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Add multi camera sync verification node tutorial
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# 多相机同步验证工具
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# 多相机同步验证节点
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> 本文将介绍如何验证多相机同步的同步精度。
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>
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> 首先，请查看如何使用 [multi_camera_synced](./multi_camera_synced.md)。
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文件路径：[image_sync_example_node.cpp](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp)
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您可以在 [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples) 中找到示例使用代码。
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此示例节点用于 **4 台 Orbbec 相机** 的同步采集与时间戳验证。
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它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。
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## 目录结构
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---
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## 使用教程
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1. **在 `multi_camera_synced.launch.py` 的基础上做以下修改**
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- 增加 `launch_include` 以适配 4 台相机
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- 根据设备型号选择对应的 launch 文件，如 330 系列选择 gemini_330_series.launch.py
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- 命名规范：camera_name 命名方式 camera_01、camera_02、camera_03 ...
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- 设置 device_num 数量为 4
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- USB 端口配置 usb_port，使用以下命令查看并绑定正确的端口
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`ros2 run orbbec_camera list_devices_node`
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- 同步模式设置为主从模式，一个 primary 相机，其他设置为 secondary_synced
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- 启动顺序：主相机（Primary）应最后启动，以确保同步信号建立正确。
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---
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2. **参数文件修改**
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修改 `config` 目录下的以下两个配置文件：
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- `camera_params.yaml`
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- `camera_secondary_params.yaml`
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确保以下内容统一：
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- 启用 **depth** 与 **color** 流；
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- 统一各相机的 **帧率（fps）**。
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---
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3. **启动与验证**
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- 启动多机同步 launch： `multi_camera_synced.launch.py`
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- 打开新终端运行同步验证节点： `ros2 run orbbec_camera image_sync_example_node`
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该节点会输出多相机图像的时间戳差异信息，用于验证同步效果。
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---
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4. **参考 launch 文件**
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```plaintext
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.
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├── multicamera_sync/
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│ ├── output/
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│ ├──20250218102900/
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│ ├──DevicesInfo.txt
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│ ├──StreamProfileInfo.txt
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│ ├── Python/
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│ ├──Config.ini
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├── gemini_330_series_synced_verify.launch.py
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├── multi_camera_synced_verify.launch.py
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```
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node, LoadComposableNodes
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**multicamera_sync**
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* `gemini_330_series_synced_verify.launch.py`：单相机运行启动文件，为 multi_camera_synced_verify.launch.py 提供相机运行节点。
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* `multi_camera_synced_verify.launch.py`：多相机同步 + save_rgbir 工具的启动文件。
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**output**
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def generate_launch_description():
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# Include launch files
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package_dir = get_package_share_directory("orbbec_camera")
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launch_file_dir = os.path.join(package_dir, "launch")
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config_file_dir = os.path.join(package_dir, "config")
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config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
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secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
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> `ouput` 文件夹是相机图片输出的文件夹
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launch1_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_01",
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"usb_port": "2-2.3",
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"device_num": "4",
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"sync_mode": "primary",
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"config_file_path": config_file_path,
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"trigger_out_enabled": "true"
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}.items(),
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)
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在提供的输出示例中
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launch2_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_02",
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"usb_port": "2-1",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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* `20250218102900`：表示在 2025 年 2 月 18 日 10:29:00 收集的相机图像信息。
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* `TotalModeFrames`：相机图像信息存储目录。
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* `results-2025-02-25_163648`：分析和匹配 TotalModeFrames 图像信息后的结果。
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* `DevicesInfo.txt`：相机设备基本信息（需要修改）。
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* `StreamProfileInfo.txt`：相机视频流信息（无需修改）。
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launch3_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_03",
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"usb_port": "2-3",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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**Python**
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launch4_include = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(launch_file_dir, "gemini_330_series.launch.py")
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),
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launch_arguments={
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"camera_name": "camera_04",
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"usb_port": "2-4",
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"device_num": "4",
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"sync_mode": "secondary_synced",
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"config_file_path": secondary_config_file_path,
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"trigger_out_enabled": "false"
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}.items(),
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)
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* `Config.ini`：Python 分析脚本的配置文件（需要修改）。
