How to get depth information and IMU data at the same time on windows ?

[MaoPann]

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Required Info
Camera Model	{ D435i }
Firmware Version	(Open RealSense Viewer --> Click info)
Operating System & Version	{Win (8.1/10)
Kernel Version (Linux Only)
Platform	PC.
SDK Version	sdk 2.6.5
Language	{C }
Segment	{Robot}

Issue Description

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[dorodnic]

If you are looking to get IMU and depth data at the same rate, look at rs-capture. When you run it with the D435i, two frames in the frameset will be of type motion_frame.
If you are looking to get the IMU as fast as possible, without video data processing delaying it, please look at rs-callback

Please note that you need the latest SDK version (2.17+), I would recommend building from source the development branch, since several fixes for the IMU on Windows has been merged but not released yet.

[MaoPann]

In the enable_stream function, how should I configure it?

[MaoPann]

Can you share a call code?

[MaoPann]

Thank you very much for your guidance.

[dorodnic]

Happy to help.

To enable IMU explicitly, you can call config.enable_stream(RS2_STREAM_ACCEL); and config.enable_stream(RS2_STREAM_GYRO);.

You could also specify the frame-rate using config.enable_stream(RS2_STREAM_ACCEL, RS2_FORMAT_MOTION_XYZ32F, 250) (this will set the accelerometer rate at 250 Hz)

You can see the list of supported configurations here and in the device data-sheet.

We don't include explicit configuration details in the examples, because we want the same examples to work on all supported (and future) devices. So if you don't provide an explicit configuration, you will just get the default IMU from the D435i.

Once you do get a frameset with motion frames, you can cast them to rs2::motion_frame:

using namespace std;
using namespace rs2;
frameset fs = p.wait_for_frames();
for (auto& f : fs) {
   if (f.is<motion_frame>()) {
       motion_frame mf = f.as<motion_frame>();
       rs2_vector xyz = mf.get_motion_data();
       cout << f.get_profile().stream_type() << ": " 
            << xyz.x << ", " << xyz.y << ", " << xyz.z << endl;
   }
}

[RealSense-Customer-Engineering]

[Realsense Customer Engineering Team Comment]
Closing this issue. Please reopen if need further assistance. Thank you.