Intel RealSense SDK 2.0

GLFW is an open-source, multi-platform library designed for developing applications using OpenGL, OpenGL ES, and Vulkan. It provides a platform-independent API for tasks such as creating windows and contexts, surfaces, reading input, and handling events.

Supported platforms include:

• Windows
• macOS
• Linux and other Unix-like systems
• Experimental support for the Wayland protocol.

The D400 series RealSense cameras are designed for robotics and drones, providing hardware-accelerated depth sensing. Key features include:

• Hardware Rectification: Devices come fully calibrated, producing hardware-rectified image pairs.
• High Frame Rate: Depth calculations are performed on-camera at up to 90 FPS.
• Accuracy: Supports sub-pixel accuracy and high fill-rate.
• Texture Projector: Includes an on-board texture projector to improve depth accuracy in low-texture or dark environments.
• Low Power: Operates on standard USB 5V power, drawing approximately 1-1.5 W.

The RS400 series of stereo-based RealSense devices features a depth-from-stereo ASIC that supports an Advanced Mode. This mode provides an extended set of controls for fine-tuning the depth generation process and color correction to adapt to different optics, shutter types (global vs. rolling), projector capabilities, and lighting conditions.

Important Safety and Performance Notes:

• Safety: The hardware APIs are designed to be safe; you cannot brick the device and can always exit advanced mode to return to default operation.
• Risk: Tinkering with advanced controls may impact depth quality and stream frame rates. Changes are made at the user's own risk.

RealSense DDS (RealDDS) is an abstraction layer built on top of the standard Data Distribution Service (DDS) protocol. It introduces RealSense-specific constructs to manage devices over a network using a publish-subscribe pattern.

Key characteristics:

• Self-contained API: It is not reliant on librealsense; instead, librealsense relies on RealDDS. It can be used independently for testing, debugging, or standalone applications.
• Middleware: It currently uses FastDDS as the underlying implementation.
• Python Support: A Python module named pyrealdds is available for interacting with the system.
• Discovery: Clients and servers find each other via a device-level discovery mechanism called device-info, which is broadcast on a topic with a fixed name.

RealSense Viewer is a cross-platform UI tool used to access RealSense camera functionality. Key capabilities include:

• Multi-device streaming: Stream from multiple RealSense devices simultaneously.
• Pointcloud exploration: Explore pointcloud data in real-time or export it to a file.
• Recording and Playback: Record RealSense data and play back recorded files.
• Camera Controls: Access most camera-specific controls, including 3D-generation ASIC registers (when available).

The PCL Samples demonstrate how to integrate RealSense cameras with the Point-Cloud Library (PCL). These samples complement the standard SDK examples by providing point-cloud processing capabilities.

Available samples:

• PCL: A minimal point-cloud viewer that includes PCL processing.
• PCL-COLOR: A point-cloud viewer that includes RGB PCL processing.

RealDDS uses a specific topic to deliver flexible messages from a server to all connected clients via <topic-root>/notification.

Key Characteristics:

• Format: Notifications must be a JSON (or possibly CBOR) object. They must include an id field.
• Broadcast: Messages are broadcast to all clients, not targeted to specific ones.
• Extensibility: Clients ignore unrecognized id fields or unrecognized fields within a known id. This allows servers to add extra content without breaking clients.
• QoS (Quality of Service):
  • Reliability: RELIABLE
  • Durability: VOLATILE

Required Structure:

{
    "id": "some-message-id",
    "message": "this is a field value"
}