Add multi camera sync verification node tutorial

docs/en/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md

@@ -1,161 +1,177 @@
-# Multi_camera_synced_verification_tool
+# Multi-Camera Synchronization Verification Node
 
-> This article will introduce how to verify the synchronization accuracy of multi-camera synchronization.
+**File path:** [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)
->
-> First, please see how to use [multi_camera_synced](./multi_camera_synced.md).
 
-You can find example usage code in the [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples).
+This example node is designed for **synchronized capture and timestamp verification** across **four Orbbec cameras**.
+It can be used to validate frame alignment accuracy under the multi-camera **Primary / Secondary Synced** mode.
 
-## Directory Structure
+---
+
+## Usage Guide
+
+1. **Modify `multi_camera_synced.launch.py` as follows**
+
+   - Add `launch_include` to support four cameras.
+
+   - Select the appropriate launch file based on your camera model.
+     For example, use `gemini_330_series.launch.py` for the Gemini 330 series.
+
+   - Naming convention:
+     `camera_name` should follow the format `camera_01`, `camera_02`, `camera_03`, ...
+
+   - Set `device_num` to **4**.
+
+   - Configure the USB ports using:
+
+     `ros2 run orbbec_camera list_devices_node`
+
+     to view and bind the correct ports.
+
+   - Set synchronization mode to **Primary/Secondary Synced**,
+     with one camera as **primary** and the others as **secondary_synced**.
+
+   - **Startup sequence:**
+     The **Primary camera should always be launched last** to ensure the synchronization signal is established correctly.
+
+---
+
+2. **Modify configuration files**
+
+   Edit the following two files under the `config` directory:
+
+   - `camera_params.yaml`
+
+   - `camera_secondary_params.yaml`
+
+   Ensure the following settings are consistent across all cameras:
+
+   - Enable both **depth** and **color** streams.
+
+   - Use the same **frame rate (fps)** for all cameras.
+
+---
+
+3. **Launch and Verification**
+
+   - Start the multi-camera synchronization launch file:
+
+     `ros2 launch orbbec_camera multi_camera_synced.launch.py`
+
+   - In a new terminal, run the synchronization verification node:
+
+     `ros2 run orbbec_camera image_sync_example_node`
+
+     This node outputs timestamp differences between multiple camera streams for synchronization validation.
+
+---
+
+4. **Reference Launch File**
 
-```plaintext
-.
-├── multicamera_sync/
-│   ├── output/
-│       ├──20250218102900/
-│          ├──DevicesInfo.txt
-│          ├──StreamProfileInfo.txt
-│   ├── Python/
-│       ├──Config.ini
-├── gemini_330_series_synced_verify.launch.py
-├── multi_camera_synced_verify.launch.py
 ```
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node, LoadComposableNodes
 
-**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**
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "launch")
+    config_file_dir = os.path.join(package_dir, "config")
+    config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
 
-> The `ouput` folder is the folder where the camera pictures are output
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-2.3",
+            "device_num": "4",
+            "sync_mode": "primary",
+            "config_file_path": config_file_path,
+            "trigger_out_enabled": "true"
+        }.items(),
+    )
 
-In the output example provided
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-1",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
 
-* `20250218102900` : Represents the camera image information collected at 10:29:00 on February 18, 2025.
+    launch3_include = IncludeLaunchDescription(
-* `TotalModeFrames` : Camera image information storage directory.
+        PythonLaunchDescriptionSource(
-* `results-2025-02-25_163648` : The result after analyzing and matching the image information of TotalModeFrames.
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
-* `DevicesInfo.txt` : Camera equipment basic information (need to be modified).
+        ),
-* `StreamProfileInfo.txt` : Camera video stream information (no need to modify).
+        launch_arguments={
+            "camera_name": "camera_03",
+            "usb_port": "2-3",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
 
-**Python**
+    launch4_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_04",
+            "usb_port": "2-4",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
 
-* `Config.ini` : Configuration file for Python analysis script (need to be modified).
 
-## Preparation for operation
 
-**save_rgbir node**
-
-Edit multi_camera_synced_verify.launch.py and fill in the activated camera device,we can find that save_rgbir is started at the end.
-
-> IMPORTANT
->
-> If you are using ROS 2 Foxy, you need to launch the save_rgbir node first.
-
-```python
     # Launch description
     ld = LaunchDescription(
         [
-            shared_orbbec_container,
+
             TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
-            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch3_include])]),
+            TimerAction(period=4.0, actions=[GroupAction([launch4_include])]),
+            TimerAction(period=6.0, actions=[GroupAction([launch1_include])]),
             # The primary camera should be launched at last
-            TimerAction(period=6.0, actions=[GroupAction([save_rgbir])]),
-            # save_rgbir is synced verification tool
         ]
     )
 
     return ld
 ```
 
-save_rgbir is a tool for saving images. The configuration file of this tool is in [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json).
 
