R200 can't start color/depth streams AND left/right streams

[Henning_J_]

I can't start the left or right streams in combination with the color and/or depth stream. Is this by design? I would have thought I'd need the left and right streams to produce the depth stream anyways, so why can't I view them at the same time?

[Xusheng_L_Intel]

What is your combinations? There are usually constraints on multiple stream configurations. For example, the configuration of an inferred stream may be tied to the corresponding depth stream. When enumerating multiple stream configurations, the QueryStreamProfileSet function returns the unique combinations of all valid stream configurations. Use the IsStreamProfileSetValid function to validate certain stream configuration. You can find detail info @https://software.intel.com/sites/landingpage/realsense/camera-sdk/v1.1/documentation/html/index.html?manuals_enumerate_stream_configuration.html

[Henning_J_]

I just ran some more tests with the example you linked and got some interesting results.

I ran the following code to test all possible combinations of streams if there are ANY valid configurations:

  for (int i = 1; i < 0x0020; ++i)
  {
    if (i & PXCCapture::STREAM_TYPE_IR)
      continue;

    std::cout << "Streams: ";
    if (i & PXCCapture::STREAM_TYPE_COLOR) { std::cout << "COLOR "; } else { std::cout << "      "; }
    if (i & PXCCapture::STREAM_TYPE_DEPTH) { std::cout << "DEPTH "; } else { std::cout << "      "; }
    if (i & PXCCapture::STREAM_TYPE_LEFT)  { std::cout << "LEFT  "; } else { std::cout << "      "; }
    if (i & PXCCapture::STREAM_TYPE_RIGHT) { std::cout << "RIGHT "; } else { std::cout << "      "; }

    PXCCapture::StreamType streams = static_cast<PXCCapture::StreamType>(i);
    PXCCapture::Device::StreamProfileSet profiles = {};
    pxcStatus sts = device->QueryStreamProfileSet(streams, 0, &profiles);
    if (sts == PXC_STATUS_NO_ERROR)
      std::cout << "=> OK" << std::endl;
    else
      std::cout << "=> no valid streams" << std::endl;
  }

...and got this result:

Streams: COLOR                   => OK
Streams:       DEPTH             => OK
Streams: COLOR DEPTH             => OK
Streams:             LEFT        => OK
Streams: COLOR       LEFT        => no valid streams
Streams:       DEPTH LEFT        => no valid streams
Streams: COLOR DEPTH LEFT        => OK
Streams:                   RIGHT => OK
Streams: COLOR             RIGHT => no valid streams
Streams:       DEPTH       RIGHT => no valid streams
Streams: COLOR DEPTH       RIGHT => no valid streams
Streams:             LEFT  RIGHT => OK
Streams: COLOR       LEFT  RIGHT => no valid streams
Streams:       DEPTH LEFT  RIGHT => no valid streams
Streams: COLOR DEPTH LEFT  RIGHT => OK

I don't really see a pattern here that makes sense to me.

[Xusheng_L_Intel]

Yes, Not every combination is supported. So it is good for you to check if it is supported.

[Henning_J_]

Yeah, I know that. The question was: Why? For example, why does COLOR DEPTH LEFT work, but COLOR DEPTH Right doesn't?

[Henning_J_]

And, even though it shows valid configurations for the RIGHT stream only, I still can't initialize it.

  PXCVideoModule::DataDesc desc = {};
  desc.deviceInfo.streams = PXCCapture::STREAM_TYPE_RIGHT;
  st = senseManager->EnableStreams(&desc);
  if (st < PXC_STATUS_NO_ERROR) // this is fine
    return -1;

  st = senseManager->Init();
  if (st < PXC_STATUS_NO_ERROR) // here I get PXC_STATUS_ITEM_UNAVAILABLE
    return -1;

[Xusheng_L_Intel]

What combination do you want to use? Just enable STREAM_TYPE_RIGHT?

Henning J. wrote:

And, even though it shows valid configurations for the RIGHT stream only, I still can't initialize it.

