{"action":"created","issue":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1773","repository_url":"https://api.github.com/repos/IntelRealSense/librealsense","labels_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1773/labels{/name}","comments_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1773/comments","events_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1773/events","html_url":"https://github.com/IntelRealSense/librealsense/issues/1773","id":326504987,"number":1773,"title":"Left-IR (RGB8) and depth not in sync","user":{"login":"xtrawurst","id":6156692,"avatar_url":"https://avatars0.githubusercontent.com/u/6156692?v=4","gravatar_id":"","url":"https://api.github.com/users/xtrawurst","html_url":"https://github.com/xtrawurst","followers_url":"https://api.github.com/users/xtrawurst/followers","following_url":"https://api.github.com/users/xtrawurst/following{/other_user}","gists_url":"https://api.github.com/users/xtrawurst/gists{/gist_id}","starred_url":"https://api.github.com/users/xtrawurst/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xtrawurst/subscriptions","organizations_url":"https://api.github.com/users/xtrawurst/orgs","repos_url":"https://api.github.com/users/xtrawurst/repos","events_url":"https://api.github.com/users/xtrawurst/events{/privacy}","received_events_url":"https://api.github.com/users/xtrawurst/received_events","type":"User","site_admin":false},"labels":[{"id":692642573,"url":"https://api.github.com/repos/IntelRealSense/librealsense/labels/D400%20Series","name":"D400 Series","color":"c5def5","default":false},{"id":783039999,"url":"https://api.github.com/repos/IntelRealSense/librealsense/labels/Windows","name":"Windows","color":"48cadb","default":false},{"id":288064121,"url":"https://api.github.com/repos/IntelRealSense/librealsense/labels/question","name":"question","color":"bfe5bf","default":true}],"state":"open","locked":false,"assignee":{"login":"RealSense-Customer-Engineering","id":34384799,"avatar_url":"https://avatars0.githubusercontent.com/u/34384799?v=4","gravatar_id":"","url":"https://api.github.com/users/RealSense-Customer-Engineering","html_url":"https://github.com/RealSense-Customer-Engineering","followers_url":"https://api.github.com/users/RealSense-Customer-Engineering/followers","following_url":"https://api.github.com/users/RealSense-Customer-Engineering/following{/other_user}","gists_url":"https://api.github.com/users/RealSense-Customer-Engineering/gists{/gist_id}","starred_url":"https://api.github.com/users/RealSense-Customer-Engineering/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RealSense-Customer-Engineering/subscriptions","organizations_url":"https://api.github.com/users/RealSense-Customer-Engineering/orgs","repos_url":"https://api.github.com/users/RealSense-Customer-Engineering/repos","events_url":"https://api.github.com/users/RealSense-Customer-Engineering/events{/privacy}","received_events_url":"https://api.github.com/users/RealSense-Customer-Engineering/received_events","type":"User","site_admin":false},"assignees":[{"login":"RealSense-Customer-Engineering","id":34384799,"avatar_url":"https://avatars0.githubusercontent.com/u/34384799?v=4","gravatar_id":"","url":"https://api.github.com/users/RealSense-Customer-Engineering","html_url":"https://github.com/RealSense-Customer-Engineering","followers_url":"https://api.github.com/users/RealSense-Customer-Engineering/followers","following_url":"https://api.github.com/users/RealSense-Customer-Engineering/following{/other_user}","gists_url":"https://api.github.com/users/RealSense-Customer-Engineering/gists{/gist_id}","starred_url":"https://api.github.com/users/RealSense-Customer-Engineering/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RealSense-Customer-Engineering/subscriptions","organizations_url":"https://api.github.com/users/RealSense-Customer-Engineering/orgs","repos_url":"https://api.github.com/users/RealSense-Customer-Engineering/repos","events_url":"https://api.github.com/users/RealSense-Customer-Engineering/events{/privacy}","received_events_url":"https://api.github.com/users/RealSense-Customer-Engineering/received_events","type":"User","site_admin":false}],"milestone":null,"comments":2,"created_at":"2018-05-25T12:30:41Z","updated_at":"2018-05-28T19:41:42Z","closed_at":null,"author_association":"NONE","body":"| Key | Value |\r\n|---------------------------------|------------------------------------------- |\r\n| Camera Model                       | D415 | \r\n| Firmware Version                   | 05.09.11.00 | \r\n| Operating System & Version |   Win10 | \r\n| Platform                                 | PC |\r\n| SDK Version                            |  2.11.1 | \r\n\r\nThe D415 left IR image and the depth image are not in sync. This was tested with left IR being set to 1280x720 RGB8 at 30 fps.