fix: normalize line endings to LF (#118)

.cmake-format.py

@@ -1,104 +1,104 @@
-# -----------------------------
-# Options affecting formatting.
-# -----------------------------
-with section("format"):
-
-  # Disable formatting entirely, making cmake-format a no-op
-  disable = False
-
-  # How wide to allow formatted cmake files
-  line_width = 120
-
-  # How many spaces to tab for indent
-  tab_size = 4
-
-  # If true, lines are indented using tab characters (utf-8 0x09) instead of
-  # <tab_size> space characters (utf-8 0x20). In cases where the layout would
-  # require a fractional tab character, the behavior of the  fractional
-  # indentation is governed by <fractional_tab_policy>
-  use_tabchars = False
-
-  # If <use_tabchars> is True, then the value of this variable indicates how
-  # fractional indentions are handled during whitespace replacement. If set to
-  # 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
-  # to `round-up` fractional indentation is replaced with a single tab character
-  # (utf-8 0x09) effectively shifting the column to the next tabstop
-  fractional_tab_policy = 'use-space'
-
-  # If an argument group contains more than this many sub-groups (parg or kwarg
-  # groups) then force it to a vertical layout.
-  max_subgroups_hwrap = 4
-
-  # If a positional argument group contains more than this many arguments, then
-  # force it to a vertical layout.
-  max_pargs_hwrap = 6
-
-  # If a cmdline positional group consumes more than this many lines without
-  # nesting, then invalidate the layout (and nest)
-  max_rows_cmdline = 2
-
-  # If true, separate flow control names from their parentheses with a space
-  separate_ctrl_name_with_space = False
-
-  # If true, separate function names from parentheses with a space
-  separate_fn_name_with_space = False
-
-  # If a statement is wrapped to more than one line, than dangle the closing
-  # parenthesis on its own line.
-  dangle_parens = True
-
-  # If the trailing parenthesis must be 'dangled' on its on line, then align it
-  # to this reference: `prefix`: the start of the statement,  `prefix-indent`:
-  # the start of the statement, plus one indentation  level, `child`: align to
-  # the column of the arguments
-  dangle_align = 'prefix'
-
-  # If the statement spelling length (including space and parenthesis) is
-  # smaller than this amount, then force reject nested layouts.
-  min_prefix_chars = 4
-
-  # If the statement spelling length (including space and parenthesis) is larger
-  # than the tab width by more than this amount, then force reject un-nested
-  # layouts.
-  max_prefix_chars = 10
-
-  # If a candidate layout is wrapped horizontally but it exceeds this many
-  # lines, then reject the layout.
-  max_lines_hwrap = 2
-
-  # What style line endings to use in the output.
-  line_ending = 'unix'
-
-  # Format command names consistently as 'lower' or 'upper' case
-  command_case = 'canonical'
-
-  # Format keywords consistently as 'lower' or 'upper' case
-  keyword_case = 'unchanged'
-
-  # A list of command names which should always be wrapped
-  always_wrap = []
-
-  # If true, the argument lists which are known to be sortable will be sorted
-  # lexicographicall
-  enable_sort = True
-
-  # If true, the parsers may infer whether or not an argument list is sortable
-  # (without annotation).
-  autosort = False
-
-  # By default, if cmake-format cannot successfully fit everything into the
-  # desired linewidth it will apply the last, most agressive attempt that it
-  # made. If this flag is True, however, cmake-format will print error, exit
-  # with non-zero status code, and write-out nothing
-  require_valid_layout = False
-
-  # A dictionary mapping layout nodes to a list of wrap decisions. See the
-  # documentation for more information.
-  layout_passes = {}
-
-# -----------------------------
-# Options affecting comment formatting (indirectly).
-# -----------------------------
-with section("markup"):
-    # Disabling markup avoids merging consecutive comment lines
+# -----------------------------
+# Options affecting formatting.
+# -----------------------------
+with section("format"):
+
+  # Disable formatting entirely, making cmake-format a no-op
+  disable = False
+
+  # How wide to allow formatted cmake files
+  line_width = 120
+
+  # How many spaces to tab for indent
+  tab_size = 4
+
+  # If true, lines are indented using tab characters (utf-8 0x09) instead of
+  # <tab_size> space characters (utf-8 0x20). In cases where the layout would
+  # require a fractional tab character, the behavior of the  fractional
+  # indentation is governed by <fractional_tab_policy>
+  use_tabchars = False
+
+  # If <use_tabchars> is True, then the value of this variable indicates how
+  # fractional indentions are handled during whitespace replacement. If set to
+  # 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
+  # to `round-up` fractional indentation is replaced with a single tab character
+  # (utf-8 0x09) effectively shifting the column to the next tabstop
+  fractional_tab_policy = 'use-space'
+
+  # If an argument group contains more than this many sub-groups (parg or kwarg
+  # groups) then force it to a vertical layout.
+  max_subgroups_hwrap = 4
+
+  # If a positional argument group contains more than this many arguments, then
+  # force it to a vertical layout.
+  max_pargs_hwrap = 6
+
+  # If a cmdline positional group consumes more than this many lines without
+  # nesting, then invalidate the layout (and nest)
+  max_rows_cmdline = 2
+
+  # If true, separate flow control names from their parentheses with a space
+  separate_ctrl_name_with_space = False
+
+  # If true, separate function names from parentheses with a space
+  separate_fn_name_with_space = False
+
+  # If a statement is wrapped to more than one line, than dangle the closing
+  # parenthesis on its own line.
+  dangle_parens = True
+
+  # If the trailing parenthesis must be 'dangled' on its on line, then align it
+  # to this reference: `prefix`: the start of the statement,  `prefix-indent`:
+  # the start of the statement, plus one indentation  level, `child`: align to
+  # the column of the arguments
+  dangle_align = 'prefix'
+
+  # If the statement spelling length (including space and parenthesis) is
+  # smaller than this amount, then force reject nested layouts.
+  min_prefix_chars = 4
+
+  # If the statement spelling length (including space and parenthesis) is larger
+  # than the tab width by more than this amount, then force reject un-nested
+  # layouts.
+  max_prefix_chars = 10
+
+  # If a candidate layout is wrapped horizontally but it exceeds this many
+  # lines, then reject the layout.
+  max_lines_hwrap = 2
+
+  # What style line endings to use in the output.
+  line_ending = 'unix'
+
+  # Format command names consistently as 'lower' or 'upper' case
+  command_case = 'canonical'
+
+  # Format keywords consistently as 'lower' or 'upper' case
+  keyword_case = 'unchanged'
+
+  # A list of command names which should always be wrapped
+  always_wrap = []
+
+  # If true, the argument lists which are known to be sortable will be sorted
+  # lexicographicall
+  enable_sort = True
+
+  # If true, the parsers may infer whether or not an argument list is sortable
+  # (without annotation).
+  autosort = False
+
+  # By default, if cmake-format cannot successfully fit everything into the
+  # desired linewidth it will apply the last, most agressive attempt that it
+  # made. If this flag is True, however, cmake-format will print error, exit
+  # with non-zero status code, and write-out nothing
+  require_valid_layout = False
+
+  # A dictionary mapping layout nodes to a list of wrap decisions. See the
+  # documentation for more information.
+  layout_passes = {}
+
+# -----------------------------
+# Options affecting comment formatting (indirectly).
+# -----------------------------
+with section("markup"):
+    # Disabling markup avoids merging consecutive comment lines
     enable_markup = False

.gitattributes

@@ -0,0 +1,15 @@
+# Normalize text files to LF in both the repository and working tree.
+* text=auto eol=lf
+
+# Treat generated assets and bundled binaries as binary files.
+*.stl binary
+*.STL binary
+*.so binary
+*.so.* binary
+*.png binary
+*.jpg binary
+*.jpeg binary
+*.gif binary
+*.pdf binary
+*.zip binary
+*.gz binary

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/Config.ini

@@ -1,8 +1,8 @@
-[Parameter]
-# Unit: FPS. Please fill in according to the actual dataset frame rate, 
-# otherwise the matching will be inaccurate.
-frameRate=30
-# Unit: ms. When the timestamp range difference of a matched frame group 
-# is greater than or equal to tspRangeThreshold, the file name will be marked.
-tspRangeThreshold=4
-
+[Parameter]
+# Unit: FPS. Please fill in according to the actual dataset frame rate, 
+# otherwise the matching will be inaccurate.
+frameRate=30
+# Unit: ms. When the timestamp range difference of a matched frame group 
+# is greater than or equal to tspRangeThreshold, the file name will be marked.
+tspRangeThreshold=4
+

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/README.md

@@ -1,7 +1,7 @@
-## config_frameMatch.py
-
-**Definition of the three folders:**
-
-- **matchFrames**: Data constrained within a half-frame.
-- **notMatchFrames**: Data not constrained within a half-frame, unmatched.
+## config_frameMatch.py
+
+**Definition of the three folders:**
+
+- **matchFrames**: Data constrained within a half-frame.
+- **notMatchFrames**: Data not constrained within a half-frame, unmatched.
 - **abnormal**: Data within the group that exceeds the `tspRangeThreshold` setting.

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/SyncFramesMain.py

@@ -1,90 +1,90 @@
-import os
-import subprocess
-import json
-import platform
-
-def list_subdirectories(path):
-    for f in os.listdir(path):
-        if os.path.isdir(os.path.join(path, f)):
-            yield f
-
-def read_pid_from_device_json(frames_dir):
-    file_path = frames_dir + "/DevicesInfo.txt"
-    if not os.path.exists(file_path):
-        print(file_path + " not exists. Please check it")
-        return ""
-
-    with open(file_path,  'r') as f:
-        data = json.load(f)
-
-    if not 'devicePid' in data:
-        print("Not found 'devicePid' in " + file_path)
-        return ""
-
-    return data['devicePid']
-
-def execute_sync_width_pid(frames_dir, pid):
-    sync_script_file=""
-    if pid.lower() == "0x0675":
-        sync_script_file="script/config_frameMatch_Gemini2VL.py"
-    elif pid.lower() == "0x0670" or pid.lower() == "0x0701":
-        sync_script_file="script/config_frameMatch-systemTimestamp.py"
-    elif pid.lower() == "0x0660":
-        sync_script_file="script/config_frameMatch-Astra2_new.py"
-    elif pid.lower() == "0x0800" or pid.lower() == "0x0804" or pid.lower() == "0x0803" or pid.lower() == "0x0807" or pid.lower() == "0x0801" or pid.lower() == "0x0805" or pid.lower() == "0x080b" or pid.lower() == "0x080e" or pid.lower() == "0x080f" or pid.lower() == "0x0A13":
-        sync_script_file="script/config_frameMatch_g330.py"
-    else:
-        sync_script_file="script/config_frameMatch.py"
-    
-    if len(sync_script_file) > 0:
-        print(f"execute synchronize frames. script_file={sync_script_file}, frames_dir={frames_dir}")
-        if platform.system() == "Windows": 
-            output = subprocess.check_output(["python", sync_script_file, os.path.abspath(f"{frames_dir}"), os.getcwd()])
-            print(output.decode("gbk"))
-        else:
-            output = subprocess.check_output(["python3", sync_script_file, os.path.abspath(f"{frames_dir}"), os.getcwd()])
-            print(output.decode("utf-8"))
-    else:
-        print("Invalid pid=" + pid + ", not match sync frame script")
-
-def sync_frames(frames_dir):
-    pid = read_pid_from_device_json(frames_dir)
-    if len(pid) <= 0:
-        print("Get pid failed.")
-        return
-    
-    execute_sync_width_pid(frames_dir, pid)
-
-def main():
-    frames_output_path = os.path.abspath("../output")
-
-    subdirectories = list(list_subdirectories(frames_output_path))
-
-    if not subdirectories:
-        print("No subdirectories found in the specified directory.")
-
-    for i, subdir in enumerate(subdirectories):
-        print(f"{i + 1}. {subdir}")
-
-    choice = input("Please select a subdirectory by number (or 'q' to quit): ")
-
-    if choice.lower() == 'q':
-        return
-
-    is_index_valid = False
-    try:
-        index = int(choice) - 1
-        if 0 <= index < len(subdirectories):
-            is_index_valid = True
-        else:
-            print(f"Invalid choice. index={index}. Please enter a number between 1 and the total number of subdirectories.")
-    except ValueError:
-        print("Invalid choice(ValueException). Please enter a number between 1 and the total number of subdirectories")
-    if is_index_valid:
-        selected_subdir = subdirectories[index]
-        print(f"You selected the subdirectory: {selected_subdir}")
-        sync_frames(f"{frames_output_path }/{selected_subdir}")
-
-
-if __name__ == "__main__":
-    main()
+import os
+import subprocess
+import json
+import platform
+
+def list_subdirectories(path):
+    for f in os.listdir(path):
+        if os.path.isdir(os.path.join(path, f)):
+            yield f
+
+def read_pid_from_device_json(frames_dir):
+    file_path = frames_dir + "/DevicesInfo.txt"
+    if not os.path.exists(file_path):
+        print(file_path + " not exists. Please check it")
+        return ""
+
+    with open(file_path,  'r') as f:
+        data = json.load(f)
+
+    if not 'devicePid' in data:
+        print("Not found 'devicePid' in " + file_path)
+        return ""
+
+    return data['devicePid']
+
+def execute_sync_width_pid(frames_dir, pid):
+    sync_script_file=""
+    if pid.lower() == "0x0675":
+        sync_script_file="script/config_frameMatch_Gemini2VL.py"
+    elif pid.lower() == "0x0670" or pid.lower() == "0x0701":
+        sync_script_file="script/config_frameMatch-systemTimestamp.py"
+    elif pid.lower() == "0x0660":
+        sync_script_file="script/config_frameMatch-Astra2_new.py"
+    elif pid.lower() == "0x0800" or pid.lower() == "0x0804" or pid.lower() == "0x0803" or pid.lower() == "0x0807" or pid.lower() == "0x0801" or pid.lower() == "0x0805" or pid.lower() == "0x080b" or pid.lower() == "0x080e" or pid.lower() == "0x080f" or pid.lower() == "0x0A13":
+        sync_script_file="script/config_frameMatch_g330.py"
+    else:
+        sync_script_file="script/config_frameMatch.py"
+    
+    if len(sync_script_file) > 0:
+        print(f"execute synchronize frames. script_file={sync_script_file}, frames_dir={frames_dir}")
+        if platform.system() == "Windows": 
+            output = subprocess.check_output(["python", sync_script_file, os.path.abspath(f"{frames_dir}"), os.getcwd()])
+            print(output.decode("gbk"))
+        else:
+            output = subprocess.check_output(["python3", sync_script_file, os.path.abspath(f"{frames_dir}"), os.getcwd()])
+            print(output.decode("utf-8"))
+    else:
+        print("Invalid pid=" + pid + ", not match sync frame script")
+
+def sync_frames(frames_dir):
+    pid = read_pid_from_device_json(frames_dir)
+    if len(pid) <= 0:
+        print("Get pid failed.")
+        return
+    
+    execute_sync_width_pid(frames_dir, pid)
+
+def main():
+    frames_output_path = os.path.abspath("../output")
+
+    subdirectories = list(list_subdirectories(frames_output_path))
+
+    if not subdirectories:
+        print("No subdirectories found in the specified directory.")
+
+    for i, subdir in enumerate(subdirectories):
+        print(f"{i + 1}. {subdir}")
+
+    choice = input("Please select a subdirectory by number (or 'q' to quit): ")
+
+    if choice.lower() == 'q':
+        return
+
+    is_index_valid = False
+    try:
+        index = int(choice) - 1
+        if 0 <= index < len(subdirectories):
+            is_index_valid = True
+        else:
+            print(f"Invalid choice. index={index}. Please enter a number between 1 and the total number of subdirectories.")
+    except ValueError:
+        print("Invalid choice(ValueException). Please enter a number between 1 and the total number of subdirectories")
+    if is_index_valid:
+        selected_subdir = subdirectories[index]
+        print(f"You selected the subdirectory: {selected_subdir}")
+        sync_frames(f"{frames_output_path }/{selected_subdir}")
+
+
+if __name__ == "__main__":
+    main()

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/script/config_frameMatch-Astra2_new.py

