Intel RealSense SDK 2 (librealsense2) Sample Program

Intel RealSense

RealSense Depth Camera D400 Series

RealSense Depth Camera is RGB-D sensor released from Intel.
Currently, the RealSense D400 series that loaded active IR stereo is now on sale. (RealSense Depth Camera D415RealSense Depth Camera D435)

RealSense D415
RealSense D435

The mainly specs of RealSense D400 series are as follows.

RealSense D415 RealSense D435
Environment Indoor and Outdoor Indoor and Outdoor
Color Resolution@fps*1 1920×1080@30fps
FOV(Horizontal×Vertical) 69.4°x42.5° (+/-3°) 69.4°x42.5° (+/-3°)
Sensor Technology Rolling Shutter Global Shutter
Depth Resolution@fps*1 1280×720@30fps
FOV(Horizontal×Vertical) 63.4°x40.4° (+/-3°) 85.2°x58.0° (+/-3°)
Distance Range*2 0.16m-10.0m 0.11m-10.0m
Sensor Technology Active IR Stereo Active IR Stereo
Connector USB 3.0 (USB 3.1 Gen1) Type-C USB 3.0 (USB 3.1 Gen1) Type-C
OS Windows, Linux, MacOS Windows, Linux, MacOS

1 Part of combination of resolution and frame rate.
2 Accuracy varies depending on calibration, scene, and lighting conditions.

In comparison with Microsoft Kinect, RealSense D400 series have these features “Can be used indoors and outdoors”, “Working with USB bus-power”, and “Small size” in addition to improve basic specs.
Also, RealSense D400 series can be easily used by only connecting to PC, because it is UVC (USB Video Class) device.

RealSense SDK 2.x (librealsense 2.x)

RealSense D400 series uses RealSense SDK 2.x to develop applications. (“RealSense SDK 2.x” and “librealsense 2.x” refer to the same thing.)
It has not compatible with the RealSense SDK 1.x and librealsense 1.x used in the previous RealSense Depth Camera (F200, R200, LR200, ZR300).

RealSense SDK 2.x (librealsense 2.x) is an open source library.
It supports various languages such as C, C ++, Python, .NET (C #), JavaScript (Node.js). And, It also supports tools such as Unity and ROS.
But, It is not implemented these features “posture estimation of people, hands, faces, etc.”, and “3D restoration” yet. If you want to use these features, you need to implement them yourself.

If you need human area detection and human pose estimation with RealSense D400 series, You can consider to use NuiTrack.

RealSense SDK 2.x Sample Program


I has published sample programs of RealSense SDK 2.x (librealsense 2.x) written in Native C++. This sample program will cover basic features.

  • Color
  • Depth
  • Infrared
  • Disparity
  • Align
  • Record
  • PointCloud
  • Multi
RealSense Color
RealSense Depth
RealSense PointCloud


This sample program is published in following.

Development Environment

You can development in following environments.
I recommend following environments.*3

*3 I recommend using tools and libraries of latest stable release.

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