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PCL Samples for Intel® RealSense™ cameras

Examples in this folder are designed to complement existing SDK examples and demonstrate how Intel RealSense cameras can be used together with PCL (Point-Cloud Library).

List of Samples:

  1. PCL - Minimal Point-cloud viewer that includes PCL processing
  2. PCL-COLOR - Point-cloud viewer that includes RGB PCL processing

Getting Started:

This page is certainly not a comprehensive guide to getting started with PCL, but it can help get on the right track.


  1. Download and install CMake from
  2. Donwload prebuilt binaries for PCL (official link). For Visual Studio 2015 / 2017, use the following link.
  3. Follow the installation procedure:

  1. Open the Command Prompt and execute:
set PCL_ROOT="C:\Program Files (x86)\PCL 1.8.1"

Or if you have install the 64-bit version:

set PCL_ROOT="C:\Program Files\PCL 1.8.1"
  1. If you had Visual Studio openned, please restart it to make sure new environment variables are in effect.

  2. Clone or download librealsense sources from into a local directory (C:/git/librealsense)

  3. Run cmake-gui and fill source code and binaries locations and press Configure

  4. Make sure ``BUILD_SHARED_LIBS` is checked (linking to librealsense staticly will cause problems with PCL linkage)

  5. Check the BUILD_PCL_EXAMPLES flag and click Configure again:

  1. Click Generate and Open Project
  2. Locate PCL solution-folder under Examples

  1. Right-click on one of the examples to Set as StartUp Project
  2. Press F5 to compile and run the example


  1. Install PCL from official PPA:
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all
  1. Follow the instructions to build librealsense from source
  2. Add -DBUILD_PCL_EXAMPLES=true to your cmake command
  3. Run ./wrappers/pcl/pcl/rs-pcl or just rs-pcl if you have previously executed sudo make install

The demo seem to Seg-Fault in Debug configuration. This is very troubling, but it seem to be somewhat of a known issue with PCL. As a work-around add -DCMAKE_BUILD_TYPE=RelWithDebInfo to your cmake command

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