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95 lines
18 KiB
Plaintext
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€• H Œdocutils.nodes”Œdocument”“”)�”}”(Œ rawsource”Œ ”Œchildren”]”h Œsection”“”)�”}”(hhh]”(h Œtitle”“”)�”}”(hŒ Multi_camera synced Instructions”h]”(h ŒText”“”ŒMulti”…”�”}”(Œparent”hŒ _document”hŒsource”NŒline”NubhŒ_”…”�”}”(hhhhh Nh NubhŒcamera synced Instructions”…”�”}”(hhhhh Nh NubeŒ
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attributes”}”(Œids”]”Œclasses”]”Œnames”]”Œdupnames”]”Œbackrefs”]”uŒtagname”hh Khh h Œc/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/source/5_advanced_guide/multi_camera_synced.md”ubh Œ block_quote”“”)�”}”(hhh]”h Œ paragraph”“”)�”}”(hŒ]The purpose of this document is to explain how to use multi-camera synced with OrbbecSDK_ROS2”h]”(hŒXThe purpose of this document is to explain how to use multi-camera synced with OrbbecSDK”…”�”}”(hh;hhh Nh NubhŒ_”…”�”}”(hh;hhh Nh NubhŒROS2”…”�”}”(hh;hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h Khh6hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2h4h Khh hhh h3ubh
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)�”}”(hhh]”(h)�”}”(hŒSetup instructions”h]”hŒSetup instructions”…”�”}”(hhZhhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hh KhhWh h3ubh Œ bullet_list”“”)�”}”(hhh]”(h Œ list_item”“”)�”}”(hhh]”h:)�”}”(hŒ[Please read the Multi-Camera Synchronization Setup Guide:Multi-Camera Synchronization Setup”h]”(hŒ9Please read the Multi-Camera Synchronization Setup Guide:”…”�”}”(hhrhhh Nh Nubh Œ reference”“”)�”}”(hŒ"Multi-Camera Synchronization Setup”h]”hŒ"Multi-Camera Synchronization Setup”…”�”}”(hh|hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”Œrefuri”ŒMhttps://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/”uh2hzh Khhrhhh h3ubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h Khhohhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh Khhjhhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒMMake sure the camera is correctly connected to the multi-camera synchronizer.”h]”hŒMMake sure the camera is correctly connected to the multi-camera synchronizer.”…”�”}”(hh›hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h Khh˜hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh Khhjhhh h3ubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2hhh KhhWhhh h3ubh:)�”}”(hŒ Depth Point Cloud Visualization”h]”h Œimage”“”)�”}”(hh·h]”hh…”�”}”(hh»hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”Œuri”Œ9source/image/multi_camera_synced/multi_camera_synced1.png”Œalt”h·Œ
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candidates”}”Œ*”hÈsŒ original_uri”Œ5../image/multi_camera_synced/multi_camera_synced1.png”uh2h¹hhµhhh h3h K ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h K
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hhWhhh h3ubh
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)�”}”(hhh]”(h)�”}”(hŒ(Checking camera port with OrbbecSDK_ROS2”h]”(hŒ#Checking camera port with OrbbecSDK”…”�”}”(hhØhhh Nh NubhŒ_”…”�”}”(hhØhhh Nh NubhŒROS2”…”�”}”(hhØhhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2hh K hhÕh h3ubh Œ
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literal_block”“”)�”}”(hŒ(ros2 run orbbec_camera list_devices_node”h]”hŒ(ros2 run orbbec_camera list_devices_node”…”�”}”hhðsbah&}”(h(]”h*]”h,]”h.]”h0]”Œ xml:space”Œpreserve”Œforce”‰Œlanguage”Œbash”Œhighlight_args”}”uh2hîh h3h K hhÕhhubeh&}”(h(]”Œ(checking-camera-port-with-orbbecsdk-ros2”ah*]”h,]”Œ(checking camera port with orbbecsdk_ros2”ah.]”h0]”uh2h h K hhWhhh h3ubh
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)�”}”(hhh]”(h)�”}”(hŒ0OrbbecSDK_ROS2 multi-camera synced configuration”h]”(hŒ OrbbecSDK”…”�”}”(hj hhh Nh NubhŒ_”…”�”}”(hj hhh Nh NubhŒ&ROS2 multi-camera synced configuration”…”�”}”(hj hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2hh Khj
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h h3ubh:)�”}”(hŒUOpen multi_camera_synced.launch.py, and configure the camera settings as shown below:”h]”(hŒ
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Open multi”…”�”}”(hj& hhh Nh NubhŒ_”…”�”}”(hj& hhh Nh NubhŒcamera”…”�”}”(hj& hhh Nh NubhŒ_”…”�”}”(hj& hhh h3h K ubhŒCsynced.launch.py, and configure the camera settings as shown below:”…”�”}”(hj& hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h Khj
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hhh h3ubh:)�”}”(hŒ Depth Point Cloud Visualization”h]”hº)�”}”(hjF h]”hh…”�”}”(hjH hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”hÇŒ9source/image/multi_camera_synced/multi_camera_synced2.png”hÉjF hÊ}”hÌjT shÍŒ5../image/multi_camera_synced/multi_camera_synced2.png”uh2h¹hjD hhh h3h K ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h Khj
