Add multi-camera sync tool and readme

2026-10-04 20:17:47 +08:00 · 2025-02-06 09:31:35 +08:00
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+## Multi-camera synchronous image storage and script analysis
+
+This section describes how to use multiple Orbbec cameras to store images synchronously in a ROS 2 environment and use scripts to parse the data.
+
+### Connection preparation
+
+Please follow the instructions to connect multiple Orbbec cameras and Multi-Camera Sync Hub Pro.
+
+* For detailed guidance on Multi-Camera Sync Hub Pro, you can refer to [Set up cameras for external synchronization](https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/).
+* Example of connecting multiple cameras to Multi-Camera Sync Hub Pro.
+
+![Schematic diagram of multi-machine synchronizer connection](./images/image7.jpg)
+
+### Multi-camera synchronous image storage
+
+#### Check the USB port of your device
+
+```bash
+ros2 run orbbec_camera list_devices_node
+```
+
+![Check the USB port](./images/image8.jpg)
+
+#### **Parameter configuration**
+
+##### multi_camera_synced.launch.py
+
+1. `usb_port` is set to the USB port of the device.
+2. `device_num` is set to 2, indicating that two cameras are started.
+3. `sync_mode` is set to primary, indicating that the camera device is set to host mode.
+4. The slave sets `trigger_out_enabled` to false.
+
+![Launch Configuration](./images/image9.jpg)
+
+##### multi_save_rgbir_params.json
+
+Configure USB ports and names for multiple devices.
+
+![Json Configuration](./images/image10.jpg)
+
+##### camera_params.yaml
+
+Enable the left IR camera.
+
+`enable_left_ir: true`
+
+##### start_multi_sync.sh
+
+`{data: 100}` means that each stream of each camera stores 100 images.
+
+![Shell Configuration](./images/image11.jpg)
+
+#### Running
+
+Start multiple Orbbec cameras (select 1).
+
+* On terminal 1
+
+```bash
+cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/tools
+sudo chmod +x start_multi_sync.sh
+bash start_multi_sync.sh
+```
+
+![Startup Script](./images/image12.jpg)
+
+Save the image synchronously (select 4).
+
+* On terminal 2
+
+```bash
+cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/tools
+bash start_multi_sync.sh
+```
+
+### Script parsing
+
+`multicamera_sync` - save the image and analysis script storage directory.
+
+* `ouput` - save the image directory
+* `Python` - analysis script directory
+
+Note: `multicamera_sync` needs to be copied to the current workspace directory (same level as the `install` directory).
+
+#### Configuration Files
+
+* `Config.ini` configures the camera's actual frame rate and maximum error timestamp threshold.
+* `DevicesInfo.txt` configures the number of cameras and the camera's pid, vid, SN number and other parameters.
+* `StreamProfileInfo.txt` configures the camera resolution, frame rate, and encoding format.
+
+Note: `DevicesInfo.txt` and `StreamProfileInfo.txt` are files required by the parsing script and need to be copied to the same directory as the `TotalModeFrames` folder (The `TotalModeFrames` directory is created by the image saving script and is used to store image data collected synchronously by multiple cameras).
+
+#### Running
+
+Run the parsing script to parse the images stored synchronously by multiple cameras.
+
+```bash
+cd  ~/ros2_ws/multicamera_sync/Python
+python3 SyncFramesMain.py
+```
+
+#### Output
+
+* `matchFrames`: Incomplete dataset of the same camera group, camera image information is missing.
+* `notMatchFrames`: Complete dataset of the