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Sample Code for Intel® RealSense™ cameras

Code Examples to start prototyping quickly: These simple examples demonstrate how to easily use the SDK to include code snippets that access the camera into your applications.

For mode advanced usages please review the list of Tools we provide.

For a detailed explanations and API documentation see our Documentation section

List of Examples:

Name Language Description Experience Level Technology
Hello-RealSense C++ Demonstrates the basics of connecting to a RealSense device and using depth data ⭐ Depth Sensing - Structured Light, Stereo and L500
Distance C Equivalent to hello-realsense but rewritten for C users ⭐ Depth Sensing - Structured Light, Stereo and L500
Color C Demonstrate how to stream color data and prints some frame information ⭐ Depth Sensing - Structured Light, Stereo and L500
Capture C++ Shows how to synchronize and render multiple streams: left, right, depth and RGB streams ⭐ Depth Sensing - Structured Light, Stereo and L500 Motion Tracking - T260 and SLAM
Save To Disk C++ Demonstrate how to render and save video streams on headless systems without graphical user interface (GUI) ⭐ Depth Sensing - Structured Light, Stereo and L500 Motion Tracking - T260 and SLAM
Pointcloud C++ Showcase Projection API while generating and rendering 3D pointcloud ⭐ Depth Sensing - Structured Light, Stereo and L500
Pose C++ Demonstrates how to obtain data from pose frames ⭐ Motion Tracking - T260 and SLAM
ImShow C++ & OpenCV Minimal OpenCV application for visualizing depth data ⭐ Depth Sensing - Structured Light, Stereo and L500
Multicam C++ Present multiple cameras depth streams simultaneously, in separate windows ⭐ Depth Sensing - Structured Light, Stereo and L500 Motion Tracking - T260 and SLAM
Depth C Demonstrates how to stream depth data and prints a simple text-based representation of the depth image ⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Spatial Alignment C++ Introduces the concept of spatial stream alignment, using depth-color mapping ⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Advanced Alignment C++ Show a simple method for dynamic background removal from video ⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Measure C++ Lets the user measure the dimensions of 3D objects in a stream ⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Post Processing C++ Demonstrating usage of post processing filters for depth images ⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Record & Playback C++ Demonstrating usage of the recorder and playback devices ⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Motion C++ Demonstrates how to use data from gyroscope and accelerometer to compute the rotation of the camera ⭐⭐ Depth with IMU Motion Tracking - T260 and SLAM
Pose Prediction C++ Demonstrates how to use tracking camera asynchroniously to implement simple pose prediction using librealsense global time ⭐⭐ Motion Tracking - T260 and SLAM
Pose and Image C++ Demonstrates how to use tracking camera asynchroniously to obtain 200Hz poses and 30Hz images ⭐⭐ Motion Tracking - T260 and SLAM
Apriltag Pose C++ Demonstrates how to compute Apriltag pose from T265 fisheye image stream. ⭐⭐ Motion Tracking - T260 and SLAM
AR-Basic C++ Shows how to use pose and fisheye frames to display a simple virtual object on the fisheye image ⭐⭐ Motion Tracking - T260 and SLAM
DNN C++ & OpenCV Intel RealSense camera used for real-time object-detection ⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Tracking and Depth C++ Shows how to use the tracking camera T265 together with a depth camera to display a 3D pointcloud with respect to a static reference frame ⭐⭐ Depth Sensing - Structured Light, Stereo and L500 Motion Tracking - T260 and SLAM
Trajectory C++ Shows how to calculate and render 3D trajectory based on pose data from a tracking camera ⭐⭐⭐ Motion Tracking - T260 and SLAM
Software Device C++ Shows how to create a custom rs2::device ⭐⭐⭐ Depth Sensing - Structured Light, Stereo and L500 Motion Tracking - T260 and SLAM
GL C++ Shows how to perform parts of frame processing using the GPU ⭐⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Sensor Control C++ A tutorial for using the rs2::sensor API ⭐⭐⭐ Depth Sensing - Structured Light, Stereo and L500 Motion Tracking - T260 and SLAM
GrabCuts C++ & OpenCV Simple background removal using the GrabCut algorithm ⭐⭐⭐ Depth Sensing - Structured Light, Stereo and L500
Latency C++ & OpenCV Basic latency estimation using computer vision ⭐⭐⭐ Depth Sensing - Structured Light, Stereo and L500

Community Projects:

  1. OpenCV DNN object detection with RealSense camera
  2. minimal_realsense2 - Streaming and Presets in C
  3. ANDREASJAKL.COM - Capturing a 3D Point Cloud with Intel RealSense and Converting to a Mesh with MeshLab
  4. FluentRealSense - The First Steps to a Simpler RealSense
  5. RealSense ROS-bag parser - code sample for parsing ROS-bag files by @marcovs
  6. OpenCV threaded depth cleaner - RealSense depth-map cleaning and inpainting using OpenCV
  7. Sample of how to use the IMU of D435i as well as doing PCL rotations based on this
  8. realsense-ir-to-vaapi-h264 - hardware encode infrared stream to H.264 with Intel VAAPI
  9. EtherSense - Ethernet client and server for RealSense using python's Asyncore
  10. Unofficial OpenVino example + D400 - example of using OpenVino with RealSense and ROS for object detection
  11. keijiro/Rsvfx - An example that shows how to connect RealSense depth camera to Unity VFX Graph
  12. kougaku/RealSenseOSC - Client-Server project with Processing example for T265
  13. Vimeo Depth Viewer - A RealSense depth viewer using nanogui
  14. PINTO0309/MobileNet-SSD-RealSense - RaspberryPi3 or Ubuntu + Multi Neural Compute Stick(NCS/NCS2) + RealSense D435 + MobileNet-SSD(MobileNetSSD) + Background Multi-transparent(Simple multi-class segmentation) + FaceDetection + MultiGraph + MultiProcessing + MultiClustering
  15. realsenseOnCyber Realsense module Based on Apollo Cyber RT