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Intel® RealSense

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We have created this unofficial pointcloud example to demonstrate how to view live pointcloud stream in Matlab. It is very basic and does not map color. Mapping of color is still a work in progress. This is provided only to get you started. Matlab and Intel RealSense SDK 2.0 knowledge is required.


function pointcloud_example()
    % Make Pipeline object to manage streaming
    pipe = realsense.pipeline();
    pointcloud = realsense.pointcloud();

    % Start streaming on an arbitrary camera with default settings
    profile = pipe.start();

    % Get streaming device's name
    dev = profile.get_device();
    name = dev.get_info(;

    % Get frames. We discard the first couple to allow
    % the camera time to settle
    for i = 1:5
        fs = pipe.wait_for_frames();
    %hold on
    for i = 1:1000
        fs = pipe.wait_for_frames();
        % Select depth frame
        depth = fs.get_depth_frame();
        color = fs.get_color_frame();

        % Produce pointcloud
        if (depth.logical() && color.logical())

            points = pointcloud.calculate(depth);
            % Adjust frame CS to matlab CS
            vertices = points.get_vertices();
            X = vertices(:,1,1);
            Y = vertices(:,2,1);
            Z = vertices(:,3,1);

            plot3(X,Z,-Y,'.'); %hold on;            

            xlim([-1 1])
            ylim([0.3 2])
            zlim([-1 1])
            xlabel('X axis');
            ylabel('Y axis');
        % pcshow(vertices); Toolbox required       

     % Stop streaming


  • RealSense software tools do not recognize the camera at all.
  • Cannot see streams--Depth, IR, RGB--or streams are not available in RealSense Viewer or other application.


Possible Causes

  • Camera is not connected to a USB 3 port
  • Faulty installation of librealsense
  • Unsupported Linux kernel



  • Connect the camera to a USB 3 port.
  • Upgrade the camera's firmware.
  • USB 2.0 is supported but fewer streams are available. See the datasheet for RealSense D400 Depth cameras for more information on supported streams when connecting the camera to a USB 2 port.
  • Patch the kernel as needed following these instructions.
  • See this page for more Troubleshooting information.


Collect logs

  • Plug in the RealSense Camera D4xx into a USB port, open a terminal, and type:

               i.   "lsusb -v | tee lsusb_4xx.log"

             ii.   "dmesg | tee dmesg_4xx.log"

  • Contact Intel Customer Support and attach log files to case.

We have seen many questions from customers who want to customize their Intel® RealSense™ D400 Series Modules with extra RGB sensors, fisheye cameras, tracking modules, etc, by connecting them to the 50-pin receptacle on the module. These customizations are not supported by Intel since they require camera firmware changes and Intel does not open-source the firmware.


The 50-pin receptacle was meant for integration with the T150 tracking module. However, the T150 tracking module has been discontinued (see the latest datasheet) so it is not available for purchase anywhere.

The multi-camera hardware sync feature of the Intel® RealSense™ D415 cameras is now available via the following firmware, v5.9.14.


This feature does not yet work on the Intel RealSense D435 camera. Support for the D435 is coming in the future but we do not have a timeline yet.


Note that this is development firmware so some features have not been fully validated by Intel. Do not use this FW in production builds.

Issue:  RealSense Viewer or other Windows camera apps do not recognize the Intel RealSense D415 or D435 Depth Cameras.


Possible Symptoms:

  • Only one node, RGB or Depth, is shown under Imaging Devices.
  • Only one node, RGB or Depth, is shown in RealSense Viewer from RealSense SDK 2.0.


Cause: Windows driver for the Intel® RealSense™ D415 and D435 Depth Cameras does not install correctly.


Possible Solutions:

  • Reboot the PC.
  • Plug-in camera into different USB3.0 port on same PC.
  • Plug-in camera into a USB3.0 port on different PC.
  • Uninstall and reinstall camera drivers and Windows UVC drivers.


To uninstall camera drivers

  1. Find camera nodes in Device Manager -> Imaging Devices.
  2. Right click on desired node.
  3. Select Uninstall Device.

Uninstall 1.PNG

   4. Select box for "Delete the driver software for this device."

Uninstall 2.PNG

   5.  Uninstall device under "Universal Serial Bus devices."

Uninstall 3.PNG

   6.  Uninstall device under "Cameras."

Uninstall 4.PNG

   7.  Reboot the PC and/or disconnect and reconnect the camera to the same or different USB 3 port.


If these workarounds don't work you may have a faulty camera that needs to be replaced.

Hi everyone,


Though this is not a RealSense product, you may be interested in considering Intel's new Alexa-compatible Speech Enabling Developer Kit as a part of a project that you are developing that contains RealSense elements.  It is listed now for pre-order on the Intel Click store.  Please note that it currently only ships to the United States.


Intel® Speech Enabling Developer Kit - Intel® Speech Enabling Developer Kit


SDK 2.0 Build 2.81 Released

Posted by MartyG Nov 1, 2017

Hi everyone,


Build 2.81 of RealSense SDK 2.0 is now available for download.  The latest feature in this version is:


rs2_start_processing_queue - "a convenience function that lets the user target the output of a processing block (for example align) directly into a frame_queue.  This helps in languages where function pointers are not available, such as LabView".