@@ -1,392 +1,392 @@
-import os.path
-import argparse
-import sys
-import json
-import shutil
-import configparser
-
-from pathlib import Path
-from datetime import datetime
-
-## Config.ini configuration
-# Unit: FPS. Please fill in according to the actual dataset frame rate,
-# otherwise it will cause inaccurate matching.
-frameRate = -1
-# Unit: ms. When the timestamp range difference of a matched frame group
-# is greater than or equal to tspRangeThreshold, the file name will be marked.
-tspRangeThreshold = -1
-
-## Parsed automatically by Python script, DO NOT modify
-primaryId = '-1' # Host ID
-mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
-sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
-sourceRootPath = "" # Root directory containing TotalMode
-resultPath = "" # Path to save sync analysis results
-streamProfileDict = dict() # Store Python results
-
-
-class PictureInfo(object):
-    class Struct(object):
-        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-            self.deviceId = deviceId
-            self.sensorType = sensorType
-            self.syncTimeStamp = syncTimeStamp
-            self.picturePath = picturePath
-            self.deviceIdFull = deviceIdFull
-            self.fileExt = fileExt
-
-    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
-
-
-class StreamProfileInfo:
-    def __init__(self, sensorType, width, height, format, fps):
-        self.sensorType = sensorType
-        self.width = width
-        self.height = height
-        self.format = format
-        self.fps = fps
-
-
-def initPrimaryId():
-    global primaryId
-
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
-        return False
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
-        return False
-
-    for item in data['devices']:
-        if 'isPrimaryDevice' in item and 'index' in item and item['isPrimaryDevice']:
-            primaryId = str(item['index'])
-            return True
-
-    return False
-
-
-def initSyncConfigParams():
-    global frameRate, tspRangeThreshold
-
-    configPath = f"{mainPythonWorkPath}/Config.ini"
-    if not os.path.exists(configPath):
-        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
-        return False
-
-    # Create ConfigParser object
-    config = configparser.ConfigParser()
-
-    # Read ini file
-    config.read(configPath, 'utf-8')
-
-    if not config.has_option('Parameter', 'frameRate'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
-        return False
-
-    if not config.has_option('Parameter', 'tspRangeThreshold'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
-        return False
-
-    frameRate = config.getfloat('Parameter', 'frameRate')
-    if frameRate <= 0 or frameRate >= 1000:
-        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
-        return False
-
-    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
-    if tspRangeThreshold <= 0:
-        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
-        return False
-
-    return True
-
-
-def getDeviceCount():
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Get device count failed. {deviceInfoPath} not exists")
-        return 0
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
-        return 0
-
-    return len(data['devices'])
-
-
-def initProfileInfoDict():
-    global streamProfileDict
-
-    streamProfileDict = dict()
-    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
-    if not os.path.exists(profilePath):
-        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
-        return False
-
-    with open(profilePath, 'r') as f:
-        data = json.load(f)
-
-    if not 'streamProfiles' in data:
-        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
-        return False
-
-    for item in data['streamProfiles']:
-        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
-            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
-            streamProfileDict.setdefault(item['sensorType'], profileInfo)
-        else:
-            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
-
-    return len(streamProfileDict.items()) > 0
-
-
-def initResultDir():
-    global resultPath
-    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
-    resultPath = f"{sourceRootPath}/results-{timeText}"
-    if not os.path.exists(resultPath):
-        os.makedirs(resultPath)
-
-
-def isFrameFile(fileName):
-    fileExt = os.path.splitext(fileName)
-    if len(fileExt) < 2:
-        return False
-
-    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
-    return fileExt[1] in frameExts
-
-
-def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
-    frameFileCount = 0
-    for dirpath, dirnames, filenames in os.walk(rootFilePath):
-        # print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
-        for fileName in filenames:
-            filePath = os.path.join(dirpath, fileName)
-            if not isFrameFile(fileName):
-                continue
-
-            frameFileCount += 1
-            fileNameNoExt = os.path.splitext(fileName)[0]
-            pictureNameList = fileNameNoExt.split('_')
-            deviceId = pictureNameList[2][5:]
-            sensorType = pictureNameList[0].replace('#', '_')
-            syncTimeStamp = int(pictureNameList[3][1:])
-
-            # Create struct
-            pictureInfo = PictureInfo()
-            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
-
-            # Format dictionary: one key corresponds to one array
-            pictureInfoDict.setdefault(deviceId, []).append(info)
-
-    if 0 == frameFileCount:
-        print("initialize pictureInfoDict failed. Not found frame file")
-
-
-def matchFrame(pictureInfoDict):
-    global primaryId, frameRate
-    global streamProfileDict
-
-    # Get comparison image array, take the Color array of the first device for comparison
-    compareList = []
-    for key in pictureInfoDict:
-        listTmp = list(pictureInfoDict[key])
-        for info in listTmp:
-            if info.deviceId == primaryId and info.sensorType == 'color':
-                compareList.append(info)
-
-    sorted_dict = dict(sorted(pictureInfoDict.items(), key=lambda x: x[1], reverse=False))
-    pictureInfoDict = sorted_dict
-
-    # Dynamically analyze based on stream opening status to reduce loop iterations
-    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
-    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
-    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
-
-    # Match adjacent frames
-    resultDict = {}
-    consumedList = []
-    dictIndex = 0
-    frameTspGap = int(1000.0/frameRate+0.5)
-    for comparePic in compareList:
-        resultDict.setdefault(dictIndex, []).append(comparePic)
-        for key in pictureInfoDict:
-            listTmp = list(pictureInfoDict[key])
-            # Compare Color
-            if hasColorProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'color' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare Depth
-            if hasDepthProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'depth' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare IR
-            if hasIRProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-        # Calculate deviation
-        for info in resultDict[dictIndex]:
-            info.tspDiff = info.syncTimeStamp - comparePic.syncTimeStamp
-
-        dictIndex += 1
-
-    return resultDict
-
-
-def safe_make_dir(path):
-    if not os.path.exists(path):
-        os.makedirs(path)
-
-
-def handleSyncFrames():
-    global resultPath
-    global sourceFramesPath
-    global streamProfileDict
-
-    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
-
-    if not initProfileInfoDict():
-        print("Initialize stream profile dictionary failed. exit")
-        return
-    print(f"Stream profiles: {streamProfileDict}")
-    streamProfileCount = len(streamProfileDict.items())
-
-    pictureInfoDict = {}
-
-    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
-    if len(pictureInfoDict) <= 0:
-        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
-        return
-
-    # # Dump pictureInfoDict
-    # for key in pictureInfoDict:
-    #     print("===================key:%s" % key)
-    #     listTmp = list(pictureInfoDict[key])
-    # for info in listTmp:
-    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
-
-    deviceCount = getDeviceCount()
-    print("=================device count:%d" % deviceCount)
-
-    resultDict = {}
-    resultDict = matchFrame(pictureInfoDict)
-
-    for key in resultDict:
-        fp.write("===================result key:%s\n" % key)
-        print("===================result key:%s" % key)
-        listTmp = list(resultDict[key])
-        for info in listTmp:
-            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-
-    matchPath = f"{resultPath}/matchFrames/"
-    safe_make_dir(matchPath)
-    notMatchPath = f"{resultPath}/notMatchFrames/"
-    abnormalPath = f"{resultPath}/abnormal/"
-
-    for key in resultDict:
-        listTmp = list(resultDict[key])
-        if (len(listTmp) == (deviceCount * streamProfileCount)):
-            haveAbnormalData = False
-            for info in listTmp:
-                if info.tspDiff >= tspRangeThreshold:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-                    haveAbnormalData = True
-                else:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-
-            if haveAbnormalData:
-                safe_make_dir(abnormalPath)
-                for info in listTmp:
-                    if info.tspDiff >= tspRangeThreshold:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-                    else:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-        else:
-            safe_make_dir(notMatchPath)
-            for info in listTmp:
-                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                shutil.copy(info.picturePath, newFilePath)
-
-
-def main():
-    if not initPrimaryId():
-        print("Initialize primaryId failed. exit.")
-        return
-
-    if not initSyncConfigParams():
-        print("Initialized Sync config parameter failed. exit.")
-        return
-
-    initResultDir()
-
-    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
-    handleSyncFrames()
-
-    return
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Astra2'")
-    parser.add_argument('frames_dir', type=str, help="Frames directory")
-    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
-    args = parser.parse_args()
-
-    sourceRootPath = args.frames_dir
-    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
-    mainPythonWorkPath = args.main_script_root_dir
-    print(f"Start of Astra2 synchronize frame. sourceRootPath={sourceRootPath}")
-
-    main()
-
-    print("Finish of Astra2 synchronize frame.")
+import os.path
+import argparse
+import sys
+import json
+import shutil
+import configparser
+
+from pathlib import Path
+from datetime import datetime
+
+## Config.ini configuration
+# Unit: FPS. Please fill in according to the actual dataset frame rate,
+# otherwise it will cause inaccurate matching.
+frameRate = -1
+# Unit: ms. When the timestamp range difference of a matched frame group
+# is greater than or equal to tspRangeThreshold, the file name will be marked.
+tspRangeThreshold = -1
+
+## Parsed automatically by Python script, DO NOT modify
+primaryId = '-1' # Host ID
+mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
+sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
+sourceRootPath = "" # Root directory containing TotalMode
+resultPath = "" # Path to save sync analysis results
+streamProfileDict = dict() # Store Python results
+
+
+class PictureInfo(object):
+    class Struct(object):
+        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+            self.deviceId = deviceId
+            self.sensorType = sensorType
+            self.syncTimeStamp = syncTimeStamp
+            self.picturePath = picturePath
+            self.deviceIdFull = deviceIdFull
+            self.fileExt = fileExt
+
+    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
+
+
+class StreamProfileInfo:
+    def __init__(self, sensorType, width, height, format, fps):
+        self.sensorType = sensorType
+        self.width = width
+        self.height = height
+        self.format = format
+        self.fps = fps
+
+
+def initPrimaryId():
+    global primaryId
+
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
+        return False
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
+        return False
+
+    for item in data['devices']:
+        if 'isPrimaryDevice' in item and 'index' in item and item['isPrimaryDevice']:
+            primaryId = str(item['index'])
+            return True
+
+    return False
+
+
+def initSyncConfigParams():
+    global frameRate, tspRangeThreshold
+
+    configPath = f"{mainPythonWorkPath}/Config.ini"
+    if not os.path.exists(configPath):
+        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
+        return False
+
+    # Create ConfigParser object
+    config = configparser.ConfigParser()
+
+    # Read ini file
+    config.read(configPath, 'utf-8')
+
+    if not config.has_option('Parameter', 'frameRate'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
+        return False
+
+    if not config.has_option('Parameter', 'tspRangeThreshold'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
+        return False
+
+    frameRate = config.getfloat('Parameter', 'frameRate')
+    if frameRate <= 0 or frameRate >= 1000:
+        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
+        return False
+
+    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
+    if tspRangeThreshold <= 0:
+        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
+        return False
+
+    return True
+
+
+def getDeviceCount():
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Get device count failed. {deviceInfoPath} not exists")
+        return 0
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
+        return 0
+
+    return len(data['devices'])
+
+
+def initProfileInfoDict():
+    global streamProfileDict
+
+    streamProfileDict = dict()
+    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
+    if not os.path.exists(profilePath):
+        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
+        return False
+
+    with open(profilePath, 'r') as f:
+        data = json.load(f)
+
+    if not 'streamProfiles' in data:
+        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
+        return False
+
+    for item in data['streamProfiles']:
+        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
+            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
+            streamProfileDict.setdefault(item['sensorType'], profileInfo)
+        else:
+            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
+
+    return len(streamProfileDict.items()) > 0
+
+
+def initResultDir():
+    global resultPath
+    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
+    resultPath = f"{sourceRootPath}/results-{timeText}"
+    if not os.path.exists(resultPath):
+        os.makedirs(resultPath)
+
+
+def isFrameFile(fileName):
+    fileExt = os.path.splitext(fileName)
+    if len(fileExt) < 2:
+        return False
+
+    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
+    return fileExt[1] in frameExts
+
+
+def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
+    frameFileCount = 0
+    for dirpath, dirnames, filenames in os.walk(rootFilePath):
+        # print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
+        for fileName in filenames:
+            filePath = os.path.join(dirpath, fileName)
+            if not isFrameFile(fileName):
+                continue
+
+            frameFileCount += 1
+            fileNameNoExt = os.path.splitext(fileName)[0]
+            pictureNameList = fileNameNoExt.split('_')
+            deviceId = pictureNameList[2][5:]
+            sensorType = pictureNameList[0].replace('#', '_')
+            syncTimeStamp = int(pictureNameList[3][1:])
+
+            # Create struct
+            pictureInfo = PictureInfo()
+            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
+
+            # Format dictionary: one key corresponds to one array
+            pictureInfoDict.setdefault(deviceId, []).append(info)
+
+    if 0 == frameFileCount:
+        print("initialize pictureInfoDict failed. Not found frame file")
+
+
+def matchFrame(pictureInfoDict):
+    global primaryId, frameRate
+    global streamProfileDict
+
+    # Get comparison image array, take the Color array of the first device for comparison
+    compareList = []
+    for key in pictureInfoDict:
+        listTmp = list(pictureInfoDict[key])
+        for info in listTmp:
+            if info.deviceId == primaryId and info.sensorType == 'color':
+                compareList.append(info)
+
+    sorted_dict = dict(sorted(pictureInfoDict.items(), key=lambda x: x[1], reverse=False))
+    pictureInfoDict = sorted_dict
+
+    # Dynamically analyze based on stream opening status to reduce loop iterations
+    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
+    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
+    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
+
+    # Match adjacent frames
+    resultDict = {}
+    consumedList = []
+    dictIndex = 0
+    frameTspGap = int(1000.0/frameRate+0.5)
+    for comparePic in compareList:
+        resultDict.setdefault(dictIndex, []).append(comparePic)
+        for key in pictureInfoDict:
+            listTmp = list(pictureInfoDict[key])
+            # Compare Color
+            if hasColorProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'color' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare Depth
+            if hasDepthProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'depth' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare IR
+            if hasIRProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir' and info.syncTimeStamp >= comparePic.syncTimeStamp and info.syncTimeStamp - comparePic.syncTimeStamp <= frameTspGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+        # Calculate deviation
+        for info in resultDict[dictIndex]:
+            info.tspDiff = info.syncTimeStamp - comparePic.syncTimeStamp
+
+        dictIndex += 1
+
+    return resultDict
+
+
+def safe_make_dir(path):
+    if not os.path.exists(path):
+        os.makedirs(path)
+
+
+def handleSyncFrames():
+    global resultPath
+    global sourceFramesPath
+    global streamProfileDict
+
+    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
+
+    if not initProfileInfoDict():
+        print("Initialize stream profile dictionary failed. exit")
+        return
+    print(f"Stream profiles: {streamProfileDict}")
+    streamProfileCount = len(streamProfileDict.items())
+
+    pictureInfoDict = {}
+
+    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
+    if len(pictureInfoDict) <= 0:
+        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
+        return
+
+    # # Dump pictureInfoDict
+    # for key in pictureInfoDict:
+    #     print("===================key:%s" % key)
+    #     listTmp = list(pictureInfoDict[key])
+    # for info in listTmp:
+    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
+
+    deviceCount = getDeviceCount()
+    print("=================device count:%d" % deviceCount)
+
+    resultDict = {}
+    resultDict = matchFrame(pictureInfoDict)
+
+    for key in resultDict:
+        fp.write("===================result key:%s\n" % key)
+        print("===================result key:%s" % key)
+        listTmp = list(resultDict[key])
+        for info in listTmp:
+            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+
+    matchPath = f"{resultPath}/matchFrames/"
+    safe_make_dir(matchPath)
+    notMatchPath = f"{resultPath}/notMatchFrames/"
+    abnormalPath = f"{resultPath}/abnormal/"
+
+    for key in resultDict:
+        listTmp = list(resultDict[key])
+        if (len(listTmp) == (deviceCount * streamProfileCount)):
+            haveAbnormalData = False
+            for info in listTmp:
+                if info.tspDiff >= tspRangeThreshold:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+                    haveAbnormalData = True
+                else:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+
+            if haveAbnormalData:
+                safe_make_dir(abnormalPath)
+                for info in listTmp:
+                    if info.tspDiff >= tspRangeThreshold:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+                    else:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+        else:
+            safe_make_dir(notMatchPath)
+            for info in listTmp:
+                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                shutil.copy(info.picturePath, newFilePath)
+
+
+def main():
+    if not initPrimaryId():
+        print("Initialize primaryId failed. exit.")
+        return
+
+    if not initSyncConfigParams():
+        print("Initialized Sync config parameter failed. exit.")
+        return
+
+    initResultDir()
+
+    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
+    handleSyncFrames()
+
+    return
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Astra2'")
+    parser.add_argument('frames_dir', type=str, help="Frames directory")
+    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
+    args = parser.parse_args()
+
+    sourceRootPath = args.frames_dir
+    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
+    mainPythonWorkPath = args.main_script_root_dir
+    print(f"Start of Astra2 synchronize frame. sourceRootPath={sourceRootPath}")
+
+    main()
+
+    print("Finish of Astra2 synchronize frame.")