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hhh h3ubh Œenumerated_list”“”)�”}”(hhh]”(hn)�”}”(hhh]”h:)�”}”(hŒGgemini_330_series.launch.py is the launch file for starting the camera.”h]”(h Œliteral”“”)�”}”(hŒgemini_330_series.launch.py”h]”hŒgemini_330_series.launch.py”…”�”}”(hjk hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hje hhh h3h K ubhŒ, is the launch file for starting the camera.”…”�”}”(hje hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h Khjb hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh Khj_ hhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒhSet camera_name to G330_0. For example, the published color image topic will be /G330_0/color/image_raw.”h]”(hŒSet ”…”�”}”(hjŒ hhh Nh Nubjj )�”}”(hŒ camera_name”h]”hŒ camera_name”…”�”}”(hj” hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjŒ hhh h3h K ubhŒ to ”…”�”}”(hjŒ hhh Nh Nubjj )�”}”(hŒG330_0”h]”hŒG330_0”…”�”}”(hj¦ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjŒ hhh h3h K ubhŒ7. For example, the published color image topic will be ”…”�”}”(hjŒ hhh Nh Nubjj )�”}”(hŒ/G330_0/color/image_raw”h]”hŒ/G330_0/color/image_raw”…”�”}”(hj¸ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjŒ hhh h3h K ubhŒ.”…”�”}”(hjŒ hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h Khj‰ hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh Khj_ hhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒ°Set usb_port to 2-2, indicating that the camera device on port 2-2 is being used. This value can be found in the output of the ros2 run orbbec_camera list_devices_node command.”h]”(hŒSet ”…”�”}”(hjÙ hhh Nh Nubjj )�”}”(hŒusb_port”h]”hŒusb_port”…”�”}”(hjá hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjÙ hhh h3h K ubhŒ to ”…”�”}”(hjÙ hhh Nh Nubjj )�”}”(hŒ2-2”h]”hŒ2-2”…”�”}”(hjó hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjÙ hhh h3h K ubhŒ,, indicating that the camera device on port ”…”�”}”(hjÙ hhh Nh Nubjj )�”}”(hŒ2-2”h]”hŒ2-2”…”�”}”(hj hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjÙ hhh h3h K ubhŒ= is being used. This value can be found in the output of the ”…”�”}”(hjÙ hhh Nh Nubjj )�”}”(hŒ(ros2 run orbbec_camera list_devices_node”h]”hŒ(ros2 run orbbec_camera list_devices_node”…”�”}”(hj hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjÙ hhh h3h K ubhŒ command.”…”�”}”(hjÙ hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h K hjÖ hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh K hj_ hhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒ6Set device_num to 2, meaning two cameras will be used.”h]”(hŒSet ”…”�”}”(hj8 hhh Nh Nubjj )�”}”(hŒ
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device_num”h]”hŒ
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device_num”…”�”}”(hj@ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hj8 hhh h3h K ubhŒ to ”…”�”}”(hj8 hhh Nh Nubjj )�”}”(hŒ2”h]”hŒ2”…”�”}”(hjR hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hj8 hhh h3h K ubhŒ#, meaning two cameras will be used.”…”�”}”(hj8 hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h K hj5 hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh K hj_ hhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒ˜Set sync_mode to primary to indicate that the 2-7 camera device is in primary mode. The multi-camera sync mode options can be found in the figure below.”h]”(hŒSet ”…”�”}”(hjs hhh Nh Nubjj )�”}”(hŒ sync_mode”h]”hŒ sync_mode”…”�”}”(hj{ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjs hhh h3h K ubhŒ to ”…”�”}”(hjs hhh Nh Nubjj )�”}”(hŒprimary”h]”hŒprimary”…”�”}”(hj� hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjs hhh h3h K ubhŒ to indicate that the ”…”�”}”(hjs hhh Nh Nubjj )�”}”(hŒ2-7”h]”hŒ2-7”…”�”}”(hjŸ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjs hhh h3h K ubhŒg camera device is in primary mode. The multi-camera sync mode options can be found in the figure below.”…”�”}”(hjs hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h K hjp hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh K hj_ hhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒoParameters from the config_file_path can override the parameters set in gemini_330_series.launch.py (optional).”h]”(hŒParameters from the ”…”�”}”(hjÀ hhh Nh Nubjj )�”}”(hŒconfig_file_path”h]”hŒconfig_file_path”…”�”}”(hjÈ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjÀ hhh h3h K ubhŒ$ can override the parameters set in ”…”�”}”(hjÀ hhh Nh Nubjj )�”}”(hŒgemini_330_series.launch.py”h]”hŒgemini_330_series.launch.py”…”�”}”(hjÚ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjÀ hhh h3h K ubhŒ (optional).”…”�”}”(hjÀ hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h K"hj½ hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh K"hj_ hhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒ4For slave cameras, set trigger_out_enabled to false.”h]”(hŒFor slave cameras, set ”…”�”}”(hjû hhh Nh Nubjj )�”}”(hŒtrigger_out_enabled”h]”hŒtrigger_out_enabled”…”�”}”(hj hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2ji hjû hhh h3h K ubhŒ
