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vstadnytskyi / intel-realsense-devices

BSD 3-Clause "New" or "Revised" License
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Config files - add frames per second per channel #27

Open vstadnytskyi-FDA opened 2 years ago

vstadnytskyi-FDA commented 2 years ago

Depending on Intel realsense depth camera we can pick difference FPS for different channels. I propose we redesign configuration file and make it nested. In addition, to standard fields, I propose to have: FPS, buffer length,

Here is an example of a section of config file:

channels:

  - #<-this is first entry in the channels list
    type: depth
    fps: 30
    buffer_length: 30

  - #<-this is second entry in the channels list
    type: color
    fps: 30
    buffer_length: 30

  - 
    type: infrared
    fps: 30
    buffer_length: 30

  - 
    type: accel
    fps: 250
    buffer_length: 30000

  - 
    type: gyro
    fps: 400
    buffer_length: 30000

Let us discuss.

I propose we split each stream(channel) in a different entry in the configuration file and assign different circular buffers and different FPS to each channel. It will provide more flexibility in future development. Though, it would add a little bit more coding.

in addition, it will allows to configure L515 camera differently from D435i camera based on config file. For example, there is no "infrared" channel in D435i or D455 cameras but it is present in L515. Adding channels to configuration file would provide needed flexibility.

What do you think? @AbdelRahmanNasser20

AbdelRahmanNasser20 commented 2 years ago

I can start working on that but I have a question. How does the d435i not have a infrared channel but it can display a infrared image? is it mixed with another channel?

vstadnytskyi-FDA commented 2 years ago

I can start working on that but I have a question. How does the d435i not have a infrared channel but it can display a infrared image? is it mixed with another channel?

I did not know it has infrared image. I am curious to see how it looks. Last time I tried, I could not start device class for D455 camera because of gyroscope or accelerometer settings. I have hard-coded FPS into configuration file, but later I learned that two cameras have different framerate for gyro(accel).

AbdelRahmanNasser20 commented 2 years ago

I can start working on that but I have a question. How does the d435i not have a infrared channel but it can display a infrared image? is it mixed with another channel?

I did not know it has infrared image. I am curious to see how it looks. Last time I tried, I could not start device class for D455 camera because of gyroscope or accelerometer settings. I have hard-coded FPS into configuration file, but later I learned that two cameras have different framerate for gyro(accel).

All you have to do connect the camera and change serial number in the config file and run the live stream test and you will be able to see it.

AbdelRahmanNasser20 commented 2 years ago

I don't have a D455 camera. Can you please confirm that it has a infrared channel.