D455 Left Infrared Streaming
Greetings.
I am interested in getting synchronized color and depth data for reconstruction purposes. I saw a previous post that mentioned the possibility of getting RGB data from the left infrared sensor of the D455. I have the following questions:
- Would it be possible to get depth images and color images (from the left infrared sensor) simultaneously using a C++ script?
- If so, how does this work? I figured that the depth is calculated using the infrared images from the left and right sensors.
- Would there be any delays with this sort of streaming setup?
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Hi Baraka, thanks very much for your questions.
1. Yes, you can stream depth and 'RGB from left infrared sensor' simultaneously and do so with C++ code.
2. Yes, depth is calculated from the left and right infrared sensors. However, the left and right infrared frames that are used are raw frames in the camera hardware and not the Infrared and Infrared 2 streams. So depth generation is not dependent upon the infrared streams, which is why depth can be enabled on its own without infrared also having to be enabled.
3. Streaming 'RGB from left infrared sensor' is an efficient way of generating a color image, as described in information about this mode that can be found here:
https://dev.realsenseai.com/docs/tuning-depth-cameras-for-best-performance#use-the-left-color-camera
Having more than one stream active simultaneously will have a minor processing burden cost and USB bandwidth usage cost though. Increasing the 'frame queue size' in your C++ code could reduce the risk of frame drops occurring in a 2-stream setup.
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