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to false.”…”�”}”(hjû hhh Nh Nubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h K$hjø hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh K$hj_ hhh h3ubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2j] h Khj
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hhh h3ubh Œraw”“”)�”}”(hX<
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<table border="1" class="docutils">
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<thead>
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<tr>
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<th><strong>Pattern Nam</strong>e</th>
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<th><strong>Setting effect description</strong></th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>free_run</td>
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<td>-Support different frame rate settings<br />The -8-pin synchronization interface does not support external output of synchronization-related signals</td>
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</tr>
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<tr>
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<td>standalone(default)</td>
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<td>â—� Same as Primary by default<br />â—� Built-in RGBD frame synchronization<br />â—� 8-pin synchronous interface does not output signals to the outside by default</td>
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</tr>
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<tr>
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<td>primary</td>
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<td>â—� Set as primary camera<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>secondary</td>
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<td>â—� Set as secondary (passive synchronization; When there is a hardware continuous trigger signal input from the outside and the continuous trigger signal matches the currently set frame rate, the image is collected according to the external trigger signal; When there is no external trigger signal, the flow is stopped)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>secondary_synced</td>
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<td>â—� Set to secondary synchronization (passive synchronization; When there is a hardware continuous trigger signal input from the outside and the continuous trigger signal matches the currently set frame rate, the image is collected according to the external trigger signal; When there is no external trigger signal, the image is collected according to the internal trigger signal at the set frame rate)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>hardware_triggering</td>
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<td>â—� Set as hardware trigger (passive trigger; When there is a hardware trigger signal input from the outside and the trigger signal time interval is not less than the current upper limit, the image is collected according to the external trigger signal; When there is no external trigger signal, the image is not collected)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>software_triggering</td>
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<td>â—� Set as software trigger (passive trigger; When there is a trigger command input from the host computer and the trigger command time interval is not less than the current upper limit, the image is collected according to the trigger command; When there is no trigger command, the image is not collected)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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</tbody>
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</table>”h]”hX<
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<table border="1" class="docutils">
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<thead>
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<tr>
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<th><strong>Pattern Nam</strong>e</th>
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<th><strong>Setting effect description</strong></th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td>free_run</td>
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<td>-Support different frame rate settings<br />The -8-pin synchronization interface does not support external output of synchronization-related signals</td>
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</tr>
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<tr>