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/script/config_frameMatch-systemTimestamp.py

@@ -1,403 +1,403 @@
-import os.path
-import argparse
-import sys
-import json
-import shutil
-import configparser
-
-from pathlib import Path
-from datetime import datetime
-
-## Config.ini configuration
-# Unit: FPS. Please fill in according to the actual dataset frame rate,
-# otherwise it will cause inaccurate matching.
-frameRate = -1
-# Unit: ms. When the timestamp range difference of a matched frame group
-# is greater than or equal to tspRangeThreshold, the file name will be marked.
-tspRangeThreshold = -1
-
-## Parsed automatically by Python script, DO NOT modify
-primaryId = '-1' # Host ID
-mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
-sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
-sourceRootPath = "" # Root directory containing TotalMode
-resultPath = "" # Path to save sync analysis results
-streamProfileDict = dict() # Store Python results
-
-class PictureInfo(object):
-    class Struct(object):
-        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-            self.deviceId = deviceId
-            self.sensorType = sensorType
-            self.syncTimeStamp = syncTimeStamp
-            self.picturePath = picturePath
-            self.deviceIdFull = deviceIdFull
-            self.fileExt = fileExt
-
-    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
-
-class StreamProfileInfo:
-    def __init__(self, sensorType, width, height, format, fps):
-        self.sensorType = sensorType
-        self.width = width
-        self.height = height
-        self.format = format
-        self.fps = fps
-
-def initPrimaryId():
-    global primaryId
-
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
-        return False
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
-        return False
-
-    for item in data['devices']:
-        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
-            primaryId = str(item['index'])
-            return True
-
-    return False
-
-def initSyncConfigParams():
-    global frameRate, tspRangeThreshold
-
-    configPath = f"{mainPythonWorkPath}/Config.ini"
-    if not os.path.exists(configPath):
-        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
-        return False
-
-    # Create ConfigParser object
-    config = configparser.ConfigParser()
-
-    # Read ini file
-    config.read(configPath, 'utf-8')
-
-    if not config.has_option('Parameter', 'frameRate'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
-        return False
-
-    if not config.has_option('Parameter', 'tspRangeThreshold'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
-        return False
-
-    frameRate = config.getfloat('Parameter', 'frameRate')
-    if frameRate <= 0 or frameRate >= 1000:
-        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
-        return False
-
-    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
-    if tspRangeThreshold <= 0:
-        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
-        return False
-
-    return True
-
-def getDeviceCount():
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Get device count failed. {deviceInfoPath} not exists")
-        return 0
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
-        return 0
-
-    return len(data['devices'])
-
-def initProfileInfoDict():
-    global streamProfileDict
-
-    streamProfileDict = dict()
-    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
-    if not os.path.exists(profilePath):
-        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
-        return False
-
-    with open(profilePath, 'r') as f:
-        data = json.load(f)
-
-    if not 'streamProfiles' in data:
-        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
-        return False
-
-    for item in data['streamProfiles']:
-        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
-            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
-            streamProfileDict.setdefault(item['sensorType'], profileInfo)
-        else:
-            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
-
-    return len(streamProfileDict.items()) > 0
-
-def initResultDir():
-    global resultPath
-    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
-    resultPath = f"{sourceRootPath}/results-{timeText}"
-    if not os.path.exists(resultPath):
-        os.makedirs(resultPath)
-
-def isFrameFile(fileName):
-    fileExt = os.path.splitext(fileName)
-    if len(fileExt) < 2:
-        return False
-
-    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
-    return fileExt[1] in frameExts
-
-def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
-    frameFileCount = 0
-    for dirpath, dirnames, filenames in os.walk(rootFilePath):
-        # print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
-        for fileName in filenames:
-            filePath = os.path.join(dirpath, fileName)
-            if not isFrameFile(fileName):
-                continue
-
-            frameFileCount += 1
-            fileNameNoExt = os.path.splitext(fileName)[0]
-            pictureNameList = fileNameNoExt.split('_')
-            deviceId = pictureNameList[2][5:]
-            sensorType = pictureNameList[0].replace('#', '_')
-            syncTimeStamp = int(pictureNameList[5][1:])
-
-            # Create struct
-            pictureInfo = PictureInfo()
-            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
-
-            # Format dictionary: one key corresponds to one array
-            pictureInfoDict.setdefault(deviceId, []).append(info)
-
-    if 0 == frameFileCount:
-        print("initialize pictureInfoDict failed. Not found frame file")
-
-
-def matchFrame(pictureInfoDict):
-    global primaryId, frameRate
-    global streamProfileDict
-
-    # Get comparison image array, take the Color array of the first device for comparison
-    compareList = []
-    for key in pictureInfoDict:
-        listTmp = list(pictureInfoDict[key])
-        for info in listTmp:
-            if info.deviceId == primaryId and info.sensorType == 'color':
-                compareList.append(info)
-
-    # Dynamically analyze based on stream opening status to reduce loop iterations
-    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
-    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
-    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
-    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
-    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
-
-    # Match adjacent frames
-    resultDict = {}
-    consumedList = []
-    dictIndex = 0
-    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
-    for comparePic in compareList:
-        resultDict.setdefault(dictIndex, []).append(comparePic)
-        for key in pictureInfoDict:
-            listTmp = list(pictureInfoDict[key])
-            # Compare Color
-            if hasColorProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare Depth
-            if hasDepthProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # IR
-            if hasIRProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Left IR
-            if hasIRLeftProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Right IR
-            if hasIRRightProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-        # Calculate deviation
-        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
-        for info in resultDict[dictIndex]:
-            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
-
-        dictIndex += 1
-
-    return resultDict
-
-
-def safe_make_dir(path):
-    if not os.path.exists(path):
-        os.makedirs(path)
-
-
-def handleSyncFrames():
-    global resultPath
-    global sourceFramesPath
-    global streamProfileDict
-
-    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
-
-    if not initProfileInfoDict():
-        print("Initialize stream profile dictionary failed. exit")
-        return
-    print(f"Stream profiles: {streamProfileDict}")
-    streamProfileCount = len(streamProfileDict.items())
-
-    pictureInfoDict = {}
-
-    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
-    if len(pictureInfoDict) <= 0:
-        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
-        return
-
-    deviceCount = getDeviceCount()
-    print("=================device count:%d" % deviceCount)
-
-    resultDict = {}
-    resultDict = matchFrame(pictureInfoDict)
-
-    for key in resultDict:
-        fp.write("===================result key:%s\n" % key)
-        print("===================result key:%s" % key)
-        listTmp = list(resultDict[key])
-        for info in listTmp:
-            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-
-    matchPath = f"{resultPath}/matchFrames/"
-    safe_make_dir(matchPath)
-    notMatchPath = f"{resultPath}/notMatchFrames/"
-    abnormalPath = f"{resultPath}/abnormal/"
-
-    for key in resultDict:
-        listTmp = list(resultDict[key])
-        if (len(listTmp) == (deviceCount * streamProfileCount)):
-            haveAbnormalData = False
-            for info in listTmp:
-                if info.tspDiff >= tspRangeThreshold:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-                    haveAbnormalData = True
-                else:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-
-            if haveAbnormalData:
-                safe_make_dir(abnormalPath)
-                for info in listTmp:
-                    if info.tspDiff >= tspRangeThreshold:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-                    else:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-        else:
-            safe_make_dir(notMatchPath)
-            for info in listTmp:
-                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                shutil.copy(info.picturePath, newFilePath)
-
-def main():
-    if not initPrimaryId():
-        print("Initialize primaryId failed. exit.")
-        return
-
-    if not initSyncConfigParams():
-        print("Initialized Sync config parameter failed. exit.")
-        return
-
-    initResultDir()
-
-    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
-    handleSyncFrames()
-
-    return
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Gemini 2'")
-    parser.add_argument('frames_dir', type=str, help="Frames directory")
-    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
-    args = parser.parse_args()
-
-    sourceRootPath = args.frames_dir
-    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
-    mainPythonWorkPath = args.main_script_root_dir
-    print(f"Start of Gemini2 synchronize frame. sourceRootPath={sourceRootPath}")
-
-    main()
-
-    print("Finish of Gemini2 synchronize frame.")
+import os.path
+import argparse
+import sys
+import json
+import shutil
+import configparser
+
+from pathlib import Path
+from datetime import datetime
+
+## Config.ini configuration
+# Unit: FPS. Please fill in according to the actual dataset frame rate,
+# otherwise it will cause inaccurate matching.
+frameRate = -1
+# Unit: ms. When the timestamp range difference of a matched frame group
+# is greater than or equal to tspRangeThreshold, the file name will be marked.
+tspRangeThreshold = -1
+
+## Parsed automatically by Python script, DO NOT modify
+primaryId = '-1' # Host ID
+mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
+sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
+sourceRootPath = "" # Root directory containing TotalMode
+resultPath = "" # Path to save sync analysis results
+streamProfileDict = dict() # Store Python results
+
+class PictureInfo(object):
+    class Struct(object):
+        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+            self.deviceId = deviceId
+            self.sensorType = sensorType
+            self.syncTimeStamp = syncTimeStamp
+            self.picturePath = picturePath
+            self.deviceIdFull = deviceIdFull
+            self.fileExt = fileExt
+
+    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
+
+class StreamProfileInfo:
+    def __init__(self, sensorType, width, height, format, fps):
+        self.sensorType = sensorType
+        self.width = width
+        self.height = height
+        self.format = format
+        self.fps = fps
+
+def initPrimaryId():
+    global primaryId
+
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
+        return False
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
+        return False
+
+    for item in data['devices']:
+        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
+            primaryId = str(item['index'])
+            return True
+
+    return False
+
+def initSyncConfigParams():
+    global frameRate, tspRangeThreshold
+
+    configPath = f"{mainPythonWorkPath}/Config.ini"
+    if not os.path.exists(configPath):
+        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
+        return False
+
+    # Create ConfigParser object
+    config = configparser.ConfigParser()
+
+    # Read ini file
+    config.read(configPath, 'utf-8')
+
+    if not config.has_option('Parameter', 'frameRate'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
+        return False
+
+    if not config.has_option('Parameter', 'tspRangeThreshold'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
+        return False
+
+    frameRate = config.getfloat('Parameter', 'frameRate')
+    if frameRate <= 0 or frameRate >= 1000:
+        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
+        return False
+
+    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
+    if tspRangeThreshold <= 0:
+        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
+        return False
+
+    return True
+
+def getDeviceCount():
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Get device count failed. {deviceInfoPath} not exists")
+        return 0
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
+        return 0
+
+    return len(data['devices'])
+
+def initProfileInfoDict():
+    global streamProfileDict
+
+    streamProfileDict = dict()
+    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
+    if not os.path.exists(profilePath):
+        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
+        return False
+
+    with open(profilePath, 'r') as f:
+        data = json.load(f)
+
+    if not 'streamProfiles' in data:
+        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
+        return False
+
+    for item in data['streamProfiles']:
+        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
+            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
+            streamProfileDict.setdefault(item['sensorType'], profileInfo)
+        else:
+            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
+
+    return len(streamProfileDict.items()) > 0
+
+def initResultDir():
+    global resultPath
+    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
+    resultPath = f"{sourceRootPath}/results-{timeText}"
+    if not os.path.exists(resultPath):
+        os.makedirs(resultPath)
+
+def isFrameFile(fileName):
+    fileExt = os.path.splitext(fileName)
+    if len(fileExt) < 2:
+        return False
+
+    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
+    return fileExt[1] in frameExts
+
+def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
+    frameFileCount = 0
+    for dirpath, dirnames, filenames in os.walk(rootFilePath):
+        # print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
+        for fileName in filenames:
+            filePath = os.path.join(dirpath, fileName)
+            if not isFrameFile(fileName):
+                continue
+
+            frameFileCount += 1
+            fileNameNoExt = os.path.splitext(fileName)[0]
+            pictureNameList = fileNameNoExt.split('_')
+            deviceId = pictureNameList[2][5:]
+            sensorType = pictureNameList[0].replace('#', '_')
+            syncTimeStamp = int(pictureNameList[5][1:])
+
+            # Create struct
+            pictureInfo = PictureInfo()
+            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
+
+            # Format dictionary: one key corresponds to one array
+            pictureInfoDict.setdefault(deviceId, []).append(info)
+
+    if 0 == frameFileCount:
+        print("initialize pictureInfoDict failed. Not found frame file")
+
+
+def matchFrame(pictureInfoDict):
+    global primaryId, frameRate
+    global streamProfileDict
+
+    # Get comparison image array, take the Color array of the first device for comparison
+    compareList = []
+    for key in pictureInfoDict:
+        listTmp = list(pictureInfoDict[key])
+        for info in listTmp:
+            if info.deviceId == primaryId and info.sensorType == 'color':
+                compareList.append(info)
+
+    # Dynamically analyze based on stream opening status to reduce loop iterations
+    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
+    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
+    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
+    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
+    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
+
+    # Match adjacent frames
+    resultDict = {}
+    consumedList = []
+    dictIndex = 0
+    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
+    for comparePic in compareList:
+        resultDict.setdefault(dictIndex, []).append(comparePic)
+        for key in pictureInfoDict:
+            listTmp = list(pictureInfoDict[key])
+            # Compare Color
+            if hasColorProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare Depth
+            if hasDepthProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # IR
+            if hasIRProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Left IR
+            if hasIRLeftProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Right IR
+            if hasIRRightProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+        # Calculate deviation
+        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
+        for info in resultDict[dictIndex]:
+            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
+
+        dictIndex += 1
+
+    return resultDict
+
+
+def safe_make_dir(path):
+    if not os.path.exists(path):
+        os.makedirs(path)
+
+
+def handleSyncFrames():
+    global resultPath
+    global sourceFramesPath
+    global streamProfileDict
+
+    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
+
+    if not initProfileInfoDict():
+        print("Initialize stream profile dictionary failed. exit")
+        return
+    print(f"Stream profiles: {streamProfileDict}")
+    streamProfileCount = len(streamProfileDict.items())
+
+    pictureInfoDict = {}
+
+    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
+    if len(pictureInfoDict) <= 0:
+        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
+        return
+
+    deviceCount = getDeviceCount()
+    print("=================device count:%d" % deviceCount)
+
+    resultDict = {}
+    resultDict = matchFrame(pictureInfoDict)
+
+    for key in resultDict:
+        fp.write("===================result key:%s\n" % key)
+        print("===================result key:%s" % key)
+        listTmp = list(resultDict[key])
+        for info in listTmp:
+            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+
+    matchPath = f"{resultPath}/matchFrames/"
+    safe_make_dir(matchPath)
+    notMatchPath = f"{resultPath}/notMatchFrames/"
+    abnormalPath = f"{resultPath}/abnormal/"
+
+    for key in resultDict:
+        listTmp = list(resultDict[key])
+        if (len(listTmp) == (deviceCount * streamProfileCount)):
+            haveAbnormalData = False
+            for info in listTmp:
+                if info.tspDiff >= tspRangeThreshold:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+                    haveAbnormalData = True
+                else:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+
+            if haveAbnormalData:
+                safe_make_dir(abnormalPath)
+                for info in listTmp:
+                    if info.tspDiff >= tspRangeThreshold:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+                    else:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+        else:
+            safe_make_dir(notMatchPath)
+            for info in listTmp:
+                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                shutil.copy(info.picturePath, newFilePath)
+
+def main():
+    if not initPrimaryId():
+        print("Initialize primaryId failed. exit.")
+        return
+
+    if not initSyncConfigParams():
+        print("Initialized Sync config parameter failed. exit.")
+        return
+
+    initResultDir()
+
+    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
+    handleSyncFrames()
+
+    return
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Gemini 2'")
+    parser.add_argument('frames_dir', type=str, help="Frames directory")
+    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
+    args = parser.parse_args()
+
+    sourceRootPath = args.frames_dir
+    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
+    mainPythonWorkPath = args.main_script_root_dir
+    print(f"Start of Gemini2 synchronize frame. sourceRootPath={sourceRootPath}")
+
+    main()
+
+    print("Finish of Gemini2 synchronize frame.")

