud.cs │ │ ├── ProcessingBlock.cs │ │ ├── ProcessingBlockList.cs │ │ ├── SpatialFilter.cs │ │ ├── Syncer.cs │ │ ├── TemporalFilter.cs │ │ ├── ThresholdFilter.cs │ │ ├── UnitsTransform.cs │ │ └── ZeroOrderInvalidationFilter.cs │ ├── Properties │ │ └── AssemblyInfo.cs │ ├── Sensors │ │ ├── CMakeLists.txt │ │ ├── PoseSensor.cs │ │ ├── Sensor.cs │ │ ├── SensorList.cs │ │ └── SoftwareSensor.cs │ ├── StreamProfiles │ │ ├── CMakeLists.txt │ │ ├── MotionStreamProfile.cs │ │ ├── PoseStreamProfile.cs │ │ ├── StreamProfile.cs │ │ ├── StreamProfileList.cs │ │ └── VideoStreamProfile.cs │ ├── Types │ │ ├── AutoExposureROI.cs │ │ ├── CMakeLists.txt │ │ ├── Delegates.cs │ │ ├── Enums │ │ │ ├── CMakeLists.txt │ │ │ ├── CameraInfo.cs │ │ │ ├── Distortion.cs │ │ │ ├── ExceptionType.cs │ │ │ ├── Extension.cs │ │ │ ├── Format.cs │ │ │ ├── FrameMetadataValue.cs │ │ │ ├── LogSeverity.cs │ │ │ ├── Matchers.cs │ │ │ ├── NotificationCategory.cs │ │ │ ├── Option.cs │ │ │ ├── PlaybackStatus.cs │ │ │ ├── RecordingMode.cs │ │ │ ├── Rs400VisualPreset.cs │ │ │ ├── Sr300VisualPreset.cs │ │ │ ├── Stream.cs │ │ │ └── TimestampDomain.cs │ │ ├── Extrinsics.cs │ │ ├── InfoCollection.cs │ │ ├── Intrinsics.cs │ │ ├── Math │ │ │ ├── CMakeLists.txt │ │ │ ├── Quaternion.cs │ │ │ ├── TextureCoordinate.cs │ │ │ ├── Vector.cs │ │ │ └── Vertex.cs │ │ ├── MotionDeviceIntrinsics.cs │ │ ├── Pose.cs │ │ ├── ROI.cs │ │ ├── SoftwareMotionFrame.cs │ │ ├── SoftwareMotionStream.cs │ │ ├── SoftwarePoseFrame.cs │ │ ├── SoftwarePoseStream.cs │ │ ├── SoftwareVideoFrame.cs │ │ └── SoftwareVideoStream.cs │ ├── packages.config │ └── stylecop.json ├── cs-tutorial-1-depth │ ├── CMakeLists.txt │ ├── Program.cs │ ├── Properties │ │ └── AssemblyInfo.cs │ └── app.config ├── cs-tutorial-2-capture │ ├── CMakeLists.txt │ ├── Program.cs │ ├── Properties │ │ └── AssemblyInfo.cs │ ├── Window.xaml │ ├── Window.xaml.cs │ └── app.config ├── cs-tutorial-3-processing │ ├── CMakeLists.txt │ ├── Program.cs │ ├── Properties │ │ └── AssemblyInfo.cs │ ├── Window.xaml │ ├── Window.xaml.cs │ └── app.config ├── cs-tutorial-4-software-dev │ ├── CMakeLists.txt │ ├── Program.cs │ ├── Properties │ │ └── AssemblyInfo.cs │ ├── Window.xaml │ ├── Window.xaml.cs │ └── app.config └── readme.md ├── labview └── readme.md ├── matlab ├── CMakeLists.txt ├── Factory.cpp ├── Factory.h ├── MatlabParamParser.h ├── align.m ├── camera_info.m ├── colorizer.m ├── config.m ├── context.m ├── decimation_filter.m ├── depth_example.m ├── depth_frame.m ├── depth_sensor.m ├── depth_stereo_sensor.m ├── device.m ├── device_hub.m ├── disparity_frame.m ├── disparity_transform.m ├── filter.m ├── format.m ├── frame.m ├── frame_metadata_value.m ├── frame_queue.m ├── frameset.m ├── hole_filling_filter.m ├── librealsense_mex.cpp ├── librealsense_mex.def ├── librealsense_mex.sln ├── librealsense_mex.vcxproj ├── librealsense_mex.vcxproj.filters ├── librealsense_mex.vcxproj.user ├── motion_frame.m ├── motion_stream_profile.m ├── option.m ├── options.m ├── pipeline.m ├── pipeline_profile.m ├── playback.m ├── playback_status.m ├── pointcloud.m ├── pointcloud_example.m ├── points.m ├── pose_frame.m ├── readme.md ├── recorder.m ├── roi_sensor.m ├── rosbag_example.m ├── rs2_type_traits.h ├── save_single_frameset.m ├── save_to_ply.m ├── sensor.m ├── spatial_filter.m ├── stream.m ├── stream_profile.m ├── syncer.m ├── temporal_filter.m ├── timestamp_domain.m ├── types.h ├── video_frame.m └── video_stream_profile.m ├── nodejs ├── .eslintrc.json ├── .gitignore ├── .jshintrc ├── CMakeLists.txt ├── README.md ├── binding.gyp ├── doc │ └── jsdoc-template │ │ ├── README.md │ │ ├── publish.js │ │ ├── static │ │ ├── fonts │ │ │ ├── OpenSans-Bold-webfont.eot │ │ │ ├── OpenSans-Bold-webfont.svg │ │ │ ├── OpenSans-Bold-webfont.woff │ │ │ ├── OpenSans-BoldItalic-webfont.eot │ │ │ ├── OpenSans-BoldItalic-webfont.svg │ │ │ ├── OpenSans-BoldItalic-webfont.woff │ │ │ ├── OpenSans-Italic-webfont.eot │ │ │ ├── OpenSans-Italic-webfont.svg │ │ │ ├── OpenSans-Italic-webfont.woff │ │ │ ├── OpenSans-Light-webfont.eot │ │ │ ├── OpenSans-Light-webfont.svg │ │ │ ├── OpenSans-Light-webfont.woff │ │ │ ├── OpenSans-LightItalic-webfont.eot │ │ │ ├── OpenSans-LightItalic-webfont.svg │ │ │ ├── OpenSans-LightItalic-webfont.woff │ │ │ ├── OpenSans-Regular-webfont.eot │ │ │ ├── OpenSans-Regular-webfont.svg │ │ │ └── OpenSans-Regular-webfont.woff │ │ ├── scripts │ │ │ ├── linenumber.js │ │ │ └── prettify │ │ │ │ ├── lang-css.js │ │ │ │ └── prettify.js │ │ └── styles │ │ │ ├── jsdoc-default.css │ │ │ ├── prettify-jsdoc.css │ │ │ └── prettify-tomorrow.css │ │ └── tmpl │ │ ├── augments.tmpl │ │ ├── container.tmpl │ │ ├── details.tmpl │ │ ├── example.tmpl │ │ ├── examples.tmpl │ │ ├── exceptions.tmpl │ │ ├── layout.tmpl │ │ ├── mainpage.tmpl │ │ ├── members.tmpl │ │ ├── method.tmpl │ │ ├── params.tmpl │ │ ├── properties.tmpl │ │ ├── returns.tmpl │ │ ├── source.tmpl │ │ ├── tutorial.tmpl │ │ └── type.tmpl ├── examples │ ├── glfw-window.js │ ├── nodejs-align.js │ ├── nodejs-capture.js │ ├── nodejs-pointcloud.js │ ├── nodejs-save-to-disk.js │ ├── package-lock.json │ ├── package.json │ ├── realsense_viewer │ │ ├── index.js │ │ ├── package.json │ │ └── public │ │ │ ├── app.js │ │ │ ├── common.js │ │ │ ├── index.html │ │ │ └── vue │ └── sensor_control │ │ └── nodejs-sensor-control.js ├── index.js ├── package-lock.json ├── package.json ├── scripts │ ├── generate-dist-package.js │ ├── generate-doc.js │ └── npm_dist │ │ ├── .gitignore │ │ ├── README.md │ │ ├── binding.gyp │ │ ├── build-dist-mac.sh │ │ ├── build-dist.bat │ │ ├── build-dist.sh │ │ ├── build-librealsense.js │ │ └── gen-dist.sh ├── src │ └── addon.cpp ├── test │ ├── README.md │ ├── package.json │ ├── test-align.js │ ├── test-colorizer.js │ ├── test-config.js │ ├── test-context.js │ ├── test-depthframe.js │ ├── test-depthsensor.js │ ├── test-device.js │ ├── test-devicehub.js │ ├── test-devicelist.js │ ├── test-frame.js │ ├── test-frameset.js │ ├── test-functional-online.js │ ├── test-functional.js │ ├── test-pipeline.js │ ├── test-pipelineprofile.js │ ├── test-playbackdevice.js │ ├── test-pointcloud.js │ ├── test-points.js │ ├── test-recorderdevice.js │ ├── test-sensor.js │ ├── test-streamprofile.js │ ├── test-videoframe.js │ └── test-videostreamprofile.js └── tools │ ├── linter.js │ ├── package-lock.json │ └── package.json ├── opencv ├── CMakeLists.txt ├── cv-helpers.hpp ├── depth-filter │ ├── CMakeLists.txt │ ├── camera-settings.json │ ├── downsample.cpp │ ├── downsample.h │ ├── readme.md │ └── rs-depth-filter.cpp ├── dnn │ ├── CMakeLists.txt │ ├── readme.md │ ├── res │ │ └── 1.PNG │ └── rs-dnn.cpp ├── grabcuts │ ├── CMakeLists.txt │ ├── readme.md │ ├── res │ │ ├── input.png │ │ ├── masks.png │ │ └── result.png │ └── rs-grabcuts.cpp ├── imshow │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-imshow.cpp ├── kinfu │ ├── CMakeLists.txt │ ├── readme.md │ ├── res │ │ └── result.gif │ └── rs-kinfu.cpp ├── latency-tool │ ├── CMakeLists.txt │ ├── latency-detector.h │ ├── readme.md │ ├── res │ │ ├── 1.png │ │ ├── 2.PNG │ │ └── 3.png │ └── rs-latency-tool.cpp ├── readme.md └── res │ ├── 1.PNG │ ├── 2.PNG │ ├── 3.PNG │ ├── 4.PNG │ └── 5.PNG ├── openni2 ├── .gitignore ├── CMakeLists.txt ├── README.md ├── doc │ └── img │ │ ├── demo.jpg │ │ ├── oni_capture.jpg │ │ ├── oni_video_mode.jpg │ │ └── oni_viewer.jpg └── src │ ├── Profiler.h │ ├── Profiler.inl │ ├── Rs2Base.cpp │ ├── Rs2Base.h │ ├── Rs2Commands.h │ ├── Rs2Device.cpp │ ├── Rs2Device.h │ ├── Rs2DeviceProps.cpp │ ├── Rs2Driver.cpp │ ├── Rs2Driver.h │ ├── Rs2Stream.cpp │ ├── Rs2Stream.h │ ├── Rs2StreamProps.cpp │ └── XnDepthShiftTables.h ├── pcl ├── CMakeLists.txt ├── pcl-color │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-pcl-color.cpp ├── pcl │ ├── CMakeLists.txt │ ├── readme.md │ └── rs-pcl.cpp ├── readme.md └── res │ ├── 1.PNG │ ├── 2.PNG │ ├── 3.PNG │ ├── 4.PNG │ └── 5.PNG ├── python ├── .gitignore ├── CMakeLists.txt ├── README.rst ├── docs │ ├── CMake │ │ └── FindSphinx.cmake │ ├── CMakeLists.txt │ ├── _templates │ │ ├── class.rst │ │ └── module.rst │ ├── conf.py.in │ └── index.rst ├── examples │ ├── align-depth2color.py │ ├── box_dimensioner_multicam │ │ ├── HighResHighAccuracyPreset.json │ │ ├── box_dimensioner_multicam_demo.py │ │ ├── calculate_rmsd_kabsch.py │ │ ├── calibration_kabsch.py │ │ ├── helper_functions.py │ │ ├── measurement_task.py │ │ ├── pattern_chessboard.png │ │ ├── readme.md │ │ ├── realsense_device_manager.py │ │ └── samplesetupandoutput.jpg │ ├── ethernet_client_server │ │ ├── AlwaysRunningServer.bash │ │ ├── EtherSenseClient.py │ │ ├── EtherSenseServer.py │ │ ├── MultiCameraEthernet.png │ │ ├── README.md │ │ ├── UpBoardSwitch.JPG │ │ └── setup.py │ ├── export_ply_example.py │ ├── opencv_pointcloud_viewer.py │ ├── opencv_viewer_example.py │ ├── pybackend_example_1_general.py │ ├── pyglet_pointcloud_viewer.py │ ├── python-rs400-advanced-mode-example.py │ ├── python-tutorial-1-depth.py │ ├── read_bag_example.py │ ├── readme.md │ ├── t265_example.py │ ├── t265_rpy.py │ └── t265_stereo.py ├── find_librs_version.py ├── pybackend.cpp ├── pybackend_extras.cpp ├── pybackend_extras.h ├── pyrealsense2 │ └── __init__.py ├── python.cpp ├── readme.md ├── requirements.txt ├── setup.py └── third_party │ └── pybind11 │ ├── CMakeLists.txt │ ├── LICENSE │ ├── MANIFEST.in │ ├── include │ └── pybind11 │ │ ├── attr.h │ │ ├── buffer_info.h │ │ ├── cast.h │ │ ├── chrono.h │ │ ├── common.h │ │ ├── complex.h │ │ ├── detail │ │ ├── class.h │ │ ├── common.h │ │ ├── descr.h │ │ ├── init.h │ │ ├── internals.h │ │ └── typeid.h │ │ ├── eigen.h │ │ ├── embed.h │ │ ├── eval.h │ │ ├── functional.h │ │ ├── iostream.h │ │ ├── numpy.h │ │ ├── operators.h │ │ ├── options.h │ │ ├── pybind11.h │ │ ├── pytypes.h │ │ ├── stl.h │ │ └── stl_bind.h │ ├── pybind11 │ ├── __init__.py │ ├── __main__.py │ └── _version.py │ ├── setup.cfg │ ├── setup.py │ └── tools │ ├── FindCatch.cmake │ ├── FindEigen3.cmake │ ├── FindPythonLibsNew.cmake │ ├── check-style.sh │ ├── libsize.py │ ├── mkdoc.py │ ├── pybind11Config.cmake.in │ └── pybind11Tools.cmake ├── readme.md ├── unity ├── .gitignore ├── Assets │ ├── RealSenseSDK2.0.meta │ ├── RealSenseSDK2.0 │ │ ├── Editor.meta │ │ ├── Editor │ │ │ ├── RsDeviceEditor.cs │ │ │ ├── RsDeviceEditor.cs.meta │ │ │ ├── RsDeviceInspectorEditor.cs │ │ │ ├── RsDeviceInspectorEditor.cs.meta │ │ │ ├── RsProcessingPipeEditor.cs │ │ │ └── RsProcessingPipeEditor.cs.meta │ │ ├── Materials.meta │ │ ├── Materials │ │ │ ├── ARBackgroundMat.mat │ │ │ ├── ARBackgroundMat.mat.meta │ │ │ ├── BGSegMat.mat │ │ │ ├── BGSegMat.mat.meta │ │ │ ├── CustomSkybox.mat │ │ │ ├── CustomSkybox.mat.meta │ │ │ ├── GrayscaleMat.mat │ │ │ ├── GrayscaleMat.mat.meta │ │ │ ├── GridMatMajor.mat │ │ │ ├── GridMatMajor.mat.meta │ │ │ ├── GridMatMinor.mat │ │ │ ├── GridMatMinor.mat.meta │ │ │ ├── IRmat.mat │ │ │ ├── IRmat.mat.meta │ │ │ ├── PointCloudMat.mat │ │ │ ├── PointCloudMat.mat.meta │ │ │ ├── RGBMat.mat │ │ │ ├── RGBMat.mat.meta │ │ │ ├── TrailMat.mat │ │ │ ├── TrailMat.mat.meta │ │ │ ├── depthMat.mat │ │ │ └── depthMat.mat.meta │ │ ├── Misc.meta │ │ ├── Misc │ │ │ ├── Animation.meta │ │ │ ├── Animation │ │ │ │ ├── PostProcessingDrawer.controller │ │ │ │ ├── PostProcessingDrawer.controller.meta │ │ │ │ ├── PostProcessingDrawerClosed.anim │ │ │ │ ├── PostProcessingDrawerClosed.anim.meta │ │ │ │ ├── PostProcessingDrawerOpen.anim │ │ │ │ └── PostProcessingDrawerOpen.anim.meta │ │ │ ├── Blue.mat │ │ │ ├── Blue.mat.meta │ │ │ ├── Editor.meta │ │ │ ├── Editor │ │ │ │ ├── CreateAssetBundles.cs │ │ │ │ └── CreateAssetBundles.cs.meta │ │ │ ├── Prefabs.meta │ │ │ ├── Prefabs │ │ │ │ ├── ColormapDropdown.prefab │ │ │ │ ├── ColormapDropdown.prefab.meta │ │ │ │ ├── ErrorPanel.prefab │ │ │ │ ├── ErrorPanel.prefab.meta │ │ │ │ ├── MinMaxSlider.prefab │ │ │ │ ├── MinMaxSlider.prefab.meta │ │ │ │ ├── PlayPause.prefab │ │ │ │ ├── PlayPause.prefab.meta │ │ │ │ ├── SampleUI.prefab │ │ │ │ └── SampleUI.prefab.meta │ │ │ ├── SampleSceneUI.unity │ │ │ ├── SampleSceneUI.unity.meta │ │ │ ├── Textures.meta │ │ │ ├── Textures │ │ │ │ ├── Icons.meta │ │ │ │ ├── Icons │ │ │ │ │ ├── 005b-help-outlined.png │ │ │ │ │ ├── 005b-help-outlined.png.meta │ │ │ │ │ ├── 073-menu.png │ │ │ │ │ ├── 073-menu.png.meta │ │ │ │ │ ├── 078-down.png │ │ │ │ │ ├── 078-down.png.meta │ │ │ │ │ ├── 081-arrow-back-left.png │ │ │ │ │ ├── 081-arrow-back-left.png.meta │ │ │ │ │ ├── 087-on-off.png │ │ │ │ │ ├── 087-on-off.png.meta │ │ │ │ │ ├── 253-play.png │ │ │ │ │ ├── 253-play.png.meta │ │ │ │ │ ├── 254-pause.png │ │ │ │ │ ├── 254-pause.png.meta │ │ │ │ │ ├── GitHub-Mark-Light-32px.png │ │ │ │ │ ├── GitHub-Mark-Light-32px.png.meta │ │ │ │ │ ├── color.png │ │ │ │ │ ├── color.png.meta │ │ │ │ │ ├── grayscale.png │ │ │ │ │ ├── grayscale.png.meta │ │ │ │ │ ├── look.png │ │ │ │ │ ├── look.png.meta │ │ │ │ │ ├── magnify.png │ │ │ │ │ ├── magnify.png.meta │ │ │ │ │ ├── pan.png │ │ │ │ │ ├── pan.png.meta │ │ │ │ │ ├── radiobox.png │ │ │ │ │ ├── radiobox.png.meta │ │ │ │ │ ├── rs16.png │ │ │ │ │ ├── rs16.png.meta │ │ │ │ │ ├── rs256.png │ │ │ │ │ └── rs256.png.meta │ │ │ │ ├── colormaps.png │ │ │ │ ├── colormaps.png.meta │ │ │ │ ├── forkme_left_darkblue_121621.png │ │ │ │ ├── forkme_left_darkblue_121621.png.meta │ │ │ │ ├── realsense.png │ │ │ │ ├── realsense.png.meta │ │ │ │ ├── realsense_4c_075_white.png │ │ │ │ ├── realsense_4c_075_white.png.meta │ │ │ │ ├── shadow.png │ │ │ │ ├── shadow.png.meta │ │ │ │ ├── switch.png │ │ │ │ └── switch.png.meta │ │ │ ├── Utils.meta │ │ │ └── Utils │ │ │ │ ├── BoolInvert.cs │ │ │ │ ├── BoolInvert.cs.meta │ │ │ │ ├── BoolToFloat.cs │ │ │ │ ├── BoolToFloat.cs.meta │ │ │ │ ├── ErrorPopup.cs │ │ │ │ ├── ErrorPopup.cs.meta │ │ │ │ ├── FloatToStringFormat.cs │ │ │ │ ├── FloatToStringFormat.cs.meta │ │ │ │ ├── FloatTween.cs │ │ │ │ ├── FloatTween.cs.meta │ │ │ │ ├── GetMaterialFloat.cs │ │ │ │ ├── GetMaterialFloat.cs.meta │ │ │ │ ├── GetMaterialInt.cs │ │ │ │ ├── GetMaterialInt.cs.meta │ │ │ │ ├── GridMesh.cs │ │ │ │ ├── GridMesh.cs.meta │ │ │ │ ├── MinMaxSlider.cs │ │ │ │ ├── MinMaxSlider.cs.meta │ │ │ │ ├── MoveAlongZ.cs │ │ │ │ ├── MoveAlongZ.cs.meta │ │ │ │ ├── NamedTextureBinding.cs │ │ │ │ ├── NamedTextureBinding.cs.meta │ │ │ │ ├── OrbitCameraControl.cs │ │ │ │ ├── OrbitCameraControl.cs.meta │ │ │ │ ├── RsDeviceListener.cs │ │ │ │ ├── RsDeviceListener.cs.meta │ │ │ │ ├── RsStreamAvailability.cs │ │ │ │ ├── RsStreamAvailability.cs.meta │ │ │ │ ├── SceneLoader.cs │ │ │ │ ├── SceneLoader.cs.meta │ │ │ │ ├── StringFloatBinding.cs │ │ │ │ ├── StringFloatBinding.cs.meta │ │ │ │ ├── StringIntBinding.cs │ │ │ │ ├── StringIntBinding.cs.meta │ │ │ │ ├── Utils.asmdef │ │ │ │ └── Utils.asmdef.meta │ │ ├── Models.meta │ │ ├── Models │ │ │ ├── Materials.meta │ │ │ ├── Materials │ │ │ │ ├── blinn1.mat │ │ │ │ ├── blinn1.mat.meta │ │ │ │ ├── blinn2.mat │ │ │ │ ├── blinn2.mat.meta │ │ │ │ ├── blinn3.mat │ │ │ │ ├── blinn3.mat.meta │ │ │ │ ├── blinn4.mat │ │ │ │ ├── blinn4.mat.meta │ │ │ │ ├── blinn5.mat │ │ │ │ └── blinn5.mat.meta │ │ │ ├── T265.fbx │ │ │ └── T265.fbx.meta │ │ ├── Prefabs.meta │ │ ├── Prefabs │ │ │ ├── PointCloud.prefab │ │ │ ├── PointCloud.prefab.meta │ │ │ ├── RsDevice.prefab │ │ │ ├── RsDevice.prefab.meta │ │ │ ├── RsProcessingPipe.prefab │ │ │ └── RsProcessingPipe.prefab.meta │ │ ├── ProcessingPipe.meta │ │ ├── ProcessingPipe │ │ │ ├── ARBackground.asset │ │ │ ├── ARBackground.asset.meta │ │ │ ├── AlignmentSample.asset │ │ │ ├── AlignmentSample.asset.meta │ │ │ ├── BackgroundSegmentation.asset │ │ │ ├── BackgroundSegmentation.asset.meta │ │ │ ├── PointCloudDepth.asset │ │ │ ├── PointCloudDepth.asset.meta │ │ │ ├── PointCloudDepthAndColor.asset │ │ │ ├── PointCloudDepthAndColor.asset.meta │ │ │ ├── PointCloudProcessingBlocks.asset │ │ │ └── PointCloudProcessingBlocks.asset.meta │ │ ├── Scenes.meta │ │ ├── Scenes │ │ │ ├── Samples.meta │ │ │ ├── Samples │ │ │ │ ├── ARBackground.unity │ │ │ │ ├── ARBackground.unity.meta │ │ │ │ ├── AlignmentSample.unity │ │ │ │ ├── AlignmentSample.unity.meta │ │ │ │ ├── BackgroundSegmentation.unity │ │ │ │ ├── BackgroundSegmentation.unity.meta │ │ │ │ ├── PointCloudDepthAndColor.unity │ │ │ │ ├── PointCloudDepthAndColor.unity.meta │ │ │ │ ├── PointCloudProcessingBlocks.unity │ │ │ │ ├── PointCloudProcessingBlocks.unity.meta │ │ │ │ ├── SLAM.unity │ │ │ │ ├── SLAM.unity.meta │ │ │ │ ├── TexturesDepthAndColor.unity │ │ │ │ ├── TexturesDepthAndColor.unity.meta │ │ │ │ ├── TexturesDepthAndInfrared.unity │ │ │ │ └── TexturesDepthAndInfrared.unity.meta │ │ │ ├── StartHere.unity │ │ │ └── StartHere.unity.meta │ │ ├── Scripts.meta │ │ ├── Scripts │ │ │ ├── ProcessingBlocks.meta │ │ │ ├── ProcessingBlocks │ │ │ │ ├── DepthCutoff.cs │ │ │ │ ├── DepthCutoff.cs.meta │ │ │ │ ├── RsAlign.cs │ │ │ │ ├── RsAlign.cs.meta │ │ │ │ ├── RsColorizer.cs │ │ │ │ ├── RsColorizer.cs.meta │ │ │ │ ├── RsDecimationFilter.cs │ │ │ │ ├── RsDecimationFilter.cs.meta │ │ │ │ ├── RsDisparityTransform.cs │ │ │ │ ├── RsDisparityTransform.cs.meta │ │ │ │ ├── RsHoleFillingFilter.cs │ │ │ │ ├── RsHoleFillingFilter.cs.meta │ │ │ │ ├── RsPointCloud.cs │ │ │ │ ├── RsPointCloud.cs.meta │ │ │ │ ├── RsProcessingProfile.cs │ │ │ │ ├── RsProcessingProfile.cs.meta │ │ │ │ ├── RsSpatialFilter.cs │ │ │ │ ├── RsSpatialFilter.cs.meta │ │ │ │ ├── RsTemporalFilter.cs │ │ │ │ ├── RsTemporalFilter.cs.meta │ │ │ │ ├── RsThresholdFilter.cs │ │ │ │ └── RsThresholdFilter.cs.meta │ │ │ ├── RealSense.asmdef │ │ │ ├── RealSense.asmdef.meta │ │ │ ├── RsARBackgroundRenderer.cs │ │ │ ├── RsARBackgroundRenderer.cs.meta │ │ │ ├── RsConfiguration.cs │ │ │ ├── RsConfiguration.cs.meta │ │ │ ├── RsDevice.cs │ │ │ ├── RsDevice.cs.meta │ │ │ ├── RsDeviceInspector.cs │ │ │ ├── RsDeviceInspector.cs.meta │ │ │ ├── RsFrameProvider.cs │ │ │ ├── RsFrameProvider.cs.meta │ │ │ ├── RsPointCloudRenderer.cs │ │ │ ├── RsPointCloudRenderer.cs.meta │ │ │ ├── RsPoseStreamTransformer.cs │ │ │ ├── RsPoseStreamTransformer.cs.meta │ │ │ ├── RsProcessingBlock.cs │ │ │ ├── RsProcessingBlock.cs.meta │ │ │ ├── RsProcessingPipe.cs │ │ │ ├── RsProcessingPipe.cs.meta │ │ │ ├── RsStreamTextureRenderer.cs │ │ │ ├── RsStreamTextureRenderer.cs.meta │ │ │ ├── RsVideoStreamRequest.cs │ │ │ └── RsVideoStreamRequest.cs.meta │ │ ├── Shaders.meta │ │ └── Shaders │ │ │ ├── ARBackground.shader │ │ │ ├── ARBackground.shader.meta │ │ │ ├── BGSeg.shader │ │ │ ├── BGSeg.shader.meta │ │ │ ├── BW.shader │ │ │ ├── BW.shader.meta │ │ │ ├── Custom Skybox.shader │ │ │ ├── Custom Skybox.shader.meta │ │ │ ├── Depth.shader │ │ │ ├── Depth.shader.meta │ │ │ ├── Grayscale.shader │ │ │ ├── Grayscale.shader.meta │ │ │ ├── PointCloud.shader │ │ │ ├── PointCloud.shader.meta │ │ │ ├── PointCloudGeom.shader │ │ │ ├── PointCloudGeom.shader.meta │ │ │ ├── RGB.shader │ │ │ ├── RGB.shader.meta │ │ │ ├── UnlitTransparentShader.shader │ │ │ └── UnlitTransparentShader.shader.meta │ ├── StreamingAssets.meta │ └── StreamingAssets │ │ ├── StreamingAssets │ │ ├── StreamingAssets.manifest │ │ ├── StreamingAssets.manifest.meta │ │ ├── StreamingAssets.meta │ │ ├── sample_assets │ │ ├── sample_assets.manifest │ │ ├── sample_assets.manifest.meta │ │ ├── sample_assets.meta │ │ ├── sample_scenes │ │ ├── sample_scenes.manifest │ │ ├── sample_scenes.manifest.meta │ │ └── sample_scenes.meta ├── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── NetworkManager.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ └── UnityConnectSettings.asset └── readme.md └── unrealengine4 ├── .gitignore ├── Content ├── BP_RealSenseAPI.uasset ├── BP_RealSenseInspector.uasset ├── M_BGSeg.uasset ├── M_Color.uasset ├── M_Depth.uasset ├── M_Infrared.uasset ├── T_Depth.uasset └── TestLevel.umap ├── LICENSE ├── Plugins ├── RealSense │ ├── RealSense.uplugin │ ├── Resources │ │ └── Icon128.png │ └── Source │ │ └── RealSense │ │ ├── Private │ │ ├── ColorMap.inl │ │ ├── DepthColorizer.cpp │ │ ├── DepthColorizer.h │ │ ├── DynamicTexture.cpp │ │ ├── DynamicTexture.h │ │ ├── PCH.h │ │ ├── Profiler.h │ │ ├── Profiler.inl │ │ ├── RealSenseContext.cpp │ │ ├── RealSenseDetailCustomization.cpp │ │ ├── RealSenseDetailCustomization.h │ │ ├── RealSenseDevice.cpp │ │ ├── RealSenseInspector.cpp │ │ ├── RealSenseOption.cpp │ │ ├── RealSensePluginImpl.cpp │ │ ├── RealSensePluginImpl.h │ │ ├── RealSenseSensor.cpp │ │ └── Shared.h │ │ ├── Public │ │ ├── RealSenseContext.h │ │ ├── RealSenseDevice.h │ │ ├── RealSenseInspector.h │ │ ├── RealSenseNative.h │ │ ├── RealSenseOption.h │ │ ├── RealSensePlugin.h │ │ ├── RealSenseSensor.h │ │ └── RealSenseTypes.h │ │ └── RealSense.Build.cs └── RuntimeMeshComponent │ ├── .gitignore │ ├── LICENSE │ ├── README.md │ ├── Resources │ └── Icon128.png │ ├── RuntimeMeshComponent.uplugin │ └── Source │ ├── RuntimeMeshComponent │ ├── Private │ │ ├── RuntimeMesh.cpp │ │ ├── RuntimeMeshActor.cpp │ │ ├── RuntimeMeshBlueprintMeshBuilder.cpp │ │ ├── RuntimeMeshBuilder.cpp │ │ ├── RuntimeMeshComponent.cpp │ │ ├── RuntimeMeshComponentPlugin.cpp │ │ ├── RuntimeMeshComponentProxy.cpp │ │ ├── RuntimeMeshComponentProxy.h │ │ ├── RuntimeMeshCore.cpp │ │ ├── RuntimeMeshData.cpp │ │ ├── RuntimeMeshInternalUtilities.h │ │ ├── RuntimeMeshLegacySerialization.cpp │ │ ├── RuntimeMeshLegacySerialization.h │ │ ├── RuntimeMeshLibrary.cpp │ │ ├── RuntimeMeshProxy.cpp │ │ ├── RuntimeMeshProxy.h │ │ ├── RuntimeMeshRendering.cpp │ │ ├── RuntimeMeshRendering.h │ │ ├── RuntimeMeshSection.cpp │ │ ├── RuntimeMeshSectionProxy.cpp │ │ ├── RuntimeMeshSectionProxy.h │ │ ├── RuntimeMeshShapeGenerator.cpp │ │ ├── RuntimeMeshSlicer.cpp │ │ ├── RuntimeMeshTessellationUtilities.cpp │ │ ├── RuntimeMeshTessellationUtilities.h │ │ └── RuntimeMeshUpdateCommands.h │ ├── Public │ │ ├── RuntimeMesh.h │ │ ├── RuntimeMeshActor.h │ │ ├── RuntimeMeshBlueprint.h │ │ ├── RuntimeMeshBlueprintMeshBuilder.h │ │ ├── RuntimeMeshBuilder.h │ │ ├── RuntimeMeshCollision.h │ │ ├── RuntimeMeshComponent.h │ │ ├── RuntimeMeshComponentPlugin.h │ │ ├── RuntimeMeshCore.h │ │ ├── RuntimeMeshData.h │ │ ├── RuntimeMeshGenericVertex.h │ │ ├── RuntimeMeshLibrary.h │ │ ├── RuntimeMeshSection.h │ │ ├── RuntimeMeshShapeGenerator.h │ │ └── RuntimeMeshSlicer.h │ └── RuntimeMeshComponent.Build.cs │ └── RuntimeMeshComponentEditor │ ├── Private │ ├── RuntimeMeshComponentDetails.cpp │ ├── RuntimeMeshComponentDetails.h │ ├── RuntimeMeshComponentEditorCommands.cpp │ ├── RuntimeMeshComponentEditorPlugin.cpp │ └── RuntimeMeshComponentEditorStyle.cpp │ ├── Public │ ├── IRuntimeMeshComponentEditorPlugin.h │ ├── RuntimeMeshComponentEditorCommands.h │ └── RuntimeMeshComponentEditorStyle.h │ └── RuntimeMeshComponentEditor.Build.cs ├── README.md ├── RealSenseUE.uproject ├── Source ├── RealSenseUE.Target.cs ├── RealSenseUE │ ├── RealSenseTestActor.cpp │ ├── RealSenseTestActor.h │ ├── 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