IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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Color sensor stream sometimes work at 15 fps when stream profile is set to 30 fps #13435

Open jeferal opened 1 week ago

jeferal commented 1 week ago
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:

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 commented 1 week ago

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 commented 2 days ago

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