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## 运行准备
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**save_rgbir 节点**
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编辑 multi_camera_synced_verify.launch.py 并填写激活的相机设备，我们可以看到 save_rgbir 在最后启动。
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> 重要
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>
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> 如果您使用 ROS 2 Foxy，需要先启动 save_rgbir 节点。
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```python
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# Launch description
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# Launch description
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ld = LaunchDescription(
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[
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shared_orbbec_container,
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TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
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TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
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TimerAction(period=2.0, actions=[GroupAction([launch3_include])]),
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TimerAction(period=4.0, actions=[GroupAction([launch4_include])]),
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TimerAction(period=6.0, actions=[GroupAction([launch1_include])]),
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# The primary camera should be launched at last
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TimerAction(period=6.0, actions=[GroupAction([save_rgbir])]),
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# save_rgbir is synced verification tool
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]
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)
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return ld
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```
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save_rgbir 是一个用于保存图像的工具。该工具的配置文件在 [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json) 中。
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---
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```json
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{
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"save_rgbir_params": {
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"time_domain": "global",
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"usb_ports": [
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"2-1",
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"2-3"
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],
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"camera_name": [
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"camera_01",
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"camera_02"
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]
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}
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}
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## 必要系统配置
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1. **提升 USB 缓冲区容量**
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```
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echo 512 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
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```
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* `time_domain`：时间戳类型
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* `usb_ports`："primary"、"secondary 1"、"secondary 2"、"secondary 3"，根据相机数量填写 usb_ports
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* `camera_name`：相机设置的名称，例如：camera_01
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2. **配置 Fast DDS**
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**DevicesInfo.txt**
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编辑 DevicesInfo.txt。只需要更改 `primarySerialNumber`、`index` 和 `serialNumber` 参数。其他参数不需要更改。请参考 [20250218102900](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900) 的示例。
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* `primarySerialNumber`：主相机的 SN 序列号
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* `index`：相机索引
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* `serialNumber`：相机的 SN 序列号
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**Config.ini**
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编辑 Config.ini。修改 `frameRate` 和 `tspRangeThreshold`。
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## 运行此示例
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**运行启动文件并保存相机图片**
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* 第一个终端
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```bash
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ros2 launch orbbec_camera multi_camera_synced_verify.launch.py
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```
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* 第二个终端
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```bash
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ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{data: 100}'
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```
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当终端显示"over"时，图像已保存。将在工作空间下生成一个新的 multicamera_sync 文件夹。
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**相机图片命名格式**
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以 [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) 为例
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* `color`：此图像是彩色流的快照。
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* `SNCP1E5420006D`：相机的 SN 序列号是 CP1E5420006D。
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* `Index0`：相机 0（通常指主相机）。
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* `g1739874543227`："g"表示全局时间戳，意味着此帧的全局时间戳是 1739874543227。
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* `f0`：此相机彩色流采集的第 0 张图片。
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* `s1739874543327`："s"表示当前系统的时间戳，意味着此帧的当前系统时间戳是 1739874543327。
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* `e50`：此帧的曝光为 50。
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* `d16`：此帧的增益为 16。
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**分析相机图像数据**
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您需要将修改后的 [Python 文件夹](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python) 复制到新的 multi_camera_synced 子目录，并将修改后的 [DevicesInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt) 和 [StreamProfileInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt) 复制到与 TotalModeFrames 文件夹同级的目录。
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* 最后一切准备就绪，运行 python 脚本
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```bash
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cd multicamera_sync/Python
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python3 SyncFramesMain.py
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```
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操作成功后，您可以在 `results 文件夹` 中查看同步效果
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## 需要更改的文件
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**分析工具**
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* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json)
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* [DevicesInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt)
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* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini)
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**相机配置**
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[camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml)（相机启动参数设置）
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[multi_camera_synced_verify.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multi_camera_synced_verify.launch.py)
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优化 ROS2 节点间通信延迟，可以有效减少图像传输延迟，[配置过程见此章节](../performance/fastdds_tuning.md)。
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