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<td>standalone(default)</td>
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<td>â—� Same as Primary by default<br />â—� Built-in RGBD frame synchronization<br />â—� 8-pin synchronous interface does not output signals to the outside by default</td>
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</tr>
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<tr>
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<td>primary</td>
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<td>â—� Set as primary camera<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>secondary</td>
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<td>â—� Set as secondary (passive synchronization; When there is a hardware continuous trigger signal input from the outside and the continuous trigger signal matches the currently set frame rate, the image is collected according to the external trigger signal; When there is no external trigger signal, the flow is stopped)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>secondary_synced</td>
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<td>â—� Set to secondary synchronization (passive synchronization; When there is a hardware continuous trigger signal input from the outside and the continuous trigger signal matches the currently set frame rate, the image is collected according to the external trigger signal; When there is no external trigger signal, the image is collected according to the internal trigger signal at the set frame rate)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>hardware_triggering</td>
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<td>â—� Set as hardware trigger (passive trigger; When there is a hardware trigger signal input from the outside and the trigger signal time interval is not less than the current upper limit, the image is collected according to the external trigger signal; When there is no external trigger signal, the image is not collected)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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<tr>
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<td>software_triggering</td>
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<td>â—� Set as software trigger (passive trigger; When there is a trigger command input from the host computer and the trigger command time interval is not less than the current upper limit, the image is collected according to the trigger command; When there is no trigger command, the image is not collected)<br />â—� 8-pin synchronous interface output signal to external device</td>
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</tr>
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</tbody>
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</table>”…”�”}”hj) sbah&}”(h(]”h*]”h,]”h.]”h0]”Œformat”Œhtml”hþhÿuh2j' h K&hj
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hhh h3ubhi)�”}”(hhh]”(hn)�”}”(hhh]”h:)�”}”(hŒ*The master camera should be launched last.”h]”hŒ*The master camera should be launched last.”…”�”}”(hj? hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h KMhj< hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh KMhj9 hhh h3ubhn)�”}”(hhh]”h:)�”}”(hŒGIdeally, there should be a 2-second delay between starting each camera.”h]”hŒGIdeally, there should be a 2-second delay between starting each camera.”…”�”}”(hjV hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2h9h KNhjS hhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hmh KNhj9 hhh h3ubeh&}”(h(]”h*]”h,]”h.]”h0]”uh2hhh KMhj
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hhh h3ubeh&}”(h(]”Œ0orbbecsdk-ros2-multi-camera-synced-configuration”ah*]”h,]”Œ0orbbecsdk_ros2 multi-camera synced configuration”ah.]”h0]”uh2h h KhhWhhh h3ubh
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)�”}”(hhh]”(h)�”}”(hŒ:Run the following command to start the multi-camera synced”h]”hŒ:Run the following command to start the multi-camera synced”…”�”}”(hj{ hhh Nh Nubah&}”(h(]”h*]”h,]”h.]”h0]”uh2hh KPhjx h h3ubhï)�”}”(hŒ7ros2 launch orbbec_camera multi_camera_synced.launch.py”h]”hŒ7ros2 launch orbbec_camera multi_camera_synced.launch.py”…”�”}”hj‰ sbah&}”(h(]”h*]”h,]”h.]”h0]”hþhÿj ‰j Œbash”j }”uh2hîh h3h KPhjx hhubeh&}”(h(]”Œ:run-the-following-command-to-start-the-multi-camera-synced”ah*]”h,]”Œ:run the following command to start the multi-camera synced”ah.]”h0]”uh2h h KPhhWhhh h3ubeh&}”(h(]”Œsetup-instructions”ah*]”h,]”Œsetup instructions”ah.]”h0]”uh2h h Khh hhh h3ubeh&}”(h(]”Œ multi-camera-synced-instructions”ah*]”h,]”Œ multi_camera synced instructions”ah.]”h0]”uh2h h Khhhhh h3ubah&}”(h(]”h*]”h,]”h.]”h0]”Œsource”h3Œtranslation_progress”}”(Œtotal”K Œ
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