Closed yashmanian closed 5 years ago
[Realsense Customer Engineering Team Comment] Hi @yashmanian,
Still need any support for this topic?
I have a solution working, but I would like to learn about the rs2::asynchronous_syncer. I still haven't found any good documentation about this. It would be great if you could point me in the direction of some
I agree we still need to improve the documentation regarding the syncer.
There are many aspects to this topic:
timestamp_domain
of frames, it should be HARDWARE_CLOCK
. Exposure Priority
option on the color sensor.syncer
classsyncer
object is designed to abstract all these hardware details and just do the right thing for whatever device you throw at it. It will get the device from input frames, and ask the device for the preferred synchronization schemesyncer
performance is by recording object in motion, and visually examining the object in matched frames.syncer
class exposes blocking wait_for_frames
API.asynchronous_syncer
comes into play (I know, terrible name)syncer
can decide to output a single frame when it knows no match is going to be found. (one example is when the match was lost due to frame-drop, another is non-matching frame-rates) This makes working with the syncer a bit tricky, because you need to always check if you got a match or a single frame.pipeline
is doing. In case of no-match it will expand the frameset with older frames. Pipeline is adding an extra processing block that was recently renamed to aggregator
for this exact purpose. Apologize for the delayed response, let me know if you have any questions.
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Issue Description
I am trying to asynchronously get access to frames from the camera. I am defining both the depth and color sensor separately, and I am using the sensor.start() callback to pass in an object that will asynchronously grab frames for me. The problem is that I am unable to get the color and depth frames at the same time. Meaning the frame index on the color frame will be one behind the depth sensor. I was previously told that I could use the rs2::asynchronous_syncer to pass in sensor objects, and it will get me a synced frameset via asynchronous callback. The post can be found here: https://github.com/IntelRealSense/librealsense/issues/2647 I have been unable to find any documentation on using this function to sync frames. It would be great if someone could point me in the direction of more descriptive documentation, suggest an alternative to my problem.