realsense

rs2::context ctx;
auto devicelist = ctx.query_devices();
if (devicelist.size() > 0)
{
rs2::log_to_console(RS2_LOG_SEVERITY_DEBUG);
rs2::device dev = devicelist.front();
fprintf(stdout, "\nRealsense Device info---\n"
" Name : %s\n"
" Serial Number : %s\n"
" Firmware Version : %s\n"
" USB Type : %s\n"
" Stream Color : %d, %d, %d\n",
dev.get_info(RS2_CAMERA_INFO_NAME),
dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER),
dev.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION),
dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR),
RS_WIDTH, RS_HEIGHT, RS_FPS);

rs2::config cfg;  
cfg.enable\_stream(RS2\_STREAM\_COLOR, 1920, 1080, RS2\_FORMAT\_YUYV, 30);  
pipe.start(cfg);

processing\_thread = std::thread(\[&\](){  
    while (running)  
    {  
        rs2::frameset fs;  
        if (pipe.try\_wait\_for\_frames(&fs, 1000))  
        {  
            rs2::frame color\_frame = fs.get\_color\_frame();  
            update\_texture(texture, color\_frame.get\_data());  
        }  
    }  
});  

}

The log file shows that:

Realsense Device info---
Name : Intel RealSense D415
Serial Number : 732612060238
Firmware Version : 05.11.01.00
USB Type : 3.2
Stream Color : 1920, 1080, 30

10/01 12:52:49,118 INFO [548547798704] (backend-hid.cpp:1178) Failed to read busnum/devnum. Device Path: /sys/bus/iio/devices/iio:device0
10/01 12:52:49,118 DEBUG [548547798704] (ds5-factory.cpp:568) try_fetch_usb_device(…) failed.
10/01 12:52:49,123 INFO [548547798704] (backend-v4l2.cpp:1468) v4l_uvc_meta_device
10/01 12:52:49,127 INFO [548547798704] (backend-v4l2.cpp:1468) v4l_uvc_meta_device
10/01 12:52:49,136 INFO [548547798704] (backend-v4l2.cpp:1468) v4l_uvc_meta_device
10/01 12:52:49,141 DEBUG [548547798704] (backend-v4l2.cpp:1254) Recognized pixel-format Depth data 16-bit (Z16)
10/01 12:52:49,147 DEBUG [548547798704] (backend-v4l2.cpp:1254) Recognized pixel-format 8-bit Greyscale
10/01 12:52:49,148 DEBUG [548547798704] (backend-v4l2.cpp:1254) Recognized pixel-format UYVY 4:2:2
10/01 12:52:49,148 DEBUG [548547798704] (backend-v4l2.cpp:1254) Recognized pixel-format 8-bit Greyscale
10/01 12:52:49,154 DEBUG [548547798704] (backend-v4l2.cpp:1254) Recognized pixel-format Greyscale 8 L/R (Y8I)
10/01 12:52:49,160 DEBUG [548547798704] (backend-v4l2.cpp:1254) Recognized pixel-format Greyscale 12 L/R (Y12I)
10/01 12:52:49,172 DEBUG [548547798704] (backend-v4l2.cpp:1254) Recognized pixel-format YUYV 4:2:2
10/01 12:52:49,179 WARNING [548547798704] (backend-v4l2.cpp:1248) Pixel format 36315752-1a66-a242-9065-d01814a likely requires patch for fourcc code RW16!
10/01 12:52:49,180 WARNING [548547798704] (sensor.cpp:338) Unregistered Media formats : [ RW16 ]; Supported: [ ]
10/01 12:52:49,206 INFO [548547798704] (backend-v4l2.cpp:1460) Trying to configure fourcc YUYV
10/01 12:52:49,206 DEBUG [548547798704] (backend-v4l2.cpp:1587) Metadata node was successfully configured to D4XX format
10/01 12:52:49,237 INFO [548170531248] (backend-v4l2.cpp:996) Empty video frame arrived
10/01 12:52:49,239 INFO [548170531248] (backend-v4l2.cpp:996) Empty video frame arrived
10/01 12:52:49,239 INFO [548170531248] (backend-v4l2.cpp:996) Empty video frame arrived
10/01 12:52:49,239 INFO [548170531248] (backend-v4l2.cpp:996) Empty video frame arrived
10/01 12:52:49,242 INFO [548547798704] (backend-v4l2.cpp:1473) ~v4l_uvc_meta_device
10/01 12:52:49,242 INFO [548547798704] (backend-v4l2.cpp:1473) ~v4l_uvc_meta_device
10/01 12:52:49,247 INFO [548547798704] (backend-v4l2.cpp:1473) ~v4l_uvc_meta_device
10/01 12:52:49,383 WARNING [548170531248] (backend-v4l2.cpp:1007) FD_ISSET returned false - video node is not signalled (md only)
10/01 12:52:49,386 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 213768 out of 4147455 bytes (5%)
10/01 12:52:49,416 WARNING [548170531248] (backend-v4l2.cpp:1007) FD_ISSET returned false - video node is not signalled (md only)
10/01 12:52:49,419 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 181000 out of 4147455 bytes (4%)
10/01 12:52:49,450 WARNING [548170531248] (backend-v4l2.cpp:1007) FD_ISSET returned false - video node is not signalled (md only)
10/01 12:52:49,453 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 181000 out of 4147455 bytes (4%)
10/01 12:52:49,490 WARNING [548170531248] (backend-v4l2.cpp:1007) FD_ISSET returned false - video node is not signalled (md only)
10/01 12:52:49,491 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 1098504 out of 4147455 bytes (26%)
10/01 12:52:49,520 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 213768 out of 4147455 bytes (5%)
10/01 12:52:49,554 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 213768 out of 4147455 bytes (5%)
10/01 12:52:49,587 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 213768 out of 4147455 bytes (5%)
10/01 12:52:49,622 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 213768 out of 4147455 bytes (5%)
10/01 12:52:49,655 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 213768 out of 4147455 bytes (5%)
10/01 12:52:49,687 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 181000 out of 4147455 bytes (4%)
10/01 12:52:49,719 INFO [548170531248] (types.h:936) Incomplete video frame detected!
Size 181000 out of 4147455 bytes (4%)
10/01 12:52:49,752 INFO [548170531248] (types.h:936) Incomplete video frame detected!

参考：https://github.com/IntelRealSense/librealsense/issues/3042