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Setting Global Time disable seems failed at D455

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Tsubota Kazuhiro
  • Edited

Hi, I tried to turn off Global Time option by setting zero to No.53 option, like this:

rs2_option option_type = static_cast<rs2_option>(53);
for (int i = 0; i < (int)sensors.size(); ++i) {
  rs2::option_range range = sensors[i].get_option_range(option_type);
  float current_value = get_sensor_option(sensors[i], option_type);
  int result = set_sensor_option(sensors[i], option_type, 0.0);
  std::this_thread::sleep_for(std::chrono::seconds(1));
  float check_value = get_sensor_option(sensors[i], option_type);
  if (check_value == 0.0) {
    flag = true;
  }

I did that after each pipeline for RGB/Depth and Gyro/Accel started. It certainly worked for RGB/Depth, but didn't for Gyro/Accel.
I've already checked the option value was zero for each sensor. 
The condition difference between RGB/Depth and Gyro/Accel is the Gyro/Accel is running under callback function.
This is how I take timestamps for IMU.

set_callback_imu([&](const rs2::frame& frame) {
// Cast the frame that arrived to motion frame
auto motion = frame.as<rs2::motion_frame>();
// If casting succeeded and the arrived frame is from gyro stream
if (motion && motion.get_profile().stream_type() == RS2_STREAM_GYRO && motion.get_profile().format() == RS2_FORMAT_MOTION_XYZ32F)
{
   // Get the timestamp of the current frame
   double ts_gyro = motion.get_timestamp();
}

That code seems showing adjusted timestamp to host.
I'd like an helpful suggestion to cope with this issue.
Thanks.

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