Timing issues with Tango image frames

Question

It appears that Tango is dropping image frames when I try to get depth data, image data, and pose data at the same time.

I am trying to capture depth and image frame

Answer 1

In the current version of Project Tango Tablet RGB IR camera is used for both depth and color images and it can only do one or the other for each frame. So in the stream we get 4 RGB frames followed by 1 Depth frame resulting in the pattern you observed. This is more of a hardware limitation.