Welcome to Uplink, Occipital's cross-platform RGBD streaming library.
It was created to connect together desktop applications and the Structure Sensor running on an iOS mobile device.
And of course, this is the code behind Skanect's Uplink feature.
It is written in C++ 98 (with some occasional C++ 11), and is mostly header-only.
An example server can be found here.
Complete server code is not included, yet.
Complete client code is not included, yet.
Both a CMake project and platform-specific projects (Visual Studio 2012 & 2013) are maintained.
Pick your favorite, then simply build and run.
No non-standard external dependencies are required, other than the tiny ones already included for the desktop server UI.