How to get RGB and depth data from Structure sensor

[NUAAXQ]

This is a great work, thanks for your sharing.
I have a structure sensor in my hand, I want to get the RGB and depth data from Structure sensor, then send them to your CAPE module to detect planes.
In the "Note", you wrote "The parameters are fine-tuned for detecting large surfaces with Kinect 1 and Structure sensor".
So I want to know how to get data from Structure sensor by coding. Could you please offer me some means or links to show how to do that?

[pedropro]

Well, I am afraid you would have to use the Structure SDK: https://structure.io/developers
to stream the depth frames. As you probably know, the structure sensor does not include an RGB camera, which can be annoying. However CAPE actually only needs the depth images.

In my case, I developed a simple iOS app to record the iPhone back camera, IMU and the Structure sensor using their SDK callback functions. I suggest looking into their demos/samples. They make it pretty straightforward!