Intel RealSense Depth Camera Code Sample - R200 Camera Streams

Published Date
10 - Dec - 2015
| Last Updated
08 - Feb - 2016
Intel RealSense Depth Camera Code Sample – R200 Camera Streams


This downloadable code sample demonstrates the basics of capturing and viewing raw R200 camera streams in C#/XAML using the Intel® RealSense™ SDK for Windows*. The Visual Studio* solution is actually comprised of four simple projects (each under 200 lines of code):

  • ColorStream – Displays the color stream from the RGB camera
  • DepthStream – Displays the depth stream
  • IRStreams – Displays the left and right IR camera streams
  • AllStreams – Shows all of the above in a single window (Figure 1)

Figure 1. All Streams Code Sample

Software Development Environment

The code sample was created on Windows® 10 RTM using Microsoft Visual Studio Community 2015. The project template used for this sample is Visual C# – Windows – Classic Desktop.

The SDK and DCM versions used in this project are:

  • Intel® RealSense™ SDK                                                       v6.0.21.6598
  • Intel® RealSense™ Depth Camera Manager R200              v2.0.3.39488

Hardware Overview

For this development work we used the Intel® RealSense™ Developer Kit (R200), which includes the camera, USB3 cable, and a magnetic adhesive mount for attaching the camera to a laptop computer (Figure 2).

Figure 2. Intel® RealSense™ Developer Kit (R200)

The hardware requirements for running the R200 code sample are as follows:

  • 4th generation (or later) Intel® Core™ processor
  • 150 MB free hard disk space
  • 4GB RAM
  • Intel® RealSense™ camera (R200)
  • Available USB3 port for the R200 camera (or dedicated connection for integrated camera)

Important Note: A USB3 interface is required to support the bandwidth needed by the camera. This interface must be connected to a dedicated USB3 port within the client system (do not use a hub).

About the Code

The Visual Studio solution consists of four WPF projects developed in C#. These projects use an explicit path to libpxcclr.cs.dll (the managed DLL):
C:\Program Files (x86)\Intel\RSSDK\bin\x64

Note that this reference will need to be changed if your SDK installation path is different.

Since we are referencing the 64-bit version of the DLL, you must also ensure that “x64” is specified under the Project → Properties → Platform target setting.

To build and run a particular project, right-click on the project name (e.g., AllStreams) in Solution Explorer, then select Set as StartUp Project from the menu options.

All of the projects contained in the CameraStreams solution have a similar structure:

  • Configure the Session and SenseManager interface.
  • Start a worker thread named Update, in which the AcquireFrame-ReleaseFrame loop is processed.
  • The following actions take place inside the AcquireFrame-ReleaseFrame loop:
  • Get image data.
  • Call the Render method to update the UI.
  • Release resources.
  • Release the frame.
  • The following actions take place inside the Render method:
  • Call the ConvertBitmap method to convert each bitmap frame to a BitmapImage type, which is required for displaying each frame in the WPF Image control.
  • Update the UI by delegating work to the Dispatcher associated with the UI thread.
  • A ShutDown method is called whenever the Window_Closing or btnExit_Click events fire. The following actions take place inside the ShutDown method:
  • Stop the Update thread.
  • Dispose objects.

Check It Out

Follow the Download link to get the code and experiment with this sample.

About Intel® RealSense™ Technology

To get started and learn more about the Intel® RealSense SDK for Windows, go to

For more such Android resources and tools from Intel, please visit the Intel® RealSense™ Developer Zone

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