D400 set_depth_table while pipeline started

[lmuffang]

Required Info
Camera Model	D430
Firmware Version	05.12.14.50
Operating System & Version	Linux (Ubuntu 20)
Kernel Version (Linux Only)	5.8.0-59
Platform	PC
SDK Version	{ legacy / 2.<47>.<0> }
Language	{C++ }
Segment	{Robot/Smartphone/VR/AR/others }

Issue Description

Hello,
I have been trying to set the disparity shift by setting the depth_table using the advanced mode and set_depth_table while the camera is running. It seems that I must restart the pipeline for the changes to be applied. Is there a way to change the disparity shift on the fly without restarting the pipeline and thus introducing latency?

In the realsense viewer, changing the disparity shift does not entails a latency as big as in my code. Is the camera restarted in the viewer?

Also, are they some parameters in the depth table that does not require a restart of the pipeline? I'm thinking about the depth units for example as it can also be set under the panel 'Controls'.

Thanks for your help

[MartyG-RealSense]

Hi @lmuffang I do not have information about how the real-time configuration of the depth table in the RealSense Viewer operates. However, the link below describes C++ code for configuring the depth table after the pipeline has been started.

#2229 (comment)

Based on the scripting information provided in that link, I believe that a C++ script that uses the pipeline would look like this:

pipeline p;
auto profile = p.start();  // start the pipeline

auto dev = profile.get_device().as<advanced_mode>();
STDepthTableControl table = dev.get_depth_table();  // modify table
dev.set_depth_table(table);  // write changes

An alternative C++ script created by a RealSense user that includes depth table configuration through Advanced Mode is available at the link below.

https://support.intelrealsense.com/hc/en-us/community/posts/360051896473/comments/360014626993

In regard to configuring the depth unit scale, C++ code provided in the link below suggests setting the depth scale before the pipeline is started (implying that changing it would require a pipeline stop and then start after the change has been made).

#2385 (comment)

If you prefer an application that works like the Viewer does then you are able to modify the Viewer into a custom application as the RealSense SDK 2.0 is open-source.

https://github.com/IntelRealSense/librealsense/tree/master/tools/realsense-viewer

[MartyG-RealSense]

Hi @lmuffang Do you require further assistance with this case, please? Thanks!

[MartyG-RealSense]

Case closed due to no further comments received.