Depth Camera Latency
I've used the latency tool to determine that the mean latency for the infrared sensor on my D455 running at 90 fps is 35 ms. Since the depth image is created by combining the left and right synchronized infrared images, am I correct to assume that the depth latency is greater than the infrared latency? If so, by approximately how much would this be?
There doesn't seem to be an easy way to measure the latency of the depth camera. One idea I had for a test is to bounce a ball against a surface, recording both the depth camera feed as well as the ball itself with another high fps camera. By analyzing the video frame by frame, I can determine the time between the bounce occurring in real life and in the depth feed. However, it can be difficult to tell at which exact frame the bounce occurs in the depth feed. Any ideas would be appreciated!
This document (https://dev.intelrealsense.com/docs/high-speed-capture-mode-of-intel-realsense-depth-camera-d435#45-latency) mentions that the depth latency should be close to the frame time (1/FPS). Unless this is talking about the additional processing time to get the depth image on top of the infrared latency, I'm not sure how this makes sense.
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Hi Harry Ty Hu The depth image is not constructed from the infrared streams that are accessible to RealSense users, but is instead constructed from raw infrared frames inside the camera hardware at the 'point of capture' (before images are transmitted through the USB cable to the computer).
You can profile camera performance at this 'low level' using the rs-data-collect tool.
https://github.com/IntelRealSense/librealsense/tree/master/tools/data-collect
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