-```json
-{
-  "save_rgbir_params": {
-      "time_domain": "global",
-      "usb_ports": [
-          "2-1",
-          "2-3"
-      ],
-      "camera_name": [
-          "camera_01",
-          "camera_02"
-      ]
-  }
-}
-```
 
-* `time_domain` : Timestamp Type
+---
-* `usb_ports` : "primary", "secondary 1", "secondary 2", "secondary 3", fill in as many usb_ports as there are cameras
-* `camera_name` : The name of the camera setting, for example: camera_01
 
-**DevicesInfo.txt**
+## System Configuration Requirements
 
-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](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900).
+1. **Increase USB Buffer Memory**
 
-* `primarySerialNumber` : The SN serial number of the primary camera
+   Prevent frame drops caused by concurrent data transmission:
-* `index` : Camera index
-* `serialNumber` : The SN serial number of the camera
 
-**Config.ini**
+   `echo 512 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb`
 
-Edit Config.ini.Modify `frameRate` and `tspRangeThreshold`.
+2. **Configure Fast DDS**
 
-## Run this example
+   Optimize ROS2 node communication latency to reduce image transmission delay.
-
+   See [this section](../performance/fastdds_tuning.md) for detailed configuration instructions.**
-**Run launch and save camera pictures**
-
-* First terminal
-
-```bash
-ros2 launch orbbec_camera multi_camera_synced_verify.launch.py
-```
-
-* Second terminal
-
-```bash
-ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{data: 100}'
-```
-
-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](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) 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 [Python folder](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [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)and [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) to the same level directory as the TotalModeFrames folder.
-
-* Finally everything is ready, run the python script
-
-```bash
-cd multicamera_sync/Python
-python3 SyncFramesMain.py
-```
-
-After the operation is successful, you can view the synchronization effect in the  `results folder`
-
-## Files that need to be changed
-
-**Analysis tools**
-
-* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json)
-* [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)
-* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini)
-
-**Camera Configuration**
-
-[camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml)(Camera startup parameter settings)
-
-[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)

docs/zh/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md

@@ -1,161 +1,161 @@
-# 多相机同步验证工具
+# 多相机同步验证节点
 
-> 本文将介绍如何验证多相机同步的同步精度。
+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)
->
-> 首先，请查看如何使用 [multi_camera_synced](./multi_camera_synced.md)。
 
-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。
+此示例节点用于 **4 台 Orbbec 相机** 的同步采集与时间戳验证。
+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。
 
-## 目录结构
+---
+
+## 使用教程
+
+1. **在 `multi_camera_synced.launch.py` 的基础上做以下修改**
+
+   - 增加 `launch_include` 以适配 4 台相机
+
+   - 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
+
+   - 命名规范：camera_name 命名方式 camera_01、camera_02、camera_03 ...
+
+   - 设置 device_num 数量为 4
+
+   - USB 端口配置 usb_port，使用以下命令查看并绑定正确的端口
+   `ros2 run orbbec_camera list_devices_node`
+
+   - 同步模式设置为主从模式，一个 primary 相机，其他设置为 secondary_synced
+
+   - 启动顺序：主相机（Primary）应最后启动，以确保同步信号建立正确。
+
+---
+
+2. **参数文件修改**
+
+   修改 `config` 目录下的以下两个配置文件：
+
+   - `camera_params.yaml`
+
+   - `camera_secondary_params.yaml`
+
+   确保以下内容统一：
+
+   - 启用 **depth** 与 **color** 流；
+
+   - 统一各相机的 **帧率（fps）**。
+
+---
+
+3. **启动与验证**
+   - 启动多机同步 launch： `multi_camera_synced.launch.py`
+
+   - 打开新终端运行同步验证节点： `ros2 run orbbec_camera image_sync_example_node`
+      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。
+
+---
+
+4. **参考 launch 文件**
 
