Is ZR300 component synchronized internally

[hhelf]

Hi,

ZR300 contains RGB Fish-eye, Depth and IMU units. Are those three synchronized via hardware signals? if not are they synchronized via some time-stamp? what is the maximum drift in mSec between them?

Another question please, can the ZR300, as a whole, be synchronized with an external device such as PC or another Real-Sense camera (Another ZR300 or R200) via hardware signals? if not, is there mechanism to synchronize the clocks (of ZR300 and PC) via some software mechanism?

Thank you very much for your time!

[MartyG]

I don't know about synchronization between RGB Fish-eye, Depth and IMU. Somebody else can likely give you useful advice on that.

Regarding the second part of your question: the ZR300 has two GPIO pins that can be used for syncing with other sensors.

https://github.com/IntelRealSense/librealsense/issues/366 Need clarification for timestamp_handler usage · Issue # 366 · IntelRealSense/librealsense · GitHub

[idata]

Hello Humam,

Marty is totally right about the GPIO pins. Regarding the synchronized signals, the ZR300 does not have a trigger signal that can be accessed externally. The signal are all accessible through software. This page, https://software.intel.com/sites/products/realsense/camera/namespacers.html, describes fisheye_external_trigger as "Enable/disable fisheye external trigger mode. When enabled, fisheye image will be acquired in-sync with the depth image."Hope this helps to clarify your questions. Best Regards, Juan N.

[hhelf]

Thank you very much Marty and Juan!

I am bit confused about "ZR300 does not have a trigger signal that can be accessed externally." How this is true while Marty's statement about GPIO is true in the same time?

One other thing, just for clarification, when I enable the fish-eye external trigger mode, I should receive a synchronized packet containing an RGB image from the Fish-eye, Depth Image, Acc data and Gyro data. All of them are synchronized.. Is it true?

Thanks again!

[idata]

Hello Humam,

Sorry for the confusion. The G0 and G1 signals are used for gyro synchronization. This page, https://software.intel.com/sites/products/realsense/camera/developer_guide.html https://software.intel.com/sites/products/realsense/camera/developer_guide.html, under ZR300 Asynchronous APIs mentions the GPIOs. The cpp-motion-module.cpp file, https://github.com/IntelRealSense/librealsense/blob/legacy/examples/cpp-motion-module.cpp https://github.com/IntelRealSense/librealsense/blob/legacy/examples/cpp-motion-module.cpp, shows how to use it.Hope this helps to clarify your questions. Best Regards, Juan N.