What functions are provided by the MultiSense software?

The camera does its own processing of stereo images on-board, and outputs depth information in the form of disparity images over Ethernet. It can also output raw and rectified images from the right and left camera.  LibMultiSense is our library used to access data from the camera.  It is also used to change camera settings.  If you would rather use ROS, there is also a MultiSense ROS driver available (instructions here)