You can learn how to program the Intel® RealSense™ Development Kit Featuring the ZR300 on the Intel® Joule™ Development Kit by using Intel® RealSense™ SDK for Linux* samples. These samples show you how to use the Simultaneous Localization And Mapping (SLAM), Person Tracking, and Object Recognition APIs.
See the Intel RealSense SDK for Linux ROS Samples to get started.
The libraries of the SLAM, Person Tracking, and Object Recognition modules aren't open source. They are Intel intellectual property. The rest of the Intel RealSense SDK for Linux is open source.