I just wanted to draw your attention to some new RealSense SDK 2.0 sample programs added recently.
librealsense/examples at master · IntelRealSense/librealsense · GitHub
If you are using the RealSense Viewer tool, you may also be interested to know that you can change the default visual processing settings to better suit your use of the camera.
D400 Series Visual Presets · IntelRealSense/librealsense Wiki · GitHub
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