Using callbacks for streaming multiple streams.

Yixun Liu

February 22, 2024 03:17

Hi,

I want to use the rs callback to stream synchronized color and depth stream, gyro stream and accel stream. I check the example from:

librealsense/examples/callback at master · IntelRealSense/librealsense · GitHub

I want to know

1. How to configure the pipeline to make the color and depth stream synchronized?

2. Is the callback called in several sensor threads or just in one thread?

Thanks.

Yixun

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3 comments

MartyG

February 22, 2024 07:51
Hi Yixun Liu Thanks very much for your questions.

1. When the depth and color FPS match then sync between the streams should automatically kick in if auto-exposure is enabled. Disabling the RGB setting Auto-Exposure Priority will help to achieve tis match by enforcing a constant FPS for both stream instead of permitting FPS to vary, as advised at the link below.

https://github.com/IntelRealSense/librealsense/issues/5675#issuecomment-576012704

An example of C++ code for disabling Auto-Exposure Priority can be found here:

https://github.com/IntelRealSense/librealsense/issues/7285#issuecomment-693179828

2. The documentation for the rs-callback example program refers repeatedly about executing on a thread (singular) rather than threads (multiple), indicating that rs-callback is a single-thread application.

https://github.com/IntelRealSense/librealsense/tree/master/examples/callback
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Yixun Liu

February 23, 2024 02:08
Are all enabled streams synchronized When I call m_pipeline.wait_for_frames()？
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MartyG

February 23, 2024 11:32
When the wait_for_frames() instruction is used, the RealSense SDK will attempt to find the best match between the depth and color sensors.

https://github.com/IntelRealSense/librealsense/issues/1548#issuecomment-389070550
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