Full Mac OSX support for the complete range of SDK features is not in this build, although there is OSX support for color, depth and IR streams.


librealsense/ at master · IntelRealSense/librealsense · GitHub


The release notes and download links can be found here:


Releases · IntelRealSense/librealsense · GitHub

Hi everyone,


Recently there have been a couple of cases where users could not get the OpenCV example in SDK 2.0's Getting Started guide to work.  This was because the script referenced a file called rsutil.hpp that did not exist.


Progress towards fixing this is being made.  The instructions have now been updated, replacing this file with a new include.


// include OpenCV header file

#include <opencv2/opencv.hpp>


The new include reference (the file opencv.hpp in a folder called opencv2) is apparently not in the file structure of version 2,80 of SDK 2.0, so will probably be introduced in the next release.


librealsense/ at development · IntelRealSense/librealsense · GitHub

Hi everyone,


I wanted to share the progress on my company's PC game 'My Father's Face', which can make use of RealSense cameras with hand and face tracking.  The video below showcases the opening natural controls tutorial and a small number of the interaction possibilities with those controls in the first section of the game (operating light switches, sink taps, shower, etc).


I apologize for the slowness, camera view glitches and apparent control awkwardness in some parts.  The game is normally super smooth even on low specification, non-gaming laptops with integrated graphics.  The video was recorded on such a laptop, but the video recording software was consuming significant processing resources, hence the slowdown.  I hope that you still enjoy it, and see the possibilities for similar advanced full-body controls in your own projects. 



Some of the game's RealSense mechanisms are documented in the extensive range of step by step guides I have published, listed at this link:


Index of Marty G's RealSense Unity How-To Guides


Whilst the fully realistic body controls shown in the video are possible to create using the standard capabilities supplied with the RealSense SDK, I created my own advanced custom animation system for the game called CamAnims, the principles of which are described here:


Using The 'CamAnims' Real-Time Game Animation Technique

Hi everyone,


A new article has been published about using RealSense cameras to build a mobile robot.


Build an Autonomous Mobile Robot with the Intel® RealSense™ Camera, ROS*, and SAWR | Intel® Software


The above project currently uses R200 or ZR300 cameras, but can be easily upgraded to the new D-cameras, according to the author.

Hi everyone,


The latest version (2.80) of the new RealSense SDK 2.0 is now available for download. Among the new features are ROS support, preliminary node.js integration and also a Depth Quality Tool that can be run as a pre-made executable


Release Intel® RealSense™ SDK 2.0 (build 2.8.0) · IntelRealSense/librealsense · GitHub


Please also note that in 2.80, the names of some of the API commands have also been changed.  For example, rs2_stop_pipeline and rs2_start_pipeline are now rs2_pipeline_stop and rs2_pipeline_start  (these two changes in particular make the commands fit neatly within the naming convention of the rs2_pipeline class).  See the 'API Changes' link in the release notes (below) for the full list of changes.


The release notes can be read here:


Release Notes · IntelRealSense/librealsense Wiki · GitHub


30 Oct Edit: the current status of Mac OSX support in SDK 2.0 has been updated.


librealsense/ at master · IntelRealSense/librealsense · GitHub

Hi everyone,


I had a faulty SR300 for months that began working perfectly again.  After going through everything I'd done today that might have changed its condition, I found the answer, and confirmed that it was what was making the camera work (as it would only stream when this solution was active).


Here's the tech details:


* Acer Aspire Es 15 laptop with USB 3.0

*  An unpowered USB 2.0 4-port hub

*  An Android tablet

*  A Micro USB tablet charging cable

*  RealSense SR300 camera plugged into the USB port on the back of the laptop (not the hub)


With the SR300 plugged into the USB port on the back of the PC, I connected the Android tablet to the USB 2.0 unpowered hub via the Micro USB cable with the tablet switched off, so that it entered battery charging mode.


For the duration that the tablet is in charging mode, the SR300 camera is fully functional in every way.  As soon as the tablet is disconnected from the USB 2.0 hub and its charging ceases, the SR300 stops working.


If people having problems with their SR300 also are fortunate enough to own a tablet (or some other USB chargeable device), I recommend giving the above process a try.  There's nothing to lose!


Edit: the process seems to require that the device being charged has less than 100% charge on it.  If the device does not allow the charging process to proceed because the battery is full then the SR300 camera signal cuts out.


Edit 2: 24 hours after the initial posting of this article, the SR300 camera is still functioning exactly according to the rules above, and the point about connected devices needing to have less than 100% charge in order for the camera to work normally is verified.

Hi everyone,


The RealSense D415 and D435 cameras and their ship to countries are now listed on the Intel Click online store, though the cameras are not listed as in stock yet.


Intel® RealSense™ Developer Kits

Hi everyone,


The RealSense ZR300 camera model is joining the R200 and SR300 in being discontinued from availability. The new RealSense D435 camera will be the ZR300 model's successor, and the focus of the RealSense range will be the D415 and D435 cameras, and the new open source cross-platform RealSense SDK 2.0 software.


If you are thinking of purchasing a ZR300 Developer Kit camera then you should please do so whilst stocks last in the Intel Click online store.


Intel® RealSense™ Developer Kits


Thank you.

Hi everyone,


A number of people in the past have wanted to be able to use the Faceshift software with RealSense but it did not work with modern RealSense SDK setups.  ppaneter kindly provided a precise configuration though that allowed Faceshift to work with the SR300 camera, and MrPMorris has confirmed the method works for them.  Thanks guys!


Re: SR300 not working with Asus laptop