realsense-cpp

This project shows integrating a RealSense camera with a LiveKit room and recording the data to an MCAP file using Foxglove Protobuf schemas.

NOTE: This project has only been tested on MacOS and Linux.

This repo does not use ROS.

Setup

Generate the protobuf sources and fetch the non-LiveKit dependencies:

./setup_realsense.sh

Build

Use the project build helper:

./build.sh

You can also pin a specific prebuilt LiveKit SDK version:

./build.sh -DLIVEKIT_SDK_VERSION=0.3.0

Use a locally built LiveKit SDK when no prebuilt release exists for your platform.

First, install the SDK into a local prefix from the SDK build tree:

cmake --install <sdk-build-dir> --prefix ~/livekit-sdk-local

Then point this project at that prefix:

./build.sh -DLIVEKIT_LOCAL_SDK_DIR=$HOME/livekit-sdk-local

Executables

• realsense_to_mcap: standalone test utility that records RGB + depth directly from a RealSense camera to realsense_to_mcap.mcap. It is useful for verifying the RealSense capture path and MCAP serialization without using LiveKit.
• realsense_publisher: main publisher participant. It captures RealSense RGB + depth, publishes RGB as a LiveKit video track, and publishes depth data as a LiveKit data track.
• mcap_recorder: subscriber/recorder participant. It connects to the same room, subscribes to the published RGB + depth tracks, and writes the received data back out to an MCAP file.

NOTE: On macOS you may need to run executables with sudo