Updated README for multi_camera_synced_verification_tool examples

2026-09-12 19:20:20 +08:00 · 2025-02-26 17:19:39 +08:00
parent e3cd971152
commit 0196d9ceeb
8 changed files with 82 additions and 3 deletions
@@ -25,9 +25,13 @@
 ```

 * `camera_name`: Names of the cameras to be configured. Example: `"camera_01"`, `"camera_02"`, etc.
+
 * `process_name`: The name of the process to be monitored. For example, `"component_conta"` will monitor the data of the container process.
+
 * `switch_cycle`: The cycle time for switching configurations, in seconds. For example, setting it to `300` means the configuration will switch every 300 seconds.
+
 * `test_cycle`: The testing cycle, in seconds. For example, setting it to `1` means the tool will collect data for the monitored process every 1 second.
+
 * `skip_number`: The number of data points to skip. For example, setting it to `30` means that the first 30 data points will be ignored.

 ### Camera configuration (launch files)
@@ -13,9 +13,11 @@ The definition of disparity search range: For any pixel *(u_l, v)* in the left i
 The disparity_search_offset related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py)

 * `disparity_range_mode` : Disparity search length,can only be set to 64, 128 and 256.
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 * `disparity_search_offset` : Disparity search offset value,Disparity search offset value, can be set from 0 to 127.

 * `disparity_offset_config` : Disparity search offset interleave frames.
+
 * `offset_index0` : Frame 0 disparity search offset value.

 * `offset_index1` : Frame 1 disparity search offset value.
@@ -35,6 +35,7 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro
 ### Additional Parameter Settings

 * `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
+
 * `enable_gmsl_trigger` : enable hardware soc trigger.

 ### Run the launch
@@ -7,8 +7,11 @@
 The interleave_ae related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py)

 * `interleave_ae_mode` : Set laser or hdr interleave.
+
 * `interleave_frame_enable` : enable interleave frame mode.
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 * `interleave_skip_enable` : enable skip frame mode.
+
 * `interleave_skip_index` : Set 0 for skip pattern ir, set 1 for skip flood ir.

 ### interleave hdr
@@ -16,14 +19,23 @@ The interleave_ae related parameters are set in [gemini_330_series.launch.py](..
 When the `interleave_ae_mode` parameter is set to `hdr` and `interleave_frame_enable `is set to `true`, interleave hdr will be enabled

 * `hdr_index1_laser_control` : Frame 1 laser switch settings.
+
 * `hdr_index1_depth_exposure` : Frame 1 depth exposure value setting, not in AE mode.
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 * `hdr_index1_depth_gain` : Frame 1 depth gain value setting, not in AE mode.
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 * `hdr_index1_ir_brightness` : Frame 1 ir gain value setting.
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 * `hdr_index1_ir_ae_max_exposure` : Frame 1 ir maximum exposure value setting in AE (auto exposure).
+
 * `hdr_index0_laser_control`: Frame 0 laser switch settings.
+
 * `hdr_index0_depth_exposure`: Frame 0 depth exposure value setting, not in AE mode.
+
 * `hdr_index0_depth_gain` : Frame 0 depth gain value setting, not in AE mode.
+
 * `hdr_index0_ir_brightness` : Frame 0 ir gain value setting.
+
 * `hdr_index0_ir_ae_max_exposure` : Frame 0 ir maximum exposure value setting in AE (auto exposure).

 ### interleave laser
@@ -31,14 +43,23 @@ When the `interleave_ae_mode` parameter is set to `hdr` and `interleave_frame_en
 When the `interleave_ae_mode` parameter is set to `laser` and `interleave_frame_enable `is set to `true`, interleave laser will be enabled

 * `laser_index1_laser_control` : Frame 1 laser switch settings.
+
 * `laser_index1_depth_exposure` : Frame 1 depth exposure value setting, not in AE mode.
+
 * `laser_index1_depth_gain` : Frame 1 depth gain value setting, not in AE mode.
+
 * `laser_index1_ir_brightness` : Frame 1 ir gain value setting.
+
 * `laser_index1_ir_ae_max_exposure` : Frame 1 ir maximum exposure value setting in AE (auto exposure).
+
 * `laser_index0_laser_control` : Frame 0 laser switch settings.
+
 * `laser_index0_depth_exposure` : Frame 0 depth exposure value setting, not in AE mode.
+
 * `laser_index0_depth_gain` : Frame 0 depth gain value setting, not in AE mode.
+
 * `laser_index0_ir_brightness` : Frame 0 ir gain value setting.
+
 * `laser_index0_ir_ae_max_exposure` : Frame 0 ir maximum exposure value setting in AE (auto exposure).

