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Set the D435 Laser Projector to be Always On

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Doug
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I was reading through Intel's white paper on projectors for the DXX depth cameras and I came across their suggestion of using the projectors from multiple cameras. https://www.intelrealsense.com/wp-content/uploads/2019/03/WhitePaper_on_Projectors_for_RealSense_D4xx_1.0.pdf

In the article they say that the D435 pulses the projector in time with the frame capture, but that they disabled this for the test. I want to disable this feature for my application. Any idea on how I cam make the laser projector always on?

Thanks! 

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  • MartyG

    I researched your question very carefully.  My best guess (not certainty) is that setting the D43x models' emitter strobing setting to '0' (false) with the instruction RS2_OPTION_EMITTER_ON_OFF may accomplish your goal.  This command - designed for the global shutter of the D43x models' specifically - is different from RS2_OPTION_EMITTER_ENABLED, which simply toggles the emitter on and off.

    An example use of the instruction is:

    depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF, 0.f);

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  • Doug

    Thanks MartyG for your response! I really appreciate it. I actually already gave this option a try. It appears that this feature actually turns on the projector for one frame and then turns it off for the next frame it captures. This link shows a demo of it: https://github.com/IntelRealSense/librealsense/pull/3066

    I am thinking it might not be a feature of the current API. Do you know if there is anyway to crate a feature request? 

    If I can't get this working from the D435 projector does anyone have any suggestions on a reasonably priced dot projector that doesn't require soldering we could purchase? 

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  • MartyG

    I'm sorry the suggestion about RS2_OPTION_EMITTER_ON_OFF didn't solve your problem.  Feature requests can be officially filed at the RealSense GitHub forum by visiting the link below and clicking on the New Issue button.  I recommend starting the title of your post with the words 'Feature Request' to make the message's purpose clear.

    https://github.com/IntelRealSense/librealsense/issues 

    In addition to the advice in the Intel projector paper, the Chief Technical Officer of the RealSense Group at Intel (agrunnet) provides further advice here:

    https://github.com/IntelRealSense/librealsense/issues/2000 

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  • Doug

    Thanks MartyG! 

    I filed a feature request on GitHub: https://github.com/IntelRealSense/librealsense/issues/5805

    The other link you provided was also helpful. My team and I are going try some of the suggestions posted. 

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