How to properly configure the D4XX series in Cpp via JSON

[Mcutt]

I am trying to configure my device with a json file created in realsense-viewer.

However, after initializing the camera the stream fps runs at 30 instead of 6 as configured. Is there something I am doing incorrectly or is this expected behavior? Do I need to restart the pipeline?

- _pipe.start();

- _profile = _pipe.get_active_profile();

- std::ifstream t("/home/internetUser/config/customRealsenseConfig.json");

- std::string str((std::istreambuf_iterator(t)), std::istreambuf_iterator

());

- rs400::advanced_mode dev = _profile.get_device();

- dev.load_json(str);

Here is the json file contents. Note stream fps is set to 6.

{

"aux-param-autoexposure-setpoint": "400",

"aux-param-colorcorrection1": "0.461914",

"aux-param-colorcorrection10": "-0.553711",

"aux-param-colorcorrection11": "-0.553711",

"aux-param-colorcorrection12": "0.0458984",

"aux-param-colorcorrection2": "0.540039",

"aux-param-colorcorrection3": "0.540039",

"aux-param-colorcorrection4": "0.208008",

"aux-param-colorcorrection5": "-0.332031",

"aux-param-colorcorrection6": "-0.212891",

"aux-param-colorcorrection7": "-0.212891",

"aux-param-colorcorrection8": "0.68457",

"aux-param-colorcorrection9": "0.930664",

"aux-param-depthclampmax": "65536",

"aux-param-depthclampmin": "0",

"aux-param-disparityshift": "0",

"controls-autoexposure-auto": "True",

"controls-autoexposure-manual": "33000",

"controls-color-autoexposure-auto": "True",

"controls-color-autoexposure-manual": "166",

"controls-color-backlight-compensation": "0",

"controls-color-brightness": "0",

"controls-color-contrast": "50",

"controls-color-gain": "64",

"controls-color-gamma": "300",

"controls-color-hue": "0",

"controls-color-power-line-frequency": "3",

"controls-color-saturation": "64",

"controls-color-sharpness": "50",

"controls-color-white-balance-auto": "True",

"controls-color-white-balance-manual": "4600",

"controls-depth-gain": "16",

"controls-depth-white-balance-auto": "False",

"controls-laserpower": "150",

"controls-laserstate": "off",

"ignoreSAD": "0",

"param-autoexposure-setpoint": "400",

"param-censusenablereg-udiameter": "8",

"param-censusenablereg-vdiameter": "9",

"param-censususize": "8",

"param-censusvsize": "9",

"param-depthclampmax": "65536",

"param-depthclampmin": "0",

"param-depthunits": "1000",

"param-disableraucolor": "0",

"param-disablesadcolor": "0",

"param-disablesadnormalize": "0",

"param-disablesloleftcolor": "0",

"param-disableslorightcolor": "0",

"param-disparitymode": "0",

"param-disparityshift": "0",

"param-lambdaad": "74",

"param-lambdacensus": "26",

"param-leftrightthreshold": "28",

"param-maxscorethreshb": "1890",

"param-medianthreshold": "871",

"param-minscorethresha": "70",

"param-neighborthresh": "113",

"param-raumine": "1",

"param-rauminn": "1",

"param-rauminnssum": "5",

"param-raumins": "3",

"param-rauminw": "7",

"param-rauminwesum": "7",

"param-regioncolorthresholdb": "0.0225049",

"param-regioncolorthresholdg": "0.290607",

"param-regioncolorthresholdr": "0.092955",

"param-regionshrinku": "4",

"param-regionshrinkv": "0",

"param-robbinsmonrodecrement": "1",

"param-robbinsmonroincrement": "1",

"param-rsmdiffthreshold": "5.21875",

"param-rsmrauslodiffthreshold": "0.71875",

"param-rsmremovethreshold": "0.511905",

"param-scanlineedgetaub": "72",

"param-scanlineedgetaug": "72",

"param-scanlineedgetaur": "72",

"param-scanlinep1": "176",

"param-scanlinep1onediscon": "196",

"param-scanlinep1twodiscon": "36",

"param-scanlinep2": "414",

"param-scanlinep2onediscon": "96",

"param-scanlinep2twodiscon": "57",

"param-secondpeakdelta": "310",

"param-texturecountthresh": "8",

"param-texturedifferencethresh": "0",

"param-usersm": "1",

"param-zunits": "1000",

"stream-depth-format": "Z16",

"stream-fps": "6",

"stream-height": "240",

"stream-ir-format": "Y8",

"stream-width": "424"

}

[MartyG]

Dorodnic, one of the development leaders of Librealsense, explains in this similar case why the FPS isn't being set by the JSON:

https://github.com/IntelRealSense/librealsense/issues/1229 How to start my camera ? · Issue # 1229 · IntelRealSense/librealsense · GitHub

"Currently, the method I mentioned (see the full article above) will ignore resolution and FPS settings, since these are already set by the pipeline. The viewer is doing this in two steps - first it reads FPS and resolution from JSON and configures the camera, then loads the rest with advanced_mode class. We plan to add a method to the pipeline that would allow to start from JSON, that would include FPS and resolution".