L515 does not stream infrared when enabling depth stream

Hi,

I'm trying to stream both images streams and motion.

totally 5 streams:

1. depth

2. infrared

3. confidence

4. gyro

5. accel

this is my configuration:

_camera_config.enable_stream(rs2_stream::RS2_STREAM_INFRARED, _config.width, _config.height, RS2_FORMAT_Y8, _config.fps);

_camera_config.enable_stream(rs2_stream::RS2_STREAM_DEPTH, _config.width, _config.height, RS2_FORMAT_Z16);

_camera_config.enable_stream(rs2_stream::RS2_STREAM_CONFIDENCE, 0, _config.width, _config.height, RS2_FORMAT_RAW8);

_camera_config.enable_stream(rs2_stream::RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F);

_camera_config.enable_stream(rs2_stream::RS2_STREAM_GYRO, RS2_FORMAT_MOTION_XYZ32F);

and this is how I'm starting the pipe:

rs2::pipeline_profile profile = _pipe.start(_camera_config, [this](const rs2::frame &frame)

{

std::cout << frame.get_profile().stream_type() << std::endl;

});

with this configuration I'm not getting any infrared frames.

If I'll comment out the depth enabling so I will get infrared frames.

for some reason any combination of streaming which is includes depth streaming hiding the infrared frames.

I've updated the firmware of the camera and Im paying attention that the USB cable is being recognize as USB 3 and not 2.

the problem is the same in windows and linux.

the intel realsense viewer does show both infrared and depth.

thanks

any help?

Jesus Garcia

April 13, 2021 19:14

Hello Asaf,

I'm not sure but I think the problem is that you can't get both infrared and depth using the frame callback with pipe.start. If you use pipe.wait_for_frames() you will get both stream types.

I am checking with engineering on this.

Sincerely,
Jesus G.
Intel Customer Support

Asaf Anter

April 13, 2021 19:25

Thanks for the response,

Before I needed gyro and accelometer(motion frames) I used the pipe.wait_for_frames() method but later when I want to receive motion frames as well, I miss motion frames since the motion frames frequency is much faster than the images frames frequency.

when I printed the frame number for each stream I saw that the depth, infrared and confidence frames are perfectly synchronized and are incremented by 1 which is great but the gyro and the accel frame number increment by 7 or 10(it make sense because of the frequency difference).

If it's possible to get all these frames with pipe.wait_for_frames(), so I expect that the function return with a rs2::frameset, and it will contains a batch of frames of gyro and accel so I will have no frame drops

Is there any way to do that?

L515 does not stream infrared when enabling depth stream

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