\r\n\r\nAssuming frames are queried fast enough the depth lags behind the IR by exactly one frame. If frames are not queried fast enough the lag varies. Here are some timestamp pairs (depth, color):\r\n\r\n    772438 772471\r\n    772471 772504\r\n    772504 772538\r\n    772538 772571\r\n    772571 772604\r\n    772604 772638\r\n    772638 772671\r\n    772671 772704\r\n    772704 772738\r\n    772738 772771\r\n    772771 772804\r\n    ...\r\n\r\nHere's the code that generated these. This is based on the **rs-capture** example:\r\n\r\n    // License: Apache 2.0. See LICENSE file in root directory.\r\n    // Copyright(c) 2017 Intel Corporation. All Rights Reserved.\r\n    \r\n    #include <iostream>\r\n    \r\n    \r\n    #include <librealsense2/rs.hpp> // Include RealSense Cross Platform API\r\n    #include \"example.hpp\"          // Include short list of convenience functions for rendering\r\n    \r\n    // Capture Example demonstrates how to\r\n    // capture depth and color video streams and render them to the screen\r\n    int main(int argc, char * argv[]) try {\r\n      const int width = 1280;\r\n      const int height = 720;\r\n    \r\n      // Create a simple OpenGL window for rendering:\r\n      window app(width, height, \"RealSense Capture Example\");\r\n      // Declare two textures on the GPU, one for color and one for depth\r\n      texture depth_image, color_image;\r\n    \r\n      // Declare depth colorizer for pretty visualization of depth data\r\n      rs2::colorizer color_map;\r\n    \r\n      // Declare RealSense pipeline, encapsulating the actual device and sensors\r\n      rs2::pipeline pipe;\r\n    \r\n      rs2::config cfg;\r\n      cfg.enable_stream(RS2_STREAM_INFRARED, 0, width, height, RS2_FORMAT_RGB8, 30);\r\n      cfg.enable_stream(RS2_STREAM_DEPTH, -1, width, height, RS2_FORMAT_Z16, 30);\r\n      cfg.disable_stream(RS2_STREAM_COLOR);\r\n    \r\n      // Start streaming with default recommended configuration\r\n      pipe.start(cfg);\r\n    \r\n      while(app) // Application still alive?\r\n      {\r\n        rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera\r\n    \r\n        rs2::frame depth = color_map(data.get_depth_frame()); // Find and colorize the depth data\r\n        rs2::frame color = data.get_color_frame();            // Find the color data\r\n    \r\n        std::cout << data.get_depth_frame().get_timestamp() << \" \"\r\n                    << color.get_timestamp() << std::endl;\r\n    \r\n        // Render depth on to the first half of the screen and color on to the second\r\n        depth_image.render(depth, { 0,               0, app.width() / 2, app.height() });\r\n        if (color) {\r\n          color_image.render(color, { app.width() / 2, 0, app.width() / 2, app.height() });\r\n        }\r\n      }\r\n    \r\n      return EXIT_SUCCESS;\r\n    }\r\n    catch (const rs2::error & e)\r\n    {\r\n      std::cerr << \"RealSense error calling \" << e.get_failed_function() << \"(\"\r\n              << e.get_failed_args() << \"):\\n    \" << e.what() << std::endl;\r\n      return EXIT_FAILURE;\r\n    }\r\n    catch (const std::exception& e)\r\n    {\r\n      std::cerr << e.what() << std::endl;\r\n      return EXIT_FAILURE;\r\n    }\r\n\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/comments/392592697","html_url":"https://github.com/IntelRealSense/librealsense/issues/1773#issuecomment-392592697","issue_url":"https://api.github.com/repos/IntelRealSense/librealsense/issues/1773","id":392592697,"user":{"login":"dorodnic","id":6958867,"avatar_url":"https://avatars2.githubusercontent.com/u/6958867?v=4","gravatar_id":"","url":"https://api.github.com/users/dorodnic","html_url":"https://github.com/dorodnic","followers_url":"https://api.github.com/users/dorodnic/followers","following_url":"https://api.github.com/users/dorodnic/following{/other_user}","gists_url":"https://api.github.com/users/dorodnic/gists{/gist_id}","starred_url":"https://api.github.com/users/dorodnic/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/dorodnic/subscriptions","organizations_url":"https://api.github.com/users/dorodnic/orgs","repos_url":"https://api.github.com/users/dorodnic/repos","events_url":"https://api.github.com/users/dorodnic/events{/privacy}","received_events_url":"https://api.github.com/users/dorodnic/received_events","type":"User","site_admin":false},"created_at":"2018-05-28T19:41:42Z","updated_at":"2018-05-28T19:41:42Z","author_association":"COLLABORATOR","body":"Please look for (i) icon above the streams themselves (above depth / ir output)"}}
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