  PXCVideoModule::DataDesc desc = {};
  desc.deviceInfo.streams = PXCCapture::STREAM_TYPE_RIGHT;
  st = senseManager->EnableStreams(&desc);
  if (st < PXC_STATUS_NO_ERROR) // this is fine
    return -1;

  st = senseManager->Init();
  if (st < PXC_STATUS_NO_ERROR) // here I get PXC_STATUS_ITEM_UNAVAILABLE
    return -1;

[Henning_J_]

What combination do you want to use? Just enable STREAM_TYPE_RIGHT?

Yes, in that case I just wanted to run STREAM_TYPE_RIGHT and it didn't work.

But I'd also like to understand why some of the stream combinations are not supported.

[Xusheng_L_Intel]

Henning, even from your result, ONLY STREAM_TYPE_RIGHT is not a  valid stream for R200.

Streams:       DEPTH       RIGHT => no valid streams

Some stream combinations are not supported due to hardware and firmware limitation. 

Thanks!

Henning J. wrote:

I just ran some more tests with the example you linked and got some interesting results.

I ran the following code to test all possible combinations of streams if there are ANY valid configurations:

  for (int i = 1; i < 0x0020; ++i)
  {
    if (i & PXCCapture::STREAM_TYPE_IR)
      continue;

    std::cout << "Streams: ";
    if (i & PXCCapture::STREAM_TYPE_COLOR) { std::cout << "COLOR "; } else { std::cout << "      "; }
    if (i & PXCCapture::STREAM_TYPE_DEPTH) { std::cout << "DEPTH "; } else { std::cout << "      "; }
    if (i & PXCCapture::STREAM_TYPE_LEFT)  { std::cout << "LEFT  "; } else { std::cout << "      "; }
    if (i & PXCCapture::STREAM_TYPE_RIGHT) { std::cout << "RIGHT "; } else { std::cout << "      "; }

    PXCCapture::StreamType streams = static_cast<PXCCapture::StreamType>(i);
    PXCCapture::Device::StreamProfileSet profiles = {};
    pxcStatus sts = device->QueryStreamProfileSet(streams, 0, &profiles);
    if (sts == PXC_STATUS_NO_ERROR)
      std::cout << "=> OK" << std::endl;
    else
      std::cout << "=> no valid streams" << std::endl;
  }

...and got this result:

Streams: COLOR                   => OK
Streams:       DEPTH             => OK
Streams: COLOR DEPTH             => OK
Streams:             LEFT        => OK
Streams: COLOR       LEFT        => no valid streams
Streams:       DEPTH LEFT        => no valid streams
Streams: COLOR DEPTH LEFT        => OK
Streams:                   RIGHT => OK
Streams: COLOR             RIGHT => no valid streams
Streams:       DEPTH       RIGHT => no valid streams
Streams: COLOR DEPTH       RIGHT => no valid streams
Streams:             LEFT  RIGHT => OK
Streams: COLOR       LEFT  RIGHT => no valid streams
Streams:       DEPTH LEFT  RIGHT => no valid streams
Streams: COLOR DEPTH LEFT  RIGHT => OK

I don't really see a pattern here that makes sense to me.

[Henning_J_]

No, the one you quoted is DEPTH and RIGHT together. That doesn't show any valid streams, so it's obvious why it doesn't work.

But only RIGHT show valid streams, but doesn't start.

Streams:                   RIGHT => OK

[Xusheng_L_Intel]

It works for me. You can try Capture Viewer under RealSense SDK tool. Here is my screenshot.

Henning J. wrote:

No, the one you quoted is DEPTH and RIGHT together. That doesn't show any valid streams, so it's obvious why it doesn't work.

But only RIGHT show valid streams, but doesn't start.

Streams:                   RIGHT => OK

[Henning_J_]

Interesting. With the Capture Viewer it works just fine. With the Raw Streams sample or my own code it still doesn't work.

[Xusheng_L_Intel]

I think it is a bug and we will fix it in the future release. Thanks!

[Henning_J_]

Good to know, thanks