 ## Run the launch
@@ -7,12 +7,15 @@ The example launch files used in this section are `gemini_330_series_lower_cpu_u
 ### Parameters that affect CPU usage

 * `uvc_backend`:Global UVC Backend select on Linux,optional values: libuvc, v4l2.(v4l2 is lower)
-* `color_format`:Color stream coding format.(RGB is lower)
+
+* `color_format`:Color Stream coding format.(RGB is lower)

 * `depth_registration`: Enables alignment of the depth frame to the color frame.(align_mode is set to HW lower)
-* `enable_point_cloud`:Enables the point cloud

-* `enable_colored_point_cloud`:Enables the RGB point cloud
+* `enable_point_cloud`:Disables the point cloud
+
+* `enable_colored_point_cloud`:Disables the RGB point cloud
+
 * `filter`:decimation_filter,hdr_merge,sequenced_filter,threshold_filter,hardware_noise_removal_filter,noise_removal_filter,spatial_filter,temporal_filter,hole_filling_filter.(hardware_noise_removal_filter is lower)

 ### Data comparison
@@ -22,11 +22,17 @@ Open multi_camera_synced.launch.py, and configure the camera settings as shown b
 ![Depth Point Cloud Visualization](image/multi_camera_synced2.png)

 1. `gemini_330_series.launch.py` is the launch file for starting the camera.
+
 2. Set `camera_name` to `G330_0`. For example, the published color image topic will be `/G330_0/color/image_raw`.
+
 3. 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.
+
 4. Set `device_num` to `2`, meaning two cameras will be used.
+
 5. 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.
+
 6. Parameters from the `config_file_path` can override the parameters set in `gemini_330_series.launch.py` (optional).
+
 7. For slave cameras, set `trigger_out_enabled` to false.

 | **Pattern Nam**e | **Setting effect description**                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
@@ -21,6 +21,10 @@

 ### multicamera_sync

+* `gemini_330_series_synced_verify.launch.py` : Single camera runs launch, which provides the camera running node for multi_camera_synced_verify.launch.py.
+
+* `multi_camera_synced_verify.launch.py` : Multi camer synced + launch of save_rgbir tool.
+
 #### output

 > The ouput folder is the folder where the camera pictures are output
@@ -28,9 +32,13 @@
 In the output example provided

 * `20250218102900` : Represents the camera image information collected at 10:29:00 on February 18, 2025.
+
 * `TotalModeFrames` : Camera image information storage directory.
+
 * `results-2025-02-25_163648` : The result after analyzing and matching the image information of TotalModeFrames.
+
 * `DevicesInfo.txt` : Camera equipment basic information (need to be modified).
+
 * `StreamProfileInfo.txt` : Camera video stream information (no need to modify).

 #### Python
@@ -86,7 +94,9 @@ save_rgbir is a tool for saving images. The configuration file of this tool is i
 Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](./multicamera_sync/output/20250218102900).

 * `primarySerialNumber` : The SN serial number of the primary camera
+
 * `index` : Camera index
+
 * `serialNumber` : The SN serial number of the camera

 ### Config.ini
@@ -111,6 +121,26 @@ ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{da

 When the terminal displays "over", the image is saved.A new multicamera_sync folder will be generated under the workspace.

+#### Camera pictures naming format
+
+Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](./multicamera_sync/./output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example
+
+* `color` : This image is a snapshot of the color stream.
+
+* `SNCP1E5420006D` : The camera's SN serial number is CP1E5420006D.
+
+* `Index0` : Camera 0 (usually referred to primary camera).
+
+* `g1739874543227` : “g” represents the global timestamp, which means the global timestamp of this frame is 1739874543227.
+
+* `f0` : The 0th picture of the color stream acquisition of this camera.
+
+* `s1739874543327` : "s" represents the timestamp of the current system, which means the current system timestamp of this frame is 1739874543327.
+
+* `e50` : The exposure of this frame is 50.
+
+* `d16` : The gain of this frame is 16.
+
 ### Analyzing camera image data

 You need to copy the modified [Pyhotn folder](./multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [DevicesInfo.txt ](./multicamera_sync/output/20250218102900/DevicesInfo.txt)and [StreamProfileInfo.txt](./multicamera_sync/output/20250218102900/StreamProfileInfo.txt) to the same level directory as the TotalModeFrames folder.
@@ -126,6 +156,16 @@ After the operation is successful, you can view the synchronization effect in th

 ## Files that need to be changed

+### Analysis tools
+
 * [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json)
+
 * [DevicesInfo.txt ](./multicamera_sync/output/20250218102900/DevicesInfo.txt)
+
 * [Config.ini](./multicamera_sync/Python/Config.ini)
+
+### Camera Configuration
+
+[camera_params.yaml](../../config/camera_params.yaml)(Camera startup parameter settings)
+
+[multi_camera_synced_verify.launch.py](./multi_camera_synced_verify.launch.py)
@@ -9,7 +9,9 @@ Network device settings: default `enumerate_net_device` is set to true, which wi
 If you do not want to automatically enumerate network devices,you can set `enumerate_net_device` to false, `net_device_ip` to the device's IP address, and `net_device_port` to the default value of 8090.

 * `enumerate_net_device` : Enable automatically enumerate network devices.
+
 * `net_device_ip` : Setting net device's IP address.
+
 * `net_device_port` : Setting net device's port.Usually, you can set it to 8090.

 ## Single Net camera