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/script/config_frameMatch.py

@@ -1,425 +1,425 @@
-import os.path
-import argparse
-import sys
-import json
-import shutil
-import configparser
-
-from pathlib import Path
-from datetime import datetime
-
-import os
-import re
-
-## Config.ini configuration
-# Unit: FPS. Please fill in according to the actual dataset frame rate,
-# otherwise it will cause inaccurate matching.
-frameRate = -1
-# Unit: ms. When the timestamp range difference of a matched frame group
-# is greater than or equal to tspRangeThreshold, the file name will be marked.
-tspRangeThreshold = -1
-
-## Parsed automatically by Python script, DO NOT modify
-primaryId = '-1' # Host ID
-mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
-sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
-sourceRootPath = "" # Root directory containing TotalMode
-resultPath = "" # Path to save sync analysis results
-streamProfileDict = dict() # Store Python results
-
-class PictureInfo(object):
-    class Struct(object):
-        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-            self.deviceId = deviceId
-            self.sensorType = sensorType
-            self.syncTimeStamp = syncTimeStamp
-            self.picturePath = picturePath
-            self.deviceIdFull = deviceIdFull
-            self.fileExt = fileExt
-
-    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
-
-class StreamProfileInfo:
-    def __init__(self, sensorType, width, height, format, fps):
-        self.sensorType = sensorType
-        self.width = width
-        self.height = height
-        self.format = format
-        self.fps = fps
-
-def initPrimaryId():
-    global primaryId
-
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
-        return False
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
-        return False
-
-    for item in data['devices']:
-        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
-            primaryId = str(item['index'])
-            return True
-
-    return False
-
-def initSyncConfigParams():
-    global frameRate, tspRangeThreshold
-
-    configPath = f"{mainPythonWorkPath}/Config.ini"
-    if not os.path.exists(configPath):
-        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
-        return False
-
-    # Create ConfigParser object
-    config = configparser.ConfigParser()
-
-    # Read ini file
-    config.read(configPath, 'utf-8')
-
-    if not config.has_option('Parameter', 'frameRate'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
-        return False
-
-    if not config.has_option('Parameter', 'tspRangeThreshold'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
-        return False
-
-    frameRate = config.getfloat('Parameter', 'frameRate')
-    if frameRate <= 0 or frameRate >= 1000:
-        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
-        return False
-
-    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
-    if tspRangeThreshold <= 0:
-        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
-        return False
-
-    return True
-
-def getDeviceCount():
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Get device count failed. {deviceInfoPath} not exists")
-        return 0
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
-        return 0
-
-    return len(data['devices'])
-
-def initProfileInfoDict():
-    global streamProfileDict
-
-    streamProfileDict = dict()
-    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
-    if not os.path.exists(profilePath):
-        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
-        return False
-
-    with open(profilePath, 'r') as f:
-        data = json.load(f)
-
-    if not 'streamProfiles' in data:
-        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
-        return False
-
-    for item in data['streamProfiles']:
-        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
-            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
-            streamProfileDict.setdefault(item['sensorType'], profileInfo)
-        else:
-            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
-
-    return len(streamProfileDict.items()) > 0
-
-def initResultDir():
-    global resultPath
-    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
-    resultPath = f"{sourceRootPath}/results-{timeText}"
-    if not os.path.exists(resultPath):
-        os.makedirs(resultPath)
-
-def isFrameFile(fileName):
-    fileExt = os.path.splitext(fileName)
-    if len(fileExt) < 2:
-        return False
-
-    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
-    return fileExt[1] in frameExts
-
-def extract_number(filename):
-    """Extract the numeric part after 'g' in the filename"""
-    match_g = re.search(r'g(\d+)', filename)
-    if match_g:
-        return int(match_g.group(1))
-
-    """Extract the numeric part after 'd' in the filename"""
-    match_d = re.search(r'd(\d+)', filename)
-    if match_d:
-        return int(match_d.group(1))
-    return float('inf')
-
-def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
-    frameFileCount = 0
-    for dirpath, dirnames, filenames in os.walk(rootFilePath):
-        filenames.sort(key=extract_number) # Sort filenames by the numeric part after 'd' and 'g'
-        for fileName in filenames:
-            filePath = os.path.join(dirpath, fileName)
-            if not isFrameFile(fileName):
-                continue
-
-            frameFileCount += 1
-            fileNameNoExt = os.path.splitext(fileName)[0]
-            pictureNameList = fileNameNoExt.split('_')
-            deviceId = pictureNameList[2][5:]
-            sensorType = pictureNameList[0].replace('#', '_')
-            syncTimeStamp = int(pictureNameList[3][1:])
-
-            # Create struct
-            pictureInfo = PictureInfo()
-            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
-
-            # Format dictionary: one key corresponds to one array
-            pictureInfoDict.setdefault(deviceId, []).append(info)
-
-    if 0 == frameFileCount:
-        print("initialize pictureInfoDict failed. Not found frame file")
-
-
-def matchFrame(pictureInfoDict):
-    global primaryId, frameRate
-    global streamProfileDict
-
-    # Get comparison image array, use the Color array of the first device for comparison
-    compareList = []
-    for key in pictureInfoDict:
-        listTmp = list(pictureInfoDict[key])
-        for info in listTmp:
-            if info.deviceId == primaryId and info.sensorType == 'color':
-                compareList.append(info)
-
-    # Dynamically analyze based on stream opening status to reduce loop iterations
-    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
-    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
-    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
-    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
-    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
-
-    # Match adjacent frames
-    resultDict = {}
-    consumedList = []
-    dictIndex = 0
-    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
-    for comparePic in compareList:
-        resultDict.setdefault(dictIndex, []).append(comparePic)
-        for key in pictureInfoDict:
-            listTmp = list(pictureInfoDict[key])
-            # Compare color
-            if hasColorProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare depth
-            if hasDepthProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare IR
-            if hasIRProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare left IR
-            if hasIRLeftProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare right IR
-            if hasIRRightProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-        # Calculate deviation
-        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
-        for info in resultDict[dictIndex]:
-            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
-
-        dictIndex += 1
-
-    return resultDict
-
-
-def safe_make_dir(path):
-    if not os.path.exists(path):
-        os.makedirs(path)
-
-
-def handleSyncFrames():
-    global resultPath
-    global sourceFramesPath
-    global streamProfileDict
-
-    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
-
-    if not initProfileInfoDict():
-        print("Initialize stream profile dictionary failed. exit")
-        return
-    print(f"Stream profiles: {streamProfileDict}")
-    streamProfileCount = len(streamProfileDict.items())
-
-    pictureInfoDict = {}
-
-    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
-    if len(pictureInfoDict) <= 0:
-        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
-        return
-
-    # # Dump pictureInfoDict
-    # for key in pictureInfoDict:
-    #     print("===================key:%s" % key)
-    #     listTmp = list(pictureInfoDict[key])
-    # for info in listTmp:
-    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
-
-    deviceCount = getDeviceCount()
-    print("=================device count:%d" % deviceCount)
-
-    resultDict = {}
-    resultDict = matchFrame(pictureInfoDict)
-
-    for key in resultDict:
-        fp.write("===================result key:%s\n" % key)
-        print("===================result key:%s" % key)
-        listTmp = list(resultDict[key])
-        for info in listTmp:
-            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-
-    matchPath = f"{resultPath}/matchFrames/"
-    safe_make_dir(matchPath)
-    notMatchPath = f"{resultPath}/notMatchFrames/"
-    abnormalPath = f"{resultPath}/abnormal/"
-
-    for key in resultDict:
-        listTmp = list(resultDict[key])
-        if (len(listTmp) == (deviceCount * streamProfileCount)):
-            haveAbnormalData = False
-            for info in listTmp:
-                if info.tspDiff >= tspRangeThreshold:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-                    haveAbnormalData = True
-                else:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-
-            if haveAbnormalData:
-                safe_make_dir(abnormalPath)
-                for info in listTmp:
-                    if info.tspDiff >= tspRangeThreshold:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-                    else:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-        else:
-            safe_make_dir(notMatchPath)
-            for info in listTmp:
-                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                shutil.copy(info.picturePath, newFilePath)
-
-def main():
-    if not initPrimaryId():
-        print("Initialize primaryId failed. exit.")
-        return
-
-    if not initSyncConfigParams():
-        print("Initialized Sync config parameter failed. exit.")
-        return
-
-    initResultDir()
-
-    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
-    handleSyncFrames()
-
-    return
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Devices'")
-    parser.add_argument('frames_dir', type=str, help="Frames directory")
-    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
-    args = parser.parse_args()
-
-    sourceRootPath = args.frames_dir
-    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
-    mainPythonWorkPath = args.main_script_root_dir
-    print(f"Start of CommonFrameMatch synchronize frame. sourceRootPath={sourceRootPath}")
-
-    main()
-
-    print("Finish of CommonFrameMatch synchronize frame.")
+import os.path
+import argparse
+import sys
+import json
+import shutil
+import configparser
+
+from pathlib import Path
+from datetime import datetime
+
+import os
+import re
+
+## Config.ini configuration
+# Unit: FPS. Please fill in according to the actual dataset frame rate,
+# otherwise it will cause inaccurate matching.
+frameRate = -1
+# Unit: ms. When the timestamp range difference of a matched frame group
+# is greater than or equal to tspRangeThreshold, the file name will be marked.
+tspRangeThreshold = -1
+
+## Parsed automatically by Python script, DO NOT modify
+primaryId = '-1' # Host ID
+mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
+sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
+sourceRootPath = "" # Root directory containing TotalMode
+resultPath = "" # Path to save sync analysis results
+streamProfileDict = dict() # Store Python results
+
+class PictureInfo(object):
+    class Struct(object):
+        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+            self.deviceId = deviceId
+            self.sensorType = sensorType
+            self.syncTimeStamp = syncTimeStamp
+            self.picturePath = picturePath
+            self.deviceIdFull = deviceIdFull
+            self.fileExt = fileExt
+
+    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
+
+class StreamProfileInfo:
+    def __init__(self, sensorType, width, height, format, fps):
+        self.sensorType = sensorType
+        self.width = width
+        self.height = height
+        self.format = format
+        self.fps = fps
+
+def initPrimaryId():
+    global primaryId
+
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
+        return False
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
+        return False
+
+    for item in data['devices']:
+        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
+            primaryId = str(item['index'])
+            return True
+
+    return False
+
+def initSyncConfigParams():
+    global frameRate, tspRangeThreshold
+
+    configPath = f"{mainPythonWorkPath}/Config.ini"
+    if not os.path.exists(configPath):
+        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
+        return False
+
+    # Create ConfigParser object
+    config = configparser.ConfigParser()
+
+    # Read ini file
+    config.read(configPath, 'utf-8')
+
+    if not config.has_option('Parameter', 'frameRate'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
+        return False
+
+    if not config.has_option('Parameter', 'tspRangeThreshold'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
+        return False
+
+    frameRate = config.getfloat('Parameter', 'frameRate')
+    if frameRate <= 0 or frameRate >= 1000:
+        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
+        return False
+
+    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
+    if tspRangeThreshold <= 0:
+        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
+        return False
+
+    return True
+
+def getDeviceCount():
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Get device count failed. {deviceInfoPath} not exists")
+        return 0
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
+        return 0
+
+    return len(data['devices'])
+
+def initProfileInfoDict():
+    global streamProfileDict
+
+    streamProfileDict = dict()
+    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
+    if not os.path.exists(profilePath):
+        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
+        return False
+
+    with open(profilePath, 'r') as f:
+        data = json.load(f)
+
+    if not 'streamProfiles' in data:
+        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
+        return False
+
+    for item in data['streamProfiles']:
+        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
+            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
+            streamProfileDict.setdefault(item['sensorType'], profileInfo)
+        else:
+            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
+
+    return len(streamProfileDict.items()) > 0
+
+def initResultDir():
+    global resultPath
+    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
+    resultPath = f"{sourceRootPath}/results-{timeText}"
+    if not os.path.exists(resultPath):
+        os.makedirs(resultPath)
+
+def isFrameFile(fileName):
+    fileExt = os.path.splitext(fileName)
+    if len(fileExt) < 2:
+        return False
+
+    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
+    return fileExt[1] in frameExts
+
+def extract_number(filename):
+    """Extract the numeric part after 'g' in the filename"""
+    match_g = re.search(r'g(\d+)', filename)
+    if match_g:
+        return int(match_g.group(1))
+
+    """Extract the numeric part after 'd' in the filename"""
+    match_d = re.search(r'd(\d+)', filename)
+    if match_d:
+        return int(match_d.group(1))
+    return float('inf')
+
+def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
+    frameFileCount = 0
+    for dirpath, dirnames, filenames in os.walk(rootFilePath):
+        filenames.sort(key=extract_number) # Sort filenames by the numeric part after 'd' and 'g'
+        for fileName in filenames:
+            filePath = os.path.join(dirpath, fileName)
+            if not isFrameFile(fileName):
+                continue
+
+            frameFileCount += 1
+            fileNameNoExt = os.path.splitext(fileName)[0]
+            pictureNameList = fileNameNoExt.split('_')
+            deviceId = pictureNameList[2][5:]
+            sensorType = pictureNameList[0].replace('#', '_')
+            syncTimeStamp = int(pictureNameList[3][1:])
+
+            # Create struct
+            pictureInfo = PictureInfo()
+            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
+
+            # Format dictionary: one key corresponds to one array
+            pictureInfoDict.setdefault(deviceId, []).append(info)
+
+    if 0 == frameFileCount:
+        print("initialize pictureInfoDict failed. Not found frame file")
+
+
+def matchFrame(pictureInfoDict):
+    global primaryId, frameRate
+    global streamProfileDict
+
+    # Get comparison image array, use the Color array of the first device for comparison
+    compareList = []
+    for key in pictureInfoDict:
+        listTmp = list(pictureInfoDict[key])
+        for info in listTmp:
+            if info.deviceId == primaryId and info.sensorType == 'color':
+                compareList.append(info)
+
+    # Dynamically analyze based on stream opening status to reduce loop iterations
+    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
+    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
+    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
+    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
+    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
+
+    # Match adjacent frames
+    resultDict = {}
+    consumedList = []
+    dictIndex = 0
+    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
+    for comparePic in compareList:
+        resultDict.setdefault(dictIndex, []).append(comparePic)
+        for key in pictureInfoDict:
+            listTmp = list(pictureInfoDict[key])
+            # Compare color
+            if hasColorProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare depth
+            if hasDepthProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare IR
+            if hasIRProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare left IR
+            if hasIRLeftProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare right IR
+            if hasIRRightProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+        # Calculate deviation
+        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
+        for info in resultDict[dictIndex]:
+            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
+
+        dictIndex += 1
+
+    return resultDict
+
+
+def safe_make_dir(path):
+    if not os.path.exists(path):
+        os.makedirs(path)
+
+
+def handleSyncFrames():
+    global resultPath
+    global sourceFramesPath
+    global streamProfileDict
+
+    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
+
+    if not initProfileInfoDict():
+        print("Initialize stream profile dictionary failed. exit")
+        return
+    print(f"Stream profiles: {streamProfileDict}")
+    streamProfileCount = len(streamProfileDict.items())
+
+    pictureInfoDict = {}
+
+    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
+    if len(pictureInfoDict) <= 0:
+        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
+        return
+
+    # # Dump pictureInfoDict
+    # for key in pictureInfoDict:
+    #     print("===================key:%s" % key)
+    #     listTmp = list(pictureInfoDict[key])
+    # for info in listTmp:
+    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
+
+    deviceCount = getDeviceCount()
+    print("=================device count:%d" % deviceCount)
+
+    resultDict = {}
+    resultDict = matchFrame(pictureInfoDict)
+
+    for key in resultDict:
+        fp.write("===================result key:%s\n" % key)
+        print("===================result key:%s" % key)
+        listTmp = list(resultDict[key])
+        for info in listTmp:
+            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+
+    matchPath = f"{resultPath}/matchFrames/"
+    safe_make_dir(matchPath)
+    notMatchPath = f"{resultPath}/notMatchFrames/"
+    abnormalPath = f"{resultPath}/abnormal/"
+
+    for key in resultDict:
+        listTmp = list(resultDict[key])
+        if (len(listTmp) == (deviceCount * streamProfileCount)):
+            haveAbnormalData = False
+            for info in listTmp:
+                if info.tspDiff >= tspRangeThreshold:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+                    haveAbnormalData = True
+                else:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+
+            if haveAbnormalData:
+                safe_make_dir(abnormalPath)
+                for info in listTmp:
+                    if info.tspDiff >= tspRangeThreshold:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+                    else:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+        else:
+            safe_make_dir(notMatchPath)
+            for info in listTmp:
+                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                shutil.copy(info.picturePath, newFilePath)
+
+def main():
+    if not initPrimaryId():
+        print("Initialize primaryId failed. exit.")
+        return
+
+    if not initSyncConfigParams():
+        print("Initialized Sync config parameter failed. exit.")
+        return
+
+    initResultDir()
+
+    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
+    handleSyncFrames()
+
+    return
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Devices'")
+    parser.add_argument('frames_dir', type=str, help="Frames directory")
+    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
+    args = parser.parse_args()
+
+    sourceRootPath = args.frames_dir
+    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
+    mainPythonWorkPath = args.main_script_root_dir
+    print(f"Start of CommonFrameMatch synchronize frame. sourceRootPath={sourceRootPath}")
+
+    main()
+
+    print("Finish of CommonFrameMatch synchronize frame.")

