Intel RealSense SDK 2.0 (librealsense)

The official open-source driver and development library for RealSense depth cameras, handling capture, alignment, and point clouds.

RealSense SDK 2.0 is the open-source library librealsense, the official software development kit for RealSense depth cameras (such as the D435i and D405), originally released by Intel, supporting Linux, Windows, and macOS. It connects to the camera and reads its color, depth, infrared, and IMU (inertial measurement unit) data streams, and provides post-processing filters for aligning depth to color, generating point clouds, and hole filling, along with the realsense-viewer visualization and debugging tool. It's mainly written in C++, with a Python interface, pyrealsense2, and a ROS wrapper, realsense-ros. Embodied-AI labs use RealSense heavily as both wrist cameras and third-person cameras, so this library shows up constantly in both data collection and policy deployment.

ExampleOpen a D435i with pyrealsense2, align the depth image to the color image, back-project it into a point cloud, and feed that to a 3D diffusion policy as input.

Also called

librealsense, realsense-ros, pyrealsense2

Related

RealSense Depth Camera (D435i / D405) · Depth Camera (RGB-D Camera) · Depth-to-Color Alignment (Depth Registration) · Point Cloud · Camera Intrinsics · Driver (device driver)

Sources

IntelRealSense/librealsense (GitHub)
IntelRealSense/realsense-ros (GitHub)