-```plaintext
-.
-├── multicamera_sync/
-│   ├── output/
-│       ├──20250218102900/
-│          ├──DevicesInfo.txt
-│          ├──StreamProfileInfo.txt
-│   ├── Python/
-│       ├──Config.ini
-├── gemini_330_series_synced_verify.launch.py
-├── multi_camera_synced_verify.launch.py
 ```
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node, LoadComposableNodes
 
-**multicamera_sync**
 
-* `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。
-* `multi_camera_synced_verify.launch.py`：多相机同步 + save_rgbir 工具的启动文件。
 
-**output**
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "launch")
+    config_file_dir = os.path.join(package_dir, "config")
+    config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
 
-> `ouput` 文件夹是相机图片输出的文件夹
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-2.3",
+            "device_num": "4",
+            "sync_mode": "primary",
+            "config_file_path": config_file_path,
+            "trigger_out_enabled": "true"
+        }.items(),
+    )
 
-在提供的输出示例中
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-1",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
 
-* `20250218102900`：表示在 2025 年 2 月 18 日 10:29:00 收集的相机图像信息。
+    launch3_include = IncludeLaunchDescription(
-* `TotalModeFrames`：相机图像信息存储目录。
+        PythonLaunchDescriptionSource(
-* `results-2025-02-25_163648`：分析和匹配 TotalModeFrames 图像信息后的结果。
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
-* `DevicesInfo.txt`：相机设备基本信息（需要修改）。
+        ),
-* `StreamProfileInfo.txt`：相机视频流信息（无需修改）。
+        launch_arguments={
+            "camera_name": "camera_03",
+            "usb_port": "2-3",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
 
-**Python**
+    launch4_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_04",
+            "usb_port": "2-4",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
 
-* `Config.ini`：Python 分析脚本的配置文件（需要修改）。
 
-## 运行准备
 
-**save_rgbir 节点**
-
-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。
-
-> 重要
->
-> 如果您使用 ROS 2 Foxy，需要先启动 save_rgbir 节点。
-
-```python
     # Launch description
     ld = LaunchDescription(
         [
-            shared_orbbec_container,
+
             TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
-            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch3_include])]),
+            TimerAction(period=4.0, actions=[GroupAction([launch4_include])]),
+            TimerAction(period=6.0, actions=[GroupAction([launch1_include])]),
             # The primary camera should be launched at last
-            TimerAction(period=6.0, actions=[GroupAction([save_rgbir])]),
-            # save_rgbir is synced verification tool
         ]
     )
 
     return ld
 ```
 
-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。
+---
 
-```json
+## 必要系统配置
-{
+
-  "save_rgbir_params": {
+1. **提升 USB 缓冲区容量**
-      "time_domain": "global",
+
-      "usb_ports": [
+```
-          "2-1",
+echo 512 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
-          "2-3"
-      ],
-      "camera_name": [
-          "camera_01",
-          "camera_02"
-      ]
-  }
-}
 ```
 
-* `time_domain`：时间戳类型
+2. **配置 Fast DDS**
-* `usb_ports`："primary"、"secondary 1"、"secondary 2"、"secondary 3"，根据相机数量填写 usb_ports
-* `camera_name`：相机设置的名称，例如：camera_01
 
-**DevicesInfo.txt**
+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)。
-
-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。
-
-* `primarySerialNumber`：主相机的 SN 序列号
-* `index`：相机索引
-* `serialNumber`：相机的 SN 序列号
-
-**Config.ini**
-
-编辑 Config.ini。修改 `frameRate` 和 `tspRangeThreshold`。
-
-## 运行此示例
-
-**运行启动文件并保存相机图片**
-
-* 第一个终端
-
-```bash
-ros2 launch orbbec_camera multi_camera_synced_verify.launch.py
-```
-
-* 第二个终端
-
-```bash
-ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{data: 100}'
-```
-
-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。
-
-**相机图片命名格式**
-
-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
-
-* `color`：此图像是彩色流的快照。
-* `SNCP1E5420006D`：相机的 SN 序列号是 CP1E5420006D。
-* `Index0`：相机 0（通常指主相机）。
-* `g1739874543227`："g"表示全局时间戳，意味着此帧的全局时间戳是 1739874543227。
-* `f0`：此相机彩色流采集的第 0 张图片。
-* `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。
-* `e50`：此帧的曝光为 50。
-* `d16`：此帧的增益为 16。
-
-**分析相机图像数据**
-
-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。
-
-* 最后一切准备就绪，运行 python 脚本
-
-```bash
-cd multicamera_sync/Python
-python3 SyncFramesMain.py
-```
-
-操作成功后，您可以在 `results 文件夹` 中查看同步效果
-
-## 需要更改的文件
-
-**分析工具**
-
-* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json)
-* [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)
-* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini)
-
-**相机配置**
-
-[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）
-
-[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)