Sensing

A method comprising:

• determining a quality of a data portion of an input sensor data stream based, at least in part, on data of a first data type;
• determining between, at least, generation of two or more streams of a second, different data type including at least one synthesised data stream of the second data type, wherein the determining between generation of two or more streams of a second, different data type is based, at least in part, on the determined quality and wherein the synthesis is based, at least in part, on the data of the first data type;
• and
• causing generation of at least one stream of the second, different data type based, at least in part, on the determination between generation of two or more streams of the second, different data type.

A non-transitory computer readable medium comprising program instructions for causing an apparatus to perform at least the following:

• determining a quality of a data portion of an input sensor data stream based, at least in part, on data of a first data type;
• determining between, at least, generation of two or more streams of a second, different data type including at least one synthesised data stream of the second data type, wherein determining between generation of two or more streams of a second, different data type is based, at least in part, on the determined quality and wherein the synthesis is based, at least in part, on the data of the first data type;
• and
• causing generation of at least one stream of the second, different data type based, at least in part, on the determination between generation of two or more streams of the second, different data type.