<commit_before>#include <librealsense/rs.hpp>
#include "example.hpp"

#include <sstream>
#include <iostream>
#include <iomanip>
#include <thread>
#include <algorithm>

font font;
texture_buffer buffers[RS_STREAM_COUNT];
bool align_depth_to_color = false;
bool align_color_to_depth = false;
bool color_rectification_enabled = false;

#include <memory>

int main(int argc, char * argv[]) try
{
    rs::context ctx;
    if(ctx.get_device_count() == 0) throw std::runtime_error("No device detected. Is it plugged in?");
    rs::device & dev = *ctx.get_device(0);


    dev.enable_stream(rs::stream::depth, 392, 688, rs::format::z16, 60);

    dev.enable_stream(rs::stream::color, rs::preset::best_quality);
    //dev.enable_stream(rs::stream::depth, rs::preset::best_quality);
    dev.enable_stream(rs::stream::infrared, rs::preset::best_quality);
    try { dev.enable_stream(rs::stream::infrared2, rs::preset::best_quality); } catch(...) {}

    // Compute field of view for each enabled stream
    for(int i = 0; i < RS_STREAM_COUNT; ++i)
    {
        auto stream = rs::stream(i);
        if(!dev.is_stream_enabled(stream)) continue;
        auto intrin = dev.get_stream_intrinsics(stream);
        std::cout << "Capturing " << stream << " at " << intrin.width << " x " << intrin.height;
        std::cout << std::setprecision(1) << std::fixed << ", fov = " << intrin.hfov() << " x " << intrin.vfov() << ", distortion = " << intrin.model() << std::endl;
    }
    
    // Start our device
    dev.start();

    // Try setting some R200-specific settings
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    /*try {
        dev.set_option(rs::option::r200_lr_auto_exposure_enabled, 1);
    } catch(...) {}*/

    // Report the status of each supported option
    for(int i = 0; i < RS_OPTION_COUNT; ++i)
    {
        auto option = rs::option(i);
        if(dev.supports_option(option))
        {<commit_msg>Some testing code slipped into master.<commit_after>#include <librealsense/rs.hpp>
#include "example.hpp"

#include <sstream>
#include <iostream>
#include <iomanip>
#include <thread>
#include <algorithm>

font font;
texture_buffer buffers[RS_STREAM_COUNT];
bool align_depth_to_color = false;
bool align_color_to_depth = false;
bool color_rectification_enabled = false;

#include <memory>

int main(int argc, char * argv[]) try
{
    rs::context ctx;
    if(ctx.get_device_count() == 0) throw std::runtime_error("No device detected. Is it plugged in?");
    rs::device & dev = *ctx.get_device(0);

    dev.enable_stream(rs::stream::color, rs::preset::best_quality);
    dev.enable_stream(rs::stream::depth, rs::preset::best_quality);
    dev.enable_stream(rs::stream::infrared, rs::preset::best_quality);
    try { dev.enable_stream(rs::stream::infrared2, rs::preset::best_quality); } catch(...) {}

    // Compute field of view for each enabled stream
    for(int i = 0; i < RS_STREAM_COUNT; ++i)
    {
        auto stream = rs::stream(i);
        if(!dev.is_stream_enabled(stream)) continue;
        auto intrin = dev.get_stream_intrinsics(stream);
        std::cout << "Capturing " << stream << " at " << intrin.width << " x " << intrin.height;
        std::cout << std::setprecision(1) << std::fixed << ", fov = " << intrin.hfov() << " x " << intrin.vfov() << ", distortion = " << intrin.model() << std::endl;
    }
    
    // Start our device
    dev.start();

    // Try setting some R200-specific settings
    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
    /*try {
        dev.set_option(rs::option::r200_lr_auto_exposure_enabled, 1);
    } catch(...) {}*/

    // Report the status of each supported option
    for(int i = 0; i < RS_OPTION_COUNT; ++i)
    {
        auto option = rs::option(i);
        if(dev.supports_option(option))
        {
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