Color sensor stream sometimes work at 15 fps when stream profile is set to 30 fps

[jeferal]

Required Info
Camera Model	D400
Firmware Version	05.13.00.50
Operating System & Version	Ubuntu
Kernel Version (Linux Only)	6.4.6-rt8
Platform	PC
SDK Version	2.50.0
Language	C++
Segment	Robot

Hello, I noticed that when I enable the following streams in a D455 camera with the C++ API using the rs2::pipeline: Color: BGR8 640x360@ 30Hz Depth: Z16 640x360@ 60Hz Infra1: Y8 640x360@ 60Hz Infra2: Y8 640x360@ 60Hz

Accel 200fps Gyro 400fps

Then I notice that the color frequency fluctuates and it sometimes is 15fps and some other times is 30 fps. I have the following questions:

• How can I ensure a constant frequency of 30fps in the color stream when using all these streams?
• Is this a known issue?

I am also enabling auto exposure in the color stream and setting the auto exposure priority to 0 in the color stream to try to get constant fps.

Thank you very much in advance for your help.

[MartyG-RealSense]

Hi @jeferal Sync between the depth and RGB streams should automatically kick in when both streams have the same FPS. So please try increasing RGB FPS to 60 to see whether having the same FPS for both depth and RGB improves stability.

[MartyG-RealSense]

Hi @jeferal Do you require further assistance with this case, please? Thanks!