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/script/config_frameMatch_Gemini2VL.py

@@ -1,410 +1,410 @@
-import os.path
-import argparse
-import sys
-import json
-import shutil
-import configparser
-
-from pathlib import Path
-from datetime import datetime
-
-## Config.ini configuration
-# Unit: FPS. Please fill in according to the actual dataset frame rate,
-# otherwise it will cause inaccurate matching.
-frameRate = -1
-# Unit: ms. When the timestamp range difference of a matched frame group
-# is greater than or equal to tspRangeThreshold, the file name will be marked.
-tspRangeThreshold = -1
-
-## Parsed automatically by Python script, DO NOT modify
-primaryId = '-1' # Host ID
-mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
-sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
-sourceRootPath = "" # Root directory containing TotalMode
-resultPath = "" # Path to save sync analysis results
-streamProfileDict = dict() # Store Python results
-
-class PictureInfo(object):
-    class Struct(object):
-        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-            self.deviceId = deviceId
-            self.sensorType = sensorType
-            self.syncTimeStamp = syncTimeStamp
-            self.picturePath = picturePath
-            self.deviceIdFull = deviceIdFull
-            self.fileExt = fileExt
-
-    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
-        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
-
-class StreamProfileInfo:
-    def __init__(self, sensorType, width, height, format, fps):
-        self.sensorType = sensorType
-        self.width = width
-        self.height = height
-        self.format = format
-        self.fps = fps
-
-def initPrimaryId():
-    global primaryId
-
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
-        return False
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
-        return False
-
-    for item in data['devices']:
-        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
-            primaryId = str(item['index'])
-            return True
-
-    return False
-
-def initSyncConfigParams():
-    global frameRate, tspRangeThreshold
-
-    configPath = f"{mainPythonWorkPath}/Config.ini"
-    if not os.path.exists(configPath):
-        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
-        return False
-
-    # Create ConfigParser object
-    config = configparser.ConfigParser()
-
-    # Read ini file
-    config.read(configPath, 'utf-8')
-
-    if not config.has_option('Parameter', 'frameRate'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
-        return False
-
-    if not config.has_option('Parameter', 'tspRangeThreshold'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
-        return False
-
-    frameRate = config.getfloat('Parameter', 'frameRate')
-    if frameRate <= 0 or frameRate >= 1000:
-        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
-        return False
-
-    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
-    if tspRangeThreshold <= 0:
-        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
-        return False
-
-    return True
-
-def getDeviceCount():
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Get device count failed. {deviceInfoPath} not exists")
-        return 0
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
-        return 0
-
-    return len(data['devices'])
-
-def initProfileInfoDict():
-    global streamProfileDict
-
-    streamProfileDict = dict()
-    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
-    if not os.path.exists(profilePath):
-        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
-        return False
-
-    with open(profilePath, 'r') as f:
-        data = json.load(f)
-
-    if not 'streamProfiles' in data:
-        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
-        return False
-
-    for item in data['streamProfiles']:
-        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
-            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
-            streamProfileDict.setdefault(item['sensorType'], profileInfo)
-        else:
-            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
-
-    return len(streamProfileDict.items()) > 0
-
-def initResultDir():
-    global resultPath
-    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
-    resultPath = f"{sourceRootPath}/results-{timeText}"
-    if not os.path.exists(resultPath):
-        os.makedirs(resultPath)
-
-def isFrameFile(fileName):
-    fileExt = os.path.splitext(fileName)
-    if len(fileExt) < 2:
-        return False
-
-    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
-    return fileExt[1] in frameExts
-
-def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
-    frameFileCount = 0
-    for dirpath, dirnames, filenames in os.walk(rootFilePath):
-        # print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
-        for fileName in filenames:
-            filePath = os.path.join(dirpath, fileName)
-            if not isFrameFile(fileName):
-                continue
-
-            frameFileCount += 1
-            fileNameNoExt = os.path.splitext(fileName)[0]
-            pictureNameList = fileNameNoExt.split('_')
-            deviceId = pictureNameList[2][5:]
-            sensorType = pictureNameList[0].replace('#', '_')
-            syncTimeStamp = int(pictureNameList[3][1:])
-
-            # Create structure
-            pictureInfo = PictureInfo()
-            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
-
-            # Format dictionary: one key corresponds to one array
-            pictureInfoDict.setdefault(deviceId, []).append(info)
-
-    if 0 == frameFileCount:
-        print("initialize pictureInfoDict failed. Not found frame file")
-
-
-def matchFrame(pictureInfoDict):
-    global primaryId, frameRate
-    global streamProfileDict
-
-    # Get comparison image array, take the Color array of the first device for comparison
-    compareList = []
-    for key in pictureInfoDict:
-        listTmp = list(pictureInfoDict[key])
-        for info in listTmp:
-            if info.deviceId == primaryId and info.sensorType == 'color':
-                compareList.append(info)
-
-    # Dynamically analyze based on stream status to reduce loop iterations
-    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
-    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
-    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
-    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
-    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
-
-    # Match adjacent frames
-    resultDict = {}
-    consumedList = []
-    dictIndex = 0
-    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
-    for comparePic in compareList:
-        resultDict.setdefault(dictIndex, []).append(comparePic)
-        for key in pictureInfoDict:
-            listTmp = list(pictureInfoDict[key])
-            # Compare color
-            if hasColorProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare depth
-            if hasDepthProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare IR
-            if hasIRProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare left IR
-            if hasIRLeftProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare right IR
-            if hasIRRightProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-        # Calculate deviation
-        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
-        for info in resultDict[dictIndex]:
-            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
-
-        dictIndex += 1
-
-    return resultDict
-
-
-def safe_make_dir(path):
-    if not os.path.exists(path):
-        os.makedirs(path)
-
-
-def handleSyncFrames():
-    global resultPath
-    global sourceFramesPath
-    global streamProfileDict
-
-    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
-
-    if not initProfileInfoDict():
-        print("Initialize stream profile dictionary failed. exit")
-        return
-    print(f"Stream profiles: {streamProfileDict}")
-    streamProfileCount = len(streamProfileDict.items())
-
-    pictureInfoDict = {}
-
-    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
-    if len(pictureInfoDict) <= 0:
-        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
-        return
-
-    # # Dump pictureInfoDict
-    # for key in pictureInfoDict:
-    #     print("===================key:%s" % key)
-    #     listTmp = list(pictureInfoDict[key])
-    # for info in listTmp:
-    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
-
-    deviceCount = getDeviceCount()
-    print("=================device count:%d" % deviceCount)
-
-    resultDict = {}
-    resultDict = matchFrame(pictureInfoDict)
-
-    for key in resultDict:
-        fp.write("===================result key:%s\n" % key)
-        print("===================result key:%s" % key)
-        listTmp = list(resultDict[key])
-        for info in listTmp:
-            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-
-    matchPath = f"{resultPath}/matchFrames/"
-    safe_make_dir(matchPath)
-    notMatchPath = f"{resultPath}/notMatchFrames/"
-    abnormalPath = f"{resultPath}/abnormal/"
-
-    for key in resultDict:
-        listTmp = list(resultDict[key])
-        if (len(listTmp) == (deviceCount * streamProfileCount)):
-            haveAbnormalData = False
-            for info in listTmp:
-                if info.tspDiff >= tspRangeThreshold:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-                    haveAbnormalData = True
-                else:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                    shutil.copy(info.picturePath, path)
-
-            if haveAbnormalData:
-                safe_make_dir(abnormalPath)
-                for info in listTmp:
-                    if info.tspDiff >= tspRangeThreshold:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-                    else:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                        shutil.copy(info.picturePath, path)
-        else:
-            safe_make_dir(notMatchPath)
-            for info in listTmp:
-                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
-                shutil.copy(info.picturePath, newFilePath)
-
-def main():
-    if not initPrimaryId():
-        print("Initialize primaryId failed. exit.")
-        return
-
-    if not initSyncConfigParams():
-        print("Initialized Sync config parameter failed. exit.")
-        return
-
-    initResultDir()
-
-    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
-    handleSyncFrames()
-
-    return
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Gemini 2 VL'")
-    parser.add_argument('frames_dir', type=str, help="Frames directory")
-    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
-    args = parser.parse_args()
-
-    sourceRootPath = args.frames_dir
-    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
-    mainPythonWorkPath = args.main_script_root_dir
-    print(f"Start of Gemini2VL synchronize frame. sourceRootPath={sourceRootPath}")
-
-    main()
-
-    print("Finish of Gemini2VL synchronize frame.")
+import os.path
+import argparse
+import sys
+import json
+import shutil
+import configparser
+
+from pathlib import Path
+from datetime import datetime
+
+## Config.ini configuration
+# Unit: FPS. Please fill in according to the actual dataset frame rate,
+# otherwise it will cause inaccurate matching.
+frameRate = -1
+# Unit: ms. When the timestamp range difference of a matched frame group
+# is greater than or equal to tspRangeThreshold, the file name will be marked.
+tspRangeThreshold = -1
+
+## Parsed automatically by Python script, DO NOT modify
+primaryId = '-1' # Host ID
+mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
+sourceFramesPath = ""  # DO NOT modify, fixed value, path to TotalMode directory
+sourceRootPath = "" # Root directory containing TotalMode
+resultPath = "" # Path to save sync analysis results
+streamProfileDict = dict() # Store Python results
+
+class PictureInfo(object):
+    class Struct(object):
+        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+            self.deviceId = deviceId
+            self.sensorType = sensorType
+            self.syncTimeStamp = syncTimeStamp
+            self.picturePath = picturePath
+            self.deviceIdFull = deviceIdFull
+            self.fileExt = fileExt
+
+    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt):
+        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt)
+
+class StreamProfileInfo:
+    def __init__(self, sensorType, width, height, format, fps):
+        self.sensorType = sensorType
+        self.width = width
+        self.height = height
+        self.format = format
+        self.fps = fps
+
+def initPrimaryId():
+    global primaryId
+
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
+        return False
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
+        return False
+
+    for item in data['devices']:
+        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
+            primaryId = str(item['index'])
+            return True
+
+    return False
+
+def initSyncConfigParams():
+    global frameRate, tspRangeThreshold
+
+    configPath = f"{mainPythonWorkPath}/Config.ini"
+    if not os.path.exists(configPath):
+        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
+        return False
+
+    # Create ConfigParser object
+    config = configparser.ConfigParser()
+
+    # Read ini file
+    config.read(configPath, 'utf-8')
+
+    if not config.has_option('Parameter', 'frameRate'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
+        return False
+
+    if not config.has_option('Parameter', 'tspRangeThreshold'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
+        return False
+
+    frameRate = config.getfloat('Parameter', 'frameRate')
+    if frameRate <= 0 or frameRate >= 1000:
+        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
+        return False
+
+    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
+    if tspRangeThreshold <= 0:
+        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
+        return False
+
+    return True
+
+def getDeviceCount():
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Get device count failed. {deviceInfoPath} not exists")
+        return 0
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
+        return 0
+
+    return len(data['devices'])
+
+def initProfileInfoDict():
+    global streamProfileDict
+
+    streamProfileDict = dict()
+    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
+    if not os.path.exists(profilePath):
+        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
+        return False
+
+    with open(profilePath, 'r') as f:
+        data = json.load(f)
+
+    if not 'streamProfiles' in data:
+        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
+        return False
+
+    for item in data['streamProfiles']:
+        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
+            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
+            streamProfileDict.setdefault(item['sensorType'], profileInfo)
+        else:
+            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
+
+    return len(streamProfileDict.items()) > 0
+
+def initResultDir():
+    global resultPath
+    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
+    resultPath = f"{sourceRootPath}/results-{timeText}"
+    if not os.path.exists(resultPath):
+        os.makedirs(resultPath)
+
+def isFrameFile(fileName):
+    fileExt = os.path.splitext(fileName)
+    if len(fileExt) < 2:
+        return False
+
+    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
+    return fileExt[1] in frameExts
+
+def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
+    frameFileCount = 0
+    for dirpath, dirnames, filenames in os.walk(rootFilePath):
+        # print(f"dirpath={dirpath}, dirpath.basename=" + os.path.basename(dirpath))
+        for fileName in filenames:
+            filePath = os.path.join(dirpath, fileName)
+            if not isFrameFile(fileName):
+                continue
+
+            frameFileCount += 1
+            fileNameNoExt = os.path.splitext(fileName)[0]
+            pictureNameList = fileNameNoExt.split('_')
+            deviceId = pictureNameList[2][5:]
+            sensorType = pictureNameList[0].replace('#', '_')
+            syncTimeStamp = int(pictureNameList[3][1:])
+
+            # Create structure
+            pictureInfo = PictureInfo()
+            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1])
+
+            # Format dictionary: one key corresponds to one array
+            pictureInfoDict.setdefault(deviceId, []).append(info)
+
+    if 0 == frameFileCount:
+        print("initialize pictureInfoDict failed. Not found frame file")
+
+
+def matchFrame(pictureInfoDict):
+    global primaryId, frameRate
+    global streamProfileDict
+
+    # Get comparison image array, take the Color array of the first device for comparison
+    compareList = []
+    for key in pictureInfoDict:
+        listTmp = list(pictureInfoDict[key])
+        for info in listTmp:
+            if info.deviceId == primaryId and info.sensorType == 'color':
+                compareList.append(info)
+
+    # Dynamically analyze based on stream status to reduce loop iterations
+    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
+    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
+    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
+    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
+    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
+
+    # Match adjacent frames
+    resultDict = {}
+    consumedList = []
+    dictIndex = 0
+    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
+    for comparePic in compareList:
+        resultDict.setdefault(dictIndex, []).append(comparePic)
+        for key in pictureInfoDict:
+            listTmp = list(pictureInfoDict[key])
+            # Compare color
+            if hasColorProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare depth
+            if hasDepthProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare IR
+            if hasIRProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare left IR
+            if hasIRLeftProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare right IR
+            if hasIRRightProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+        # Calculate deviation
+        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
+        for info in resultDict[dictIndex]:
+            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
+
+        dictIndex += 1
+
+    return resultDict
+
+
+def safe_make_dir(path):
+    if not os.path.exists(path):
+        os.makedirs(path)
+
+
+def handleSyncFrames():
+    global resultPath
+    global sourceFramesPath
+    global streamProfileDict
+
+    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
+
+    if not initProfileInfoDict():
+        print("Initialize stream profile dictionary failed. exit")
+        return
+    print(f"Stream profiles: {streamProfileDict}")
+    streamProfileCount = len(streamProfileDict.items())
+
+    pictureInfoDict = {}
+
+    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
+    if len(pictureInfoDict) <= 0:
+        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
+        return
+
+    # # Dump pictureInfoDict
+    # for key in pictureInfoDict:
+    #     print("===================key:%s" % key)
+    #     listTmp = list(pictureInfoDict[key])
+    # for info in listTmp:
+    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
+
+    deviceCount = getDeviceCount()
+    print("=================device count:%d" % deviceCount)
+
+    resultDict = {}
+    resultDict = matchFrame(pictureInfoDict)
+
+    for key in resultDict:
+        fp.write("===================result key:%s\n" % key)
+        print("===================result key:%s" % key)
+        listTmp = list(resultDict[key])
+        for info in listTmp:
+            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+
+    matchPath = f"{resultPath}/matchFrames/"
+    safe_make_dir(matchPath)
+    notMatchPath = f"{resultPath}/notMatchFrames/"
+    abnormalPath = f"{resultPath}/abnormal/"
+
+    for key in resultDict:
+        listTmp = list(resultDict[key])
+        if (len(listTmp) == (deviceCount * streamProfileCount)):
+            haveAbnormalData = False
+            for info in listTmp:
+                if info.tspDiff >= tspRangeThreshold:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+                    haveAbnormalData = True
+                else:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                    shutil.copy(info.picturePath, path)
+
+            if haveAbnormalData:
+                safe_make_dir(abnormalPath)
+                for info in listTmp:
+                    if info.tspDiff >= tspRangeThreshold:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+                    else:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                        shutil.copy(info.picturePath, path)
+        else:
+            safe_make_dir(notMatchPath)
+            for info in listTmp:
+                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + info.fileExt
+                shutil.copy(info.picturePath, newFilePath)
+
+def main():
+    if not initPrimaryId():
+        print("Initialize primaryId failed. exit.")
+        return
+
+    if not initSyncConfigParams():
+        print("Initialized Sync config parameter failed. exit.")
+        return
+
+    initResultDir()
+
+    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
+    handleSyncFrames()
+
+    return
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Gemini 2 VL'")
+    parser.add_argument('frames_dir', type=str, help="Frames directory")
+    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
+    args = parser.parse_args()
+
+    sourceRootPath = args.frames_dir
+    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
+    mainPythonWorkPath = args.main_script_root_dir
+    print(f"Start of Gemini2VL synchronize frame. sourceRootPath={sourceRootPath}")
+
+    main()
+
+    print("Finish of Gemini2VL synchronize frame.")

orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python/script/config_frameMatch_g330.py

@@ -1,426 +1,426 @@
-import os.path
-import argparse
-import sys
-import json
-import shutil
-import configparser
-
-from pathlib import Path
-from datetime import datetime
-
-import os
-import re
-
-## Config.ini configuration
-# Unit: FPS. Please fill in according to the actual frame rate of the dataset, otherwise the matching will be inaccurate.
-frameRate = -1
-# Unit: ms. When the timestamp range of a matched group of data frames is greater than or equal to tspRangeThreshold, the filename will be marked.
-tspRangeThreshold = -1
-
-## Automatically parsed by Python script, do not modify
-primaryId = '-1' # Primary device ID
-mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
-sourceFramesPath = ""  # Do not modify, fixed value, path to TotalMode directory
-sourceRootPath = "" # Root directory where TotalMode is stored
-resultPath = "" # Save sync analysis results
-streamProfileDict = dict() # Save Python results
-
-class PictureInfo(object):
-    class Struct(object):
-        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain):
-            self.deviceId = deviceId
-            self.sensorType = sensorType
-            self.syncTimeStamp = syncTimeStamp
-            self.picturePath = picturePath
-            self.deviceIdFull = deviceIdFull
-            self.fileExt = fileExt
-            self.exp = exp
-            self.gain = gain
-
-    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain):
-        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain)
-
-class StreamProfileInfo:
-    def __init__(self, sensorType, width, height, format, fps):
-        self.sensorType = sensorType
-        self.width = width
-        self.height = height
-        self.format = format
-        self.fps = fps
-
-def initPrimaryId():
-    global primaryId
-
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
-        return False
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
-        return False
-
-    for item in data['devices']:
-        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
-            primaryId = str(item['index'])
-            return True
-
-    return False
-
-def initSyncConfigParams():
-    global frameRate, tspRangeThreshold
-
-    configPath = f"{mainPythonWorkPath}/Config.ini"
-    if not os.path.exists(configPath):
-        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
-        return False
-
-    # Create ConfigParser object
-    config = configparser.ConfigParser()
-
-    # Read ini file
-    config.read(configPath, 'utf-8')
-
-    if not config.has_option('Parameter', 'frameRate'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
-        return False
-
-    if not config.has_option('Parameter', 'tspRangeThreshold'):
-        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
-        return False
-
-    frameRate = config.getfloat('Parameter', 'frameRate')
-    if frameRate <= 0 or frameRate >= 1000:
-        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
-        return False
-
-    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
-    if tspRangeThreshold <= 0:
-        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
-        return False
-
-    return True
-
-def getDeviceCount():
-    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
-    if not os.path.exists(deviceInfoPath):
-        print(f"Get device count failed. {deviceInfoPath} not exists")
-        return 0
-
-    with open(deviceInfoPath, 'r') as f:
-        data = json.load(f)
-
-    if not 'devices' in data:
-        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
-        return 0
-
-    return len(data['devices'])
-
-def initProfileInfoDict():
-    global streamProfileDict
-
-    streamProfileDict = dict()
-    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
-    if not os.path.exists(profilePath):
-        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
-        return False
-
-    with open(profilePath, 'r') as f:
-        data = json.load(f)
-
-    if not 'streamProfiles' in data:
-        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
-        return False
-
-    for item in data['streamProfiles']:
-        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
-            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
-            streamProfileDict.setdefault(item['sensorType'], profileInfo)
-        else:
-            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
-
-    return len(streamProfileDict.items()) > 0
-
-def initResultDir():
-    global resultPath
-    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
-    resultPath = f"{sourceRootPath}/results-{timeText}"
-    if not os.path.exists(resultPath):
-        os.makedirs(resultPath)
-
-def isFrameFile(fileName):
-    fileExt = os.path.splitext(fileName)
-    if len(fileExt) < 2:
-        return False
-
-    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
-    return fileExt[1] in frameExts
-
-def extract_number(filename):
-    match_d = re.search(r'_d(\d+)', filename)
-    if match_d:
-        return int(match_d.group(1))
-
-    match_g = re.search(r'_g(\d+)', filename)
-    if match_g:
-        return int(match_g.group(1))
-
-    return float('inf')
-
-def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
-    frameFileCount = 0
-    for dirpath, dirnames, filenames in os.walk(rootFilePath):
-        filenames.sort(key=extract_number) # Sort files by numbers following '_d' and '_g' in filename, ascending
-        for fileName in filenames:
-            filePath = os.path.join(dirpath, fileName)
-            if not isFrameFile(fileName):
-                continue
-
-            frameFileCount += 1
-            fileNameNoExt = os.path.splitext(fileName)[0]
-            pictureNameList = fileNameNoExt.split('_')
-            deviceId = pictureNameList[2][5:]
-            sensorType = pictureNameList[0].replace('#', '_')
-            syncTimeStamp = int(pictureNameList[3][1:])
-            exp = str(pictureNameList[6][0:])
-            gain = str(pictureNameList[7][0:])
-
-            # Create structure
-            pictureInfo = PictureInfo()
-            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1],exp,gain)
-
-            # Format dictionary: one key corresponds to one array
-            pictureInfoDict.setdefault(deviceId, []).append(info)
-
-    if 0 == frameFileCount:
-        print("initialize pictureInfoDict failed. Not found frame file")
-
-
-def matchFrame(pictureInfoDict):
-    global primaryId, frameRate
-    global streamProfileDict
-
-    # Get comparison image array, use Color array of the first device for comparison
-    compareList = []
-    for key in pictureInfoDict:
-        listTmp = list(pictureInfoDict[key])
-        for info in listTmp:
-            if info.deviceId == primaryId and info.sensorType == 'color':
-                compareList.append(info)
-
-    # Dynamically analyze according to stream situation to reduce loop count
-    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
-    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
-    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
-    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
-    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
-
-    # Match adjacent frames
-    resultDict = {}
-    consumedList = []
-    dictIndex = 0
-    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
-    for comparePic in compareList:
-        resultDict.setdefault(dictIndex, []).append(comparePic)
-        for key in pictureInfoDict:
-            listTmp = list(pictureInfoDict[key])
-            # Compare color
-            if hasColorProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare depth
-            if hasDepthProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare IR
-            if hasIRProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare IR Left
-            if hasIRLeftProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-            # Compare IR Right
-            if hasIRRightProfile:
-                for info in listTmp:
-                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
-                        continue
-
-                    if info in consumedList:
-                        continue
-
-                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
-                        resultDict.setdefault(dictIndex, []).append(info)
-                        consumedList.append(info)
-                        break
-
-        # Calculate deviation
-        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
-        for info in resultDict[dictIndex]:
-            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
-
-        dictIndex += 1
-
-    return resultDict
-
-
-def safe_make_dir(path):
-    if not os.path.exists(path):
-        os.makedirs(path)
-
-
-def handleSyncFrames():
-    global resultPath
-    global sourceFramesPath
-    global streamProfileDict
-
-    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
-
-    if not initProfileInfoDict():
-        print("Initialize stream profile dictionary failed. exit")
-        return
-    print(f"Stream profiles: {streamProfileDict}")
-    streamProfileCount = len(streamProfileDict.items())
-
-    pictureInfoDict = {}
-
-    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
-    if len(pictureInfoDict) <= 0:
-        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
-        return
-
-    # # Dump pictureInfoDict
-    # for key in pictureInfoDict:
-    #     print("===================key:%s" % key)
-    #     listTmp = list(pictureInfoDict[key])
-    # for info in listTmp:
-    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
-
-    deviceCount = getDeviceCount()
-    print("=================device count:%d" % deviceCount)
-
-    resultDict = {}
-    resultDict = matchFrame(pictureInfoDict)
-
-    for key in resultDict:
-        fp.write("===================result key:%s\n" % key)
-        print("===================result key:%s" % key)
-        listTmp = list(resultDict[key])
-        for info in listTmp:
-            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
-                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
-
-    matchPath = f"{resultPath}/matchFrames/"
-    safe_make_dir(matchPath)
-    notMatchPath = f"{resultPath}/notMatchFrames/"
-    abnormalPath = f"{resultPath}/abnormal/"
-
-    for key in resultDict:
-        listTmp = list(resultDict[key])
-        if (len(listTmp) == (deviceCount * streamProfileCount)):
-            haveAbnormalData = False
-            for info in listTmp:
-                if info.tspDiff >= tspRangeThreshold:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
-                    shutil.copy(info.picturePath, path)
-                    haveAbnormalData = True
-                else:
-                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
-                    shutil.copy(info.picturePath, path)
-
-            if haveAbnormalData:
-                safe_make_dir(abnormalPath)
-                for info in listTmp:
-                    if info.tspDiff >= tspRangeThreshold:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
-                        shutil.copy(info.picturePath, path)
-                    else:
-                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
-                        shutil.copy(info.picturePath, path)
-        else:
-            safe_make_dir(notMatchPath)
-            for info in listTmp:
-                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
-                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
-                shutil.copy(info.picturePath, newFilePath)
-
-def main():
-    if not initPrimaryId():
-        print("Initialize primaryId failed. exit.")
-        return
-
-    if not initSyncConfigParams():
-        print("Initialized Sync config parameter failed. exit.")
-        return
-
-    initResultDir()
-
-    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
-    handleSyncFrames()
-
-    return
-
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Devices'")
-    parser.add_argument('frames_dir', type=str, help="Frames directory")
-    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
-    args = parser.parse_args()
-
-    sourceRootPath = args.frames_dir
-    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
-    mainPythonWorkPath = args.main_script_root_dir
-    print(f"Start of CommonFrameMatch synchronize frame. sourceRootPath={sourceRootPath}")
-
-    main()
-
-    print("Finish of CommonFrameMatch synchronize frame.")
+import os.path
+import argparse
+import sys
+import json
+import shutil
+import configparser
+
+from pathlib import Path
+from datetime import datetime
+
+import os
+import re
+
+## Config.ini configuration
+# Unit: FPS. Please fill in according to the actual frame rate of the dataset, otherwise the matching will be inaccurate.
+frameRate = -1
+# Unit: ms. When the timestamp range of a matched group of data frames is greater than or equal to tspRangeThreshold, the filename will be marked.
+tspRangeThreshold = -1
+
+## Automatically parsed by Python script, do not modify
+primaryId = '-1' # Primary device ID
+mainPythonWorkPath = "" # Working directory of SyncFramesMain.py
+sourceFramesPath = ""  # Do not modify, fixed value, path to TotalMode directory
+sourceRootPath = "" # Root directory where TotalMode is stored
+resultPath = "" # Save sync analysis results
+streamProfileDict = dict() # Save Python results
+
+class PictureInfo(object):
+    class Struct(object):
+        def __init__(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain):
+            self.deviceId = deviceId
+            self.sensorType = sensorType
+            self.syncTimeStamp = syncTimeStamp
+            self.picturePath = picturePath
+            self.deviceIdFull = deviceIdFull
+            self.fileExt = fileExt
+            self.exp = exp
+            self.gain = gain
+
+    def make_struct(self, deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain):
+        return self.Struct(deviceId, sensorType, syncTimeStamp, picturePath, deviceIdFull, fileExt, exp, gain)
+
+class StreamProfileInfo:
+    def __init__(self, sensorType, width, height, format, fps):
+        self.sensorType = sensorType
+        self.width = width
+        self.height = height
+        self.format = format
+        self.fps = fps
+
+def initPrimaryId():
+    global primaryId
+
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Initialize primaryId failed. {deviceInfoPath} not exists")
+        return False
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Initialize primaryId failed.  {deviceInfoPath} not contain item 'devices'")
+        return False
+
+    for item in data['devices']:
+        if 'isPrimaryDevice'  in item and 'index' in item and item['isPrimaryDevice']:
+            primaryId = str(item['index'])
+            return True
+
+    return False
+
+def initSyncConfigParams():
+    global frameRate, tspRangeThreshold
+
+    configPath = f"{mainPythonWorkPath}/Config.ini"
+    if not os.path.exists(configPath):
+        print(f"Initliaze synchronized config parameter failed. {configPath} not exists.")
+        return False
+
+    # Create ConfigParser object
+    config = configparser.ConfigParser()
+
+    # Read ini file
+    config.read(configPath, 'utf-8')
+
+    if not config.has_option('Parameter', 'frameRate'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'frameRate' in ${configPath}")
+        return False
+
+    if not config.has_option('Parameter', 'tspRangeThreshold'):
+        print(f"Initliaze synchronized config parameter failed. Not define 'tspRangeThreshold' in ${configPath}")
+        return False
+
+    frameRate = config.getfloat('Parameter', 'frameRate')
+    if frameRate <= 0 or frameRate >= 1000:
+        print(f"Initliaze synchronized config parameter failed. Invalid frameRate={frameRate}")
+        return False
+
+    tspRangeThreshold = config.getfloat('Parameter', 'tspRangeThreshold')
+    if tspRangeThreshold <= 0:
+        print(f"Initliaze synchronized config parameter failed. Invalid tspRangeThreshold={tspRangeThreshold}")
+        return False
+
+    return True
+
+def getDeviceCount():
+    deviceInfoPath = f"{sourceRootPath}/DevicesInfo.txt"
+    if not os.path.exists(deviceInfoPath):
+        print(f"Get device count failed. {deviceInfoPath} not exists")
+        return 0
+
+    with open(deviceInfoPath, 'r') as f:
+        data = json.load(f)
+
+    if not 'devices' in data:
+        print(f"Get device count failed.  {deviceInfoPath} not contain item 'devices'")
+        return 0
+
+    return len(data['devices'])
+
+def initProfileInfoDict():
+    global streamProfileDict
+
+    streamProfileDict = dict()
+    profilePath = f"{sourceRootPath}/StreamProfileInfo.txt"
+    if not os.path.exists(profilePath):
+        print(f"Initialize profile information dictionary failed. {profilePath} not exists")
+        return False
+
+    with open(profilePath, 'r') as f:
+        data = json.load(f)
+
+    if not 'streamProfiles' in data:
+        print(f"Initialize profile information dictionary failed. {profilePath} not contain item 'streamProfiles'")
+        return False
+
+    for item in data['streamProfiles']:
+        if 'sensorType' in item and 'width' in item and 'height' in item and 'format' in item and 'fps' in item:
+            profileInfo = StreamProfileInfo(item['sensorType'], item['width'], item['height'], item['format'], item['fps'])
+            streamProfileDict.setdefault(item['sensorType'], profileInfo)
+        else:
+            print(f"Initialize profile information dictionary. Error invalid StreamProfile, {item}")
+
+    return len(streamProfileDict.items()) > 0
+
+def initResultDir():
+    global resultPath
+    timeText = datetime.now().strftime("%Y-%m-%d_%H%M%S")
+    resultPath = f"{sourceRootPath}/results-{timeText}"
+    if not os.path.exists(resultPath):
+        os.makedirs(resultPath)
+
+def isFrameFile(fileName):
+    fileExt = os.path.splitext(fileName)
+    if len(fileExt) < 2:
+        return False
+
+    frameExts = {".jpeg", ".jpg", ".png", ".raw", "bmp"}
+    return fileExt[1] in frameExts
+
+def extract_number(filename):
+    match_d = re.search(r'_d(\d+)', filename)
+    if match_d:
+        return int(match_d.group(1))
+
+    match_g = re.search(r'_g(\d+)', filename)
+    if match_g:
+        return int(match_g.group(1))
+
+    return float('inf')
+
+def initPictureInfoDictionary(rootFilePath, pictureInfoDict):
+    frameFileCount = 0
+    for dirpath, dirnames, filenames in os.walk(rootFilePath):
+        filenames.sort(key=extract_number) # Sort files by numbers following '_d' and '_g' in filename, ascending
+        for fileName in filenames:
+            filePath = os.path.join(dirpath, fileName)
+            if not isFrameFile(fileName):
+                continue
+
+            frameFileCount += 1
+            fileNameNoExt = os.path.splitext(fileName)[0]
+            pictureNameList = fileNameNoExt.split('_')
+            deviceId = pictureNameList[2][5:]
+            sensorType = pictureNameList[0].replace('#', '_')
+            syncTimeStamp = int(pictureNameList[3][1:])
+            exp = str(pictureNameList[6][0:])
+            gain = str(pictureNameList[7][0:])
+
+            # Create structure
+            pictureInfo = PictureInfo()
+            info = pictureInfo.make_struct(deviceId, sensorType, syncTimeStamp, filePath, os.path.basename(dirpath), os.path.splitext(fileName)[1],exp,gain)
+
+            # Format dictionary: one key corresponds to one array
+            pictureInfoDict.setdefault(deviceId, []).append(info)
+
+    if 0 == frameFileCount:
+        print("initialize pictureInfoDict failed. Not found frame file")
+
+
+def matchFrame(pictureInfoDict):
+    global primaryId, frameRate
+    global streamProfileDict
+
+    # Get comparison image array, use Color array of the first device for comparison
+    compareList = []
+    for key in pictureInfoDict:
+        listTmp = list(pictureInfoDict[key])
+        for info in listTmp:
+            if info.deviceId == primaryId and info.sensorType == 'color':
+                compareList.append(info)
+
+    # Dynamically analyze according to stream situation to reduce loop count
+    hasColorProfile = 'OB_SENSOR_COLOR' in streamProfileDict
+    hasDepthProfile = 'OB_SENSOR_DEPTH' in streamProfileDict
+    hasIRProfile = 'OB_SENSOR_IR' in streamProfileDict
+    hasIRLeftProfile = 'OB_SENSOR_IR_LEFT' in streamProfileDict
+    hasIRRightProfile = 'OB_SENSOR_IR_RIGHT' in streamProfileDict
+
+    # Match adjacent frames
+    resultDict = {}
+    consumedList = []
+    dictIndex = 0
+    frameTspHalfGap = int(1000.0/frameRate/2.0+0.5)
+    for comparePic in compareList:
+        resultDict.setdefault(dictIndex, []).append(comparePic)
+        for key in pictureInfoDict:
+            listTmp = list(pictureInfoDict[key])
+            # Compare color
+            if hasColorProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'color' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare depth
+            if hasDepthProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'depth' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare IR
+            if hasIRProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare IR Left
+            if hasIRLeftProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_left' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+            # Compare IR Right
+            if hasIRRightProfile:
+                for info in listTmp:
+                    if info.deviceId == primaryId and info.sensorType == comparePic.sensorType:
+                        continue
+
+                    if info in consumedList:
+                        continue
+
+                    if info.sensorType == 'ir_right' and abs(info.syncTimeStamp - comparePic.syncTimeStamp) < frameTspHalfGap:
+                        resultDict.setdefault(dictIndex, []).append(info)
+                        consumedList.append(info)
+                        break
+
+        # Calculate deviation
+        minTsp = min(resultDict[dictIndex], key=lambda x: x.syncTimeStamp)
+        for info in resultDict[dictIndex]:
+            info.tspDiff = info.syncTimeStamp - minTsp.syncTimeStamp
+
+        dictIndex += 1
+
+    return resultDict
+
+
+def safe_make_dir(path):
+    if not os.path.exists(path):
+        os.makedirs(path)
+
+
+def handleSyncFrames():
+    global resultPath
+    global sourceFramesPath
+    global streamProfileDict
+
+    fp = open(f"{resultPath}/frameMatchLog.txt", "w")
+
+    if not initProfileInfoDict():
+        print("Initialize stream profile dictionary failed. exit")
+        return
+    print(f"Stream profiles: {streamProfileDict}")
+    streamProfileCount = len(streamProfileDict.items())
+
+    pictureInfoDict = {}
+
+    initPictureInfoDictionary(Path(sourceFramesPath), pictureInfoDict)
+    if len(pictureInfoDict) <= 0:
+        print("init pictureInfoDict failed. pictureInfoDict.len = 0")
+        return
+
+    # # Dump pictureInfoDict
+    # for key in pictureInfoDict:
+    #     print("===================key:%s" % key)
+    #     listTmp = list(pictureInfoDict[key])
+    # for info in listTmp:
+    #     print("=====================value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (info.deviceId,info.sensorType,info.syncTimeStamp,info.picturePath))
+
+    deviceCount = getDeviceCount()
+    print("=================device count:%d" % deviceCount)
+
+    resultDict = {}
+    resultDict = matchFrame(pictureInfoDict)
+
+    for key in resultDict:
+        fp.write("===================result key:%s\n" % key)
+        print("===================result key:%s" % key)
+        listTmp = list(resultDict[key])
+        for info in listTmp:
+            fp.write("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s\n" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+            print("=====================result value : deviceId:%s\tsensorType:%s\tsyncTimeStamp:%s\tpicturePath:%s" % (
+                info.deviceId, info.sensorType, info.syncTimeStamp, info.picturePath))
+
+    matchPath = f"{resultPath}/matchFrames/"
+    safe_make_dir(matchPath)
+    notMatchPath = f"{resultPath}/notMatchFrames/"
+    abnormalPath = f"{resultPath}/abnormal/"
+
+    for key in resultDict:
+        listTmp = list(resultDict[key])
+        if (len(listTmp) == (deviceCount * streamProfileCount)):
+            haveAbnormalData = False
+            for info in listTmp:
+                if info.tspDiff >= tspRangeThreshold:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
+                    shutil.copy(info.picturePath, path)
+                    haveAbnormalData = True
+                else:
+                    path = matchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                        info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
+                    shutil.copy(info.picturePath, path)
+
+            if haveAbnormalData:
+                safe_make_dir(abnormalPath)
+                for info in listTmp:
+                    if info.tspDiff >= tspRangeThreshold:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_xxxxxx" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
+                        shutil.copy(info.picturePath, path)
+                    else:
+                        path = abnormalPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                            info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
+                        shutil.copy(info.picturePath, path)
+        else:
+            safe_make_dir(notMatchPath)
+            for info in listTmp:
+                newFilePath = notMatchPath + str(key) + "_" + info.sensorType + "_" + info.deviceIdFull + "_" + str(
+                    info.syncTimeStamp) + "_[" + str(info.tspDiff) + "]" + "_"+ str(info.exp) + "_"+ str(info.gain) + info.fileExt
+                shutil.copy(info.picturePath, newFilePath)
+
+def main():
+    if not initPrimaryId():
+        print("Initialize primaryId failed. exit.")
+        return
+
+    if not initSyncConfigParams():
+        print("Initialized Sync config parameter failed. exit.")
+        return
+
+    initResultDir()
+
+    print(f"PrimaryId={primaryId}, frameRate={frameRate}, tspRangeThreshold={tspRangeThreshold}")
+    handleSyncFrames()
+
+    return
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Synchronize frames support for 'Orbbec Devices'")
+    parser.add_argument('frames_dir', type=str, help="Frames directory")
+    parser.add_argument('main_script_root_dir', type=str, help="SyncFramesMain.py working directory")
+    args = parser.parse_args()
+
+    sourceRootPath = args.frames_dir
+    sourceFramesPath = f"{args.frames_dir}/TotalModeFrames"
+    mainPythonWorkPath = args.main_script_root_dir
+    print(f"Start of CommonFrameMatch synchronize frame. sourceRootPath={sourceRootPath}")
+
+    main()
+
+    print("Finish of CommonFrameMatch synchronize frame.")

orbbec_camera_msgs/msg/DeviceInfo.msg

@@ -1,7 +1,7 @@
-std_msgs/Header header
-string name
-string serial_number
-string firmware_version
-string supported_min_sdk_version
-string current_sdk_version
-string hardware_version
+std_msgs/Header header
+string name
+string serial_number
+string firmware_version
+string supported_min_sdk_version
+string current_sdk_version
+string hardware_version

orbbec_camera_msgs/srv/GetCameraInfo.srv

@@ -1,2 +1,2 @@
----
-sensor_msgs/CameraInfo info
+---
+sensor_msgs/CameraInfo info

orbbec_camera_msgs/srv/GetDeviceInfo.srv

@@ -1,4 +1,4 @@
----
-DeviceInfo info
-bool success
+---
+DeviceInfo info
+bool success
 string message

orbbec_description/urdf/astra_2.urdf.xacro

@@ -1,418 +1,418 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
-     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="astra_2">
-    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/astra2/" />
-  <link
-    name="camera_link">
-    <inertial>
-      <origin
-        xyz="-0.0160938085585399 -0.00100885505248632 0.0279919581775268"
-        rpy="0 0 0" />
-      <mass
-        value="0.0101524380243699" />
-      <inertia
-        ixx="1.69184979927567E-05"
-        ixy="-8.18066547859061E-09"
-        ixz="-1.27426373196599E-09"
-        iyy="7.7096717121366E-07"
-        iyz="1.08838945581987E-08"
-        izz="1.61801971464778E-05" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}base_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.827450980392157 0.698039215686274 0.490196078431373 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}base_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <link
-    name="camera_bottom_screw_frame">
-    <inertial>
-      <origin
-        xyz="-0.00635589512085941 1.59480886486103E-08 0.0118534361269284"
-        rpy="0 0 0" />
-      <mass
-        value="0.00583601107155577" />
-      <inertia
-        ixx="3.65092579901689E-06"
-        ixy="-5.00479838523244E-12"
-        ixz="7.68810468643615E-07"
-        iyy="2.03966087595316E-06"
-        iyz="6.18841137398479E-13"
-        izz="3.65126403038314E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_bottom_screw_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.266666666666667 0.266666666666667 0.266666666666667 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_bottom_screw_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_bottom_screw_joint"
-    type="fixed">
-    <origin
-      xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
-      rpy="0 0 0" />
-    <parent
-      link="camera_link" />
-    <child
-      link="camera_bottom_screw_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_ir_frame">
-    <inertial>
-      <origin
-        xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742363E-07"
-        rpy="0 0 0" />
-      <mass
-        value="0.000608348661221201" />
-      <inertia
-        ixx="6.79778952271057E-09"
-        ixy="8.05787556448484E-13"
-        ixz="9.13275008053385E-13"
-        iyy="8.07147396496025E-09"
-        iyz="1.28152628023355E-12"
-        izz="8.07148645937271E-09" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_ir_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="camera_depth_frame" />
-    <child
-      link="camera_ir_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_ir_optical_frame">
-    <inertial>
-      <origin
-        xyz="-5.33451517362171E-07 -6.0879600974216E-07 -0.00168460453866946"
-        rpy="0 0 0" />
-      <mass
-        value="0.000608348661221202" />
-      <inertia
-        ixx="8.07147396496025E-09"
-        ixy="1.28152628023355E-12"
-        ixz="-8.0578755644897E-13"
-        iyy="8.07148645937271E-09"
-        iyz="-9.13275008052949E-13"
-        izz="6.79778952271057E-09" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_optical_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_optical_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_ir_optical_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="-1.5707963267949 0 -1.5707963267949" />
-    <parent
-      link="camera_ir_frame" />
-    <child
-      link="camera_ir_optical_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_color_frame">
-    <inertial>
-      <origin
-        xyz="-0.0010912488631539 -4.73353451897057E-07 7.19396296308746E-07"
-        rpy="0 0 0" />
-      <mass
-        value="7.68929599151334E-05" />
-      <inertia
-        ixx="3.55949372682833E-10"
-        ixy="-6.02255513042918E-14"
-        ixz="-1.32613402096388E-13"
-        iyy="2.2724816811302E-10"
-        iyz="-4.27828382910552E-14"
-        izz="2.2743913744705E-10" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_colorl_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_colorl_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_color_joint"
-    type="fixed">
-    <origin
-      xyz="0.0025420000310987234 -0.01850000023841858 0"
-      rpy="0 0 0" />
-    <parent
-      link="camera_depth_frame" />
-    <child
-      link="camera_color_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_color_optical_frame">
-    <inertial>
-      <origin
-        xyz="4.73353451897057E-07 -7.19396296308746E-07 -0.0010912488631539"
-        rpy="0 0 0" />
-      <mass
-        value="7.68929599151334E-05" />
-      <inertia
-        ixx="2.2724816811302E-10"
-        ixy="-4.27828382910548E-14"
-        ixz="6.02255513042915E-14"
-        iyy="2.2743913744705E-10"
-        iyz="1.32613402096386E-13"
-        izz="3.55949372682833E-10" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_color_optical_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_color_optical_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_color_optical_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="-1.5707963267949 0 -1.5707963267949" />
-    <parent
-      link="camera_color_frame" />
-    <child
-      link="camera_color_optical_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_depth_frame">
-    <inertial>
-      <origin
-        xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742395E-07"
-        rpy="0 0 0" />
-      <mass
-        value="0.000608348661221201" />
-      <inertia
-        ixx="6.79778952271057E-09"
-        ixy="8.05787556448476E-13"
-        ixz="9.13275008053388E-13"
-        iyy="8.07147396496025E-09"
-        iyz="1.28152628023353E-12"
-        izz="8.07148645937271E-09" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_depth_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_depth_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_depth_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="camera_link" />
-    <child
-      link="camera_depth_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_depth_optical_frame">
-    <inertial>
-      <origin
-        xyz="-5.33451517362171E-07 -6.08796009742075E-07 -0.00168460453866946"
-        rpy="0 0 0" />
-      <mass
-        value="0.000608348661221202" />
-      <inertia
-        ixx="8.07147396496025E-09"
-        ixy="1.28152628023353E-12"
-        ixz="-8.05787556448886E-13"
-        iyy="8.07148645937271E-09"
-        iyz="-9.13275008052966E-13"
-        izz="6.79778952271057E-09" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_depth_optical_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_depth_optical_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_depth_optical_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="-1.5707963267949 0 -1.5707963267949" />
-    <parent
-      link="camera_depth_frame" />
-    <child
-      link="camera_depth_optical_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
+    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/astra2/" />
+  <link
+    name="camera_link">
+    <inertial>
+      <origin
+        xyz="-0.0160938085585399 -0.00100885505248632 0.0279919581775268"
+        rpy="0 0 0" />
+      <mass
+        value="0.0101524380243699" />
+      <inertia
+        ixx="1.69184979927567E-05"
+        ixy="-8.18066547859061E-09"
+        ixz="-1.27426373196599E-09"
+        iyy="7.7096717121366E-07"
+        iyz="1.08838945581987E-08"
+        izz="1.61801971464778E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.827450980392157 0.698039215686274 0.490196078431373 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="camera_bottom_screw_frame">
+    <inertial>
+      <origin
+        xyz="-0.00635589512085941 1.59480886486103E-08 0.0118534361269284"
+        rpy="0 0 0" />
+      <mass
+        value="0.00583601107155577" />
+      <inertia
+        ixx="3.65092579901689E-06"
+        ixy="-5.00479838523244E-12"
+        ixz="7.68810468643615E-07"
+        iyy="2.03966087595316E-06"
+        iyz="6.18841137398479E-13"
+        izz="3.65126403038314E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_bottom_screw_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.266666666666667 0.266666666666667 0.266666666666667 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_bottom_screw_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_bottom_screw_joint"
+    type="fixed">
+    <origin
+      xyz="-0.012323995999904 -0.0374999999985815 -0.0281503197112"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_bottom_screw_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_ir_frame">
+    <inertial>
+      <origin
+        xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742363E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.000608348661221201" />
+      <inertia
+        ixx="6.79778952271057E-09"
+        ixy="8.05787556448484E-13"
+        ixz="9.13275008053385E-13"
+        iyy="8.07147396496025E-09"
+        iyz="1.28152628023355E-12"
+        izz="8.07148645937271E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_ir_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="camera_depth_frame" />
+    <child
+      link="camera_ir_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_ir_optical_frame">
+    <inertial>
+      <origin
+        xyz="-5.33451517362171E-07 -6.0879600974216E-07 -0.00168460453866946"
+        rpy="0 0 0" />
+      <mass
+        value="0.000608348661221202" />
+      <inertia
+        ixx="8.07147396496025E-09"
+        ixy="1.28152628023355E-12"
+        ixz="-8.0578755644897E-13"
+        iyy="8.07148645937271E-09"
+        iyz="-9.13275008052949E-13"
+        izz="6.79778952271057E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_optical_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_ir_optical_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5707963267949 0 -1.5707963267949" />
+    <parent
+      link="camera_ir_frame" />
+    <child
+      link="camera_ir_optical_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_color_frame">
+    <inertial>
+      <origin
+        xyz="-0.0010912488631539 -4.73353451897057E-07 7.19396296308746E-07"
+        rpy="0 0 0" />
+      <mass
+        value="7.68929599151334E-05" />
+      <inertia
+        ixx="3.55949372682833E-10"
+        ixy="-6.02255513042918E-14"
+        ixz="-1.32613402096388E-13"
+        iyy="2.2724816811302E-10"
+        iyz="-4.27828382910552E-14"
+        izz="2.2743913744705E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_colorl_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_colorl_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_color_joint"
+    type="fixed">
+    <origin
+      xyz="0.0025420000310987234 -0.01850000023841858 0"
+      rpy="0 0 0" />
+    <parent
+      link="camera_depth_frame" />
+    <child
+      link="camera_color_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_color_optical_frame">
+    <inertial>
+      <origin
+        xyz="4.73353451897057E-07 -7.19396296308746E-07 -0.0010912488631539"
+        rpy="0 0 0" />
+      <mass
+        value="7.68929599151334E-05" />
+      <inertia
+        ixx="2.2724816811302E-10"
+        ixy="-4.27828382910548E-14"
+        ixz="6.02255513042915E-14"
+        iyy="2.2743913744705E-10"
+        iyz="1.32613402096386E-13"
+        izz="3.55949372682833E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_optical_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_color_optical_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5707963267949 0 -1.5707963267949" />
+    <parent
+      link="camera_color_frame" />
+    <child
+      link="camera_color_optical_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_depth_frame">
+    <inertial>
+      <origin
+        xyz="-0.00168460453866946 5.33451517362171E-07 6.08796009742395E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.000608348661221201" />
+      <inertia
+        ixx="6.79778952271057E-09"
+        ixy="8.05787556448476E-13"
+        ixz="9.13275008053388E-13"
+        iyy="8.07147396496025E-09"
+        iyz="1.28152628023353E-12"
+        izz="8.07148645937271E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_depth_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_depth_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_depth_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_depth_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_depth_optical_frame">
+    <inertial>
+      <origin
+        xyz="-5.33451517362171E-07 -6.08796009742075E-07 -0.00168460453866946"
+        rpy="0 0 0" />
+      <mass
+        value="0.000608348661221202" />
+      <inertia
+        ixx="8.07147396496025E-09"
+        ixy="1.28152628023353E-12"
+        ixz="-8.05787556448886E-13"
+        iyy="8.07148645937271E-09"
+        iyz="-9.13275008052966E-13"
+        izz="6.79778952271057E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_depth_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_depth_optical_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_depth_optical_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5707963267949 0 -1.5707963267949" />
+    <parent
+      link="camera_depth_frame" />
+    <child
+      link="camera_depth_optical_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
 </robot>

