Can you access raw synchronized D435 output?

• MartyG

  • August 14, 2020 08:15
  • Edited

  Hi Lowellm  Most of the stream formats that are available are rectified, meaning that the camera hardware makes adjustments to the data before it is sent to the computer.  The "Y16" format IR channel is unrectified though, and you can stream left and right Y16 IR.  It is a format designed for camera calibration rather than everyday use though, so the resolution and frames per second speed modes available for it are very limited compared to all the other rectified stream types.

  https://github.com/IntelRealSense/librealsense/issues/3294#issuecomment-465621853 

  There is also the option of using the Low-Level API to access the camera hardware directly.

  https://github.com/IntelRealSense/librealsense/blob/master/doc/api_arch.md#low-level-device-api 

   

  In the image below that I created with a D435i camera, the RealSense Viewer program is streaming left and right Y16 IR at 1280x800 resolution at 25 FPS:

   

  

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• Lowellm

  • August 14, 2020 06:34
  • Edited

  Thanks, for clarities sake will the two images be time synchronized? This is very important if you have a moving scene. Based upon the time stamps of the images that looks to be the case but I want to verify. 

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• MartyG

  • August 14, 2020 07:02
  • Edited

  My understanding is that left and right IR are time-synced.  On the 400 Series cameras the depth frame is generated from the left and right IR images.  The left and right imagers capture the scene and sends imager data to the depth imaging processor, which calculates depth values for each pixel in the image by correlating points on the left image to the right image and via shift between a point on the Left image and the Right image.

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