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How to trigg the realsense d415 ?

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Romain Raimbault

Hi everyone,

 

I'm using the realsense d415 for a project and I want to synchronyze it with others external sensors (that are not realsense cameras). I bought the require connector part and did measurements with an oscilloscope to determine what is the real frame rate of the camera. 

I read this document : https://simplecore.intel.com/realsensehub/wp-content/uploads/sites/63/Multiple_Camera_WhitePaper04.pdf

My first question is how to set the master/slave mode ?

My second question is how to trigger the realsense with an external hardware sync ? I saw the realsense generate one pulse per frame (pin 5), but how it can receive a pulse? Is there a specific configuration ? 

 

Thank you for your help

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  • MartyG
    • Edited

    If you are using the RealSense Viewer program, and you are not using a RealSense camera as your master camera for triggering, then you can set a camera or cameras to Slave by going to the 'Inter Cam Sync Mode' option in the Viewer's options side-panel and entering the value '2' into the option's text box.  The option can be found under the 'Controls' category.

    If you are using your own script, slave mode can be set with the instruction RS2_OPTION_INTER_CAM_SYNC_MODE like in the example below:

    depth_sensor.set_option(RS2_OPTION_INTER_CAM_SYNC_MODE, 2);

    A camera that is set to Slave will listen for a sync pulse, and then trigger itself unsynced if it does not detect a pulse within a certain time-frame.

    The Chief Technical Officer (CTO) of the RealSense Group at Intel has said: ""You can make a wireless version [of the sync cabling] yourself if you have a longer range as it is simply a sync pulse that needs to be shared.  However, you will need to properly collect frames together using the frame counters (which will be offset for each camera but in sync)".

    If you are using physical sync cabling, another member of the Intel RealSense team adds this advice:

    "If you set all cameras to Slave cameras (Inter Cam Sync Mode=2.000; and RGB AE Priority=Disabled), you can use an external independent trigger (1.8V, 50us~100us) to drive all the Slave cameras (pin#5 of the 9-pin connector)".

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  • Romain Raimbault

    Thank you very much for your help.

     

    I have an other question, I saw that the IR projector is always ON for the realsense d415. I know we can turn it off  in the RealSense Viewer, but is there a way to turn it off with an external signal? 

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  • MartyG

    The IR projector can be toggled on and off with scripting using the instruction RS2_OPTION_EMITTER_ENABLED (where '0' = off and '1' = on).  Please see the code example headed 'Librealsense2' in the link below.

    https://github.com/IntelRealSense/librealsense/wiki/API-How-To#controlling-the-laser 

     

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