You can use LibRealSense and OpenCV* to stream RGB and depth data from your connected Intel® RealSense™ camera. This tutorial and code sample shows how to do this, based on the Ubuntu* operating system. In the end you will have a nice starting point where you use this code base to build upon to create your own LibRealSense / OpenCV applications.
Learn core concepts of developing OpenCL™ applications with Intel® SDK for OpenCL™ Applications 2019.
NOTE: The Intel® Distribution of OpenVINO™ toolkit was formerly known as the Intel® Computer Vision SDK
OpenVINO™ 2019 R3.1 Release