examples

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

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. realsense-depth-to-vaapi-hevc10 - hardware encode depth stream to 10 bit HEVC with Intel VAAPI
10. EtherSense - Ethernet client and server for RealSense using python's Asyncore
11. Unofficial OpenVino example + D400 - example of using OpenVino with RealSense and ROS for object detection
12. keijiro/Rsvfx - An example that shows how to connect RealSense depth camera to Unity VFX Graph
13. kougaku/RealSenseOSC - Client-Server project with Processing example for T265
14. Vimeo Depth Viewer - A RealSense depth viewer using nanogui
15. 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
16. realsenseOnCyber Realsense module Based on Apollo Cyber RT
17. Raspberry Pi Handheld 3D Scanner by Frank Zhao
18. Erwhi Hedgehog by Giovanni Bruno - Open-Source Hardware and Software design featuring Intel RealSense, UP-Squared and Intel Movidius technologies