L515 Multicamera Connection
Our scenario:
We have 5 LIDAR L515 camera and we want to get 1 frame from each of then
without interference.
Now we have the following code written in C#:
for each camera:
- start pipeline with config enabled depth sensor streming
it tooks 1,5-2 seconds
- get single frame with pipeline.WaitForFrames
it tooks 1,3 seconds
- disconnect from camera 1,5 seconds
The total duration of the process is out of our requirement.
Is there a way to optimize it?
We read this articole https://dev.intelrealsense.com/docs/lidar-camera-l515-multi-camera-setup,
1. in this approach we will receive the frame in WaitForFrames call after hardware trigger?
2. in this approach we had to start/stop the pipeline of a camera? or we can maintaine the pipeline
open and use the hadware trigger for receive frames?
Today we try to enable the option Inter_Cam_Sync_Mode but we still continue to receive frame after
WaitForFrames call; is that normal?
My developer PC specifications are:
Windows 10 Pro 64-bit with latest update
Intel Core i7 8750H 2.20GHz Coffee Lake 14nm Technology
RAM 32 GB
SDK Version 2.38.1
Camera Firmware version 01.05.01.03
Thank you in advance
-
Hi Michele Sacco,
The Python code sample in the L515 multicam paper simply sets the option for INTER_CAM_SYNC then waits for frames to arrives.pipeline p;
config cfg;
cfg.enable_stream(RS2_STREAM_DEPTH);
auto r = cfg.resolve(p);
r.get_device().query_sensors().front().set_option(RS2_OPTION_INTER_CAM_SYNC_MODE, 1.f);
p.start(cfg);
auto frames = p.wait_for_frames();
auto d = frames.get_depth_frame();There is no need to programmatically stop and start the streaming. The hardware trigger takes care of this.
We recommend you to try prototyping using Python or C++, if possible, before moving to C#.
There is minimum required setup time as detailed in the L515 multicam paper on external trigger.Pulse width = 60ms(setup) + #of frames33ms
For example: for capturing 3 consecutive frames hardware on signal needs to be high for 160msRegards,
Rizal
Please sign in to leave a comment.
Comments
2 comments