LibMultiSense Documentation

LibMultiSense is a C++ library used to interface with the MultiSense S family of sensors from Carnegie Robotics. For more information on the various MultiSense products please visit

LibMultiSense was previously hosted as a Mercurial repository on Bitbucket with the following URL:



LibMultiSense uses CMake for its build system.

To build the standalone LibMultiSense library and demonstration applications.

> git clone
> cd LibMultiSense
> mkdir build
> cd build && cmake -DCMAKE_INSTALL_PREFIX=../install ..
> make

To build the standalone LibMultiSense library without the demonstration applications, set the cmake variable -DMULTISENSE_BUILD_UTILITIES=OFF

Integrating LibMultiSense into an existing CMake project is easy. Simply clone the LibMultiSense repository into the existing project's source tree. In the main CMakeLists.txt file of the project, add the following lines:



LibMultiSense uses CMake to create a Microsoft Visual Studio project file used to build the LibMultiSense DLL.

Download and install CMake on Windows (, making sure CMake is included included in the system PATH.

Clone LibMultiSense to the Windows machine using a Windows Git client.

Open a command prompt and execute the following commands:

> cd <LibMultiSense_checkout_directory>
> mkdir build
> cd build
> cmake ..

This will create a LibMultiSense.sln Visual Studio Solution file in the build directory. Open the solution file with Visual Studio ( and build the Solution.

Documentation and Examples

LibMultiSense builds as a single shared library which can be linked into any existing project.

The two header files MultiSenseChannel.hh and MultiSenseTypes.hh contain all the declarations necessary to interface with a MultiSense sensor.

Doxygen documentation can be built for LibMultisense by runnning the Doxygen configuration file located in the docs directory

> cd LibMultiSense/docs
> doxygen Doxyfile

Html and LaTex documentation will be generated in the docs directory.

Usage examples are included in the Doxygen documentation.


To report an issue with this library or request a new feature, please use the GitHub issues system

For product support, please see the support section of our website Individual support requests can be created in our support portal