FRAMOS Industrial Depth Camera D400e Series - User Manual
Version 1.0.0 from 2020-06-30
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6.7.2
Inter Packet Delay
The Inter Packet Delay is the delay introduced by the camera between sending two consecutive
packets on the stream channel. This delay reduces the effective network load (on NIC or switch)
and creates timeslots for processing packets from other devices on the network. The Inter Packet
Delay is very useful when multiple cameras are streaming to one PC on the same Network Interface
Card (NIC). For more information please refer to
FRAMOS Industrial Depth Camera D400e Series -
Tuning System For Best Performance [Ref-4].
6.7.3
Heartbeat Time
Heartbeat mechanism is used to determine whether the logical link between D400e camera and
application running on host is active. Host sends the heartbeat command to the camera in regular
intervals and the camera sends a response. If the camera does not respond in a certain interval,
the host considers the camera disconnected. If the camera does not receive a heartbeat command
in the same interval, it considers the host disconnected.
For more information please refer to document d400e_api_extensions.md (part of the D400e
software package).
6.7.4
Intercam Sync Mode
Enables synchronous streaming of multiple cameras and stream synchronization to an external
event. For more information please refer to
FRAMOS Industrial Depth Camera D400e Series -
External Event Camera Synchronization [Ref-2] and FRAMOS Industrial Depth Camera D400e
Series - Multi-Camera Synchronization [Ref-3].
6.7.5
RGB/Stereo Synchronization
By default, FRAMOS D400e camera operates in the "Default" operating mode, with asynchronous
streams from the RGB and Stereo sensor. For explanation on the camera operating modes please
refer to
FRAMOS Industrial Depth Camera D400e Series - Multi-Camera Synchronization [Ref-3].
To achieve synchronization between the RGB and Stereo stream make sure of the following:
Inter Cam Sync Mode is set to "Default Mode" or "External Event Mode"
RGB Auto Exposure Priority option is disabled
RGB and Stereo framerates matches
When streams are synchronized, there is a constant delay between the frames as shown in Figure