orbbec_description/urdf/gemini_2.urdf.xacro

@@ -1,471 +1,471 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
-     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot xmlns:xacro="http://ros.org/wiki/xacro" name="gemini_2">
-    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini2/" />
-  <link
-    name="camera_link">
-    <inertial>
-      <origin
-        xyz="0.0027714370634978 -9.29434319373592E-06 0.0128014057830239"
-        rpy="0 0 0" />
-      <mass
-        value="0.0186201988654731" />
-      <inertia
-        ixx="1.38952652762223E-05"
-        ixy="-4.88105621547421E-09"
-        ixz="1.98670223779875E-08"
-        iyy="1.7072236178685E-06"
-        iyz="-8.49860443053716E-09"
-        izz="1.31795237727551E-05" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="-0.01491 -0.025 -0.0125"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}base_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="-0.01491 -0.025 -0.0125"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}base_link.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <link
-    name="camera_botter_screw_frame">
-    <inertial>
-      <origin
-        xyz="0.00255175353418556 -0.00123907270798541 0.0118889783016768"
-        rpy="0 0 0" />
-      <mass
-        value="0.00564464822744556" />
-      <inertia
-        ixx="3.07688942133184E-06"
-        ixy="-1.84968755859098E-08"
-        ixz="-9.2787127214088E-09"
-        iyy="2.27625032346061E-07"
-        iyz="1.65176768024159E-08"
-        izz="2.93984854119768E-06" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_botter_screw_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_botter_screw_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_botter_screw_joint"
-    type="fixed">
-    <origin
-      xyz="-0.01491 -0.025 -0.0125"
-      rpy="0 0 0" />
-    <parent
-      link="camera_link" />
-    <child
-      link="camera_botter_screw_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_right_ir_frame">
-    <inertial>
-      <origin
-        xyz="-0.000620201436687004 -1.61358465547434E-08 -1.50984520398332E-07"
-        rpy="0 0 0" />
-      <mass
-        value="0.000453168343720438" />
-      <inertia
-        ixx="4.34107789199216E-09"
-        ixy="-3.70099015891851E-13"
-        ixz="-1.46784711283119E-13"
-        iyy="4.84012228066652E-09"
-        iyz="2.0076254107311E-14"
-        izz="4.84044599033091E-09" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_right_ir_joint"
-    type="fixed">
-    <origin
-      xyz="0 -0.05000000074505806 0"
-      rpy="0 0 0" />
-    <parent
-      link="camera_depth_frame" />
-    <child
-      link="camera_right_ir_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_right_ir_optical_frame">
-    <inertial>
-      <origin
-        xyz="1.61358465547434E-08 1.50984520398324E-07 -0.000620201436687004"
-        rpy="0 0 0" />
-      <mass
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-        ixx="4.84012228066652E-09"
-        ixy="2.00762541073067E-14"
-        ixz="3.70099015891915E-13"
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-        iyz="1.46784711283141E-13"
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-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_optical_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra1_optical_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_right_ir_optical_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="-1.5707963267949 0 -1.5707963267949" />
-    <parent
-      link="camera_right_ir_frame" />
-    <child
-      link="camera_right_ir_optical_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_color_frame">
-    <inertial>
-      <origin
-        xyz="2.29364384785394E-07 -2.11520958501546E-07 -0.00105779474323097"
-        rpy="0 0 0" />
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-        ixx="6.11273726117097E-10"
-        ixy="3.95051289663905E-14"
-        ixz="1.55845266007242E-13"
-        iyy="6.11076547268852E-10"
-        iyz="2.25440284353371E-14"
-        izz="6.69129408711142E-10" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_color_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_color_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_color_joint"
-    type="fixed">
-    <origin
-      xyz="0.0019099999917671084 -0.01400499977171421 4.999999873689376e-06"
-      rpy="0 0 0" />
-    <parent
-      link="camera_depth_frame" />
-    <child
-      link="camera_color_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_color_optical_frame">
-    <inertial>
-      <origin
-        xyz="2.29364384785394E-07 -2.11520958501541E-07 -0.00105779474323097"
-        rpy="0 0 0" />
-      <mass
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-        ixx="6.11273726117097E-10"
-        ixy="3.95051289663901E-14"
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-        iyy="6.11076547268852E-10"
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-    <visual>
-      <origin
-        xyz="0 0 0"
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-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_color_optical_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
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-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_color_optical_frame.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="camera_color_optical_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="-1.5707963267949 0 -1.5707963267949" />
-    <parent
-      link="camera_color_frame" />
-    <child
-      link="camera_color_optical_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_left_ir_frame">
-    <inertial>
-      <origin
-        xyz="-0.000620201436687001 -1.6135846551274E-08 -1.50984520410662E-07"
-        rpy="0 0 0" />
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-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra2_frame.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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-    <collision>
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-        <mesh
-          filename="${mesh_path}camera_infra2_frame.STL" />
-      </geometry>
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-  </link>
-  <joint
-    name="camera_left_ir_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="camera_link" />
-    <child
-      link="camera_left_ir_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_left_ir_optical_frame">
-    <inertial>
-      <origin
-        xyz="1.6135846551274E-08 1.50984520410652E-07 -0.000620201436687001"
-        rpy="0 0 0" />
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-    <visual>
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-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_infra2_optical_frame.STL" />
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-      <material
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-        <mesh
-          filename="${mesh_path}camera_infra2_optical_frame.STL" />
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-  </link>
-  <joint
-    name="camera_left_ir_optical_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="-1.5707963267949 0 -1.5707963267949" />
-    <parent
-      link="camera_left_ir_frame" />
-    <child
-      link="camera_left_ir_optical_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link
-    name="camera_depth_frame">
-    <inertial>
-      <origin
-        xyz="-0.000620201436687001 -1.6135846551274E-08 -1.50984520410661E-07"
-        rpy="0 0 0" />
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-    <visual>
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-      <geometry>
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-      <material
-        name="">
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-      <geometry>
-        <mesh
-          filename="${mesh_path}camera_depth_frame.STL" />
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-    </collision>
-  </link>
-  <joint
-    name="camera_depth_joint"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="camera_link" />
-    <child
-      link="camera_depth_frame" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
+    <xacro:property name="mesh_path" value="package://orbbec_description/meshes/gemini2/" />
+  <link
+    name="camera_link">
+    <inertial>
+      <origin
+        xyz="0.0027714370634978 -9.29434319373592E-06 0.0128014057830239"
+        rpy="0 0 0" />
+      <mass
+        value="0.0186201988654731" />
+      <inertia
+        ixx="1.38952652762223E-05"
+        ixy="-4.88105621547421E-09"
+        ixz="1.98670223779875E-08"
+        iyy="1.7072236178685E-06"
+        iyz="-8.49860443053716E-09"
+        izz="1.31795237727551E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="-0.01491 -0.025 -0.0125"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="-0.01491 -0.025 -0.0125"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="camera_botter_screw_frame">
+    <inertial>
+      <origin
+        xyz="0.00255175353418556 -0.00123907270798541 0.0118889783016768"
+        rpy="0 0 0" />
+      <mass
+        value="0.00564464822744556" />
+      <inertia
+        ixx="3.07688942133184E-06"
+        ixy="-1.84968755859098E-08"
+        ixz="-9.2787127214088E-09"
+        iyy="2.27625032346061E-07"
+        iyz="1.65176768024159E-08"
+        izz="2.93984854119768E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_botter_screw_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_botter_screw_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_botter_screw_joint"
+    type="fixed">
+    <origin
+      xyz="-0.01491 -0.025 -0.0125"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_botter_screw_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_right_ir_frame">
+    <inertial>
+      <origin
+        xyz="-0.000620201436687004 -1.61358465547434E-08 -1.50984520398332E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453168343720438" />
+      <inertia
+        ixx="4.34107789199216E-09"
+        ixy="-3.70099015891851E-13"
+        ixz="-1.46784711283119E-13"
+        iyy="4.84012228066652E-09"
+        iyz="2.0076254107311E-14"
+        izz="4.84044599033091E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_right_ir_joint"
+    type="fixed">
+    <origin
+      xyz="0 -0.05000000074505806 0"
+      rpy="0 0 0" />
+    <parent
+      link="camera_depth_frame" />
+    <child
+      link="camera_right_ir_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_right_ir_optical_frame">
+    <inertial>
+      <origin
+        xyz="1.61358465547434E-08 1.50984520398324E-07 -0.000620201436687004"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453168343720438" />
+      <inertia
+        ixx="4.84012228066652E-09"
+        ixy="2.00762541073067E-14"
+        ixz="3.70099015891915E-13"
+        iyy="4.84044599033091E-09"
+        iyz="1.46784711283141E-13"
+        izz="4.34107789199216E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra1_optical_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_right_ir_optical_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5707963267949 0 -1.5707963267949" />
+    <parent
+      link="camera_right_ir_frame" />
+    <child
+      link="camera_right_ir_optical_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_color_frame">
+    <inertial>
+      <origin
+        xyz="2.29364384785394E-07 -2.11520958501546E-07 -0.00105779474323097"
+        rpy="0 0 0" />
+      <mass
+        value="0.000139779411914196" />
+      <inertia
+        ixx="6.11273726117097E-10"
+        ixy="3.95051289663905E-14"
+        ixz="1.55845266007242E-13"
+        iyy="6.11076547268852E-10"
+        iyz="2.25440284353371E-14"
+        izz="6.69129408711142E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_color_joint"
+    type="fixed">
+    <origin
+      xyz="0.0019099999917671084 -0.01400499977171421 4.999999873689376e-06"
+      rpy="0 0 0" />
+    <parent
+      link="camera_depth_frame" />
+    <child
+      link="camera_color_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_color_optical_frame">
+    <inertial>
+      <origin
+        xyz="2.29364384785394E-07 -2.11520958501541E-07 -0.00105779474323097"
+        rpy="0 0 0" />
+      <mass
+        value="0.000139779411914196" />
+      <inertia
+        ixx="6.11273726117097E-10"
+        ixy="3.95051289663901E-14"
+        ixz="1.55845266007242E-13"
+        iyy="6.11076547268852E-10"
+        iyz="2.25440284353391E-14"
+        izz="6.69129408711142E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_color_optical_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_color_optical_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5707963267949 0 -1.5707963267949" />
+    <parent
+      link="camera_color_frame" />
+    <child
+      link="camera_color_optical_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_left_ir_frame">
+    <inertial>
+      <origin
+        xyz="-0.000620201436687001 -1.6135846551274E-08 -1.50984520410662E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453168343720439" />
+      <inertia
+        ixx="4.34107789199216E-09"
+        ixy="-3.70099015888916E-13"
+        ixz="-1.46784711288897E-13"
+        iyy="4.84012228066651E-09"
+        iyz="2.0076254105875E-14"
+        izz="4.8404459903309E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra2_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra2_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_left_ir_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_left_ir_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_left_ir_optical_frame">
+    <inertial>
+      <origin
+        xyz="1.6135846551274E-08 1.50984520410652E-07 -0.000620201436687001"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453168343720439" />
+      <inertia
+        ixx="4.84012228066652E-09"
+        ixy="2.00762541058687E-14"
+        ixz="3.70099015888909E-13"
+        iyy="4.8404459903309E-09"
+        iyz="1.46784711288896E-13"
+        izz="4.34107789199216E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra2_optical_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_infra2_optical_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_left_ir_optical_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-1.5707963267949 0 -1.5707963267949" />
+    <parent
+      link="camera_left_ir_frame" />
+    <child
+      link="camera_left_ir_optical_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="camera_depth_frame">
+    <inertial>
+      <origin
+        xyz="-0.000620201436687001 -1.6135846551274E-08 -1.50984520410661E-07"
+        rpy="0 0 0" />
+      <mass
+        value="0.000453168343720439" />
+      <inertia
+        ixx="4.34107789199216E-09"
+        ixy="-3.70099015888929E-13"
+        ixz="-1.46784711288886E-13"
+        iyy="4.84012228066651E-09"
+        iyz="2.00762541058859E-14"
+        izz="4.8404459903309E-09" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_depth_frame.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="${mesh_path}camera_depth_frame.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="camera_depth_joint"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="camera_link" />
+    <child
+      link="camera_depth_frame" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
 </robot>