Developers resources for stereo depth and tracking

// Create a Pipeline - this serves as a top-level API for streaming and processing frames
rs2::pipeline p;

// Configure and start the pipeline
p.start();

while (true)
{
    // Block program until frames arrive
    rs2::frameset frames = p.wait_for_frames();

    // Try to get a frame of a depth image
    rs2::depth_frame depth = frames.get_depth_frame();

    // Get the depth frame's dimensions
    float width = depth.get_width();
    float height = depth.get_height();

    // Query the distance from the camera to the object in the center of the image
    float dist_to_center = depth.get_distance(width / 2, height / 2);

    // Print the distance
    std::cout << "The camera is facing an object " << dist_to_center << " meters away \r";
}