OpenCV/opencv/samples/cpp/videocapture_realsense.cpp

#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/imgproc.hpp"

using namespace cv;
using namespace std;

int main()
{
   VideoCapture capture(CAP_INTELPERC);
   for(;;)
   {
      Mat depthMap;
      Mat image;
      Mat irImage;
      Mat adjMap;

      capture.grab();
      capture.retrieve(depthMap,CAP_INTELPERC_DEPTH_MAP);
      capture.retrieve(image,CAP_INTELPERC_IMAGE);
      capture.retrieve(irImage,CAP_INTELPERC_IR_MAP);

      normalize(depthMap, adjMap, 0, 255, NORM_MINMAX, CV_8UC1);
      applyColorMap(adjMap, adjMap, COLORMAP_JET);

      imshow("RGB", image);
      imshow("IR", irImage);
      imshow("DEPTH", adjMap);
      if( waitKey( 30 ) >= 0 )
         break;
   }
   return 0;
}