FRAMOS Industrial Depth Camera D400e Series - User Manual
Version 1.6.0
from 2021-10-15 47 of 64
Figure 23 – D400e Series Camera Streams out of Synchronization
Use synchronization with Auto Exposure option enabled for
both RGB and Stereo sensor.
8.8.9 Syncer Mode
D400e cameras have a possibility to synchronize streams to an external event (using Inter Cam
Sync Mode External Event operating mode).
As the frequency of external events is not known in front, "syncer module" in librealsense2 is
extended to handle this case. Available syncer options in the librealsense2 API are listed in the
`rs2_syncer_mode` enumeration available in the `librealsense2/h/rs_types.h` header file:
// Syncer Mode
typedef enum rs2_syncer_mode
{
RS2_SYNCER_MODE_DEFAULT, //default syncer mode
RS2_SYNCER_MODE_WAIT_FRAMESET, // wait-for-full-frameset syncer mode
RS2_SYNCER_MODE_COUNT
};
The RS2_SYNCER_MODE_DEFAULT enumerator represents the default working mode of the syncer
module (original librealsense2 syncer implementation) in which the same frame, in certain situations,
can be returned in consecutive framesets by "wait_for_frames" call, as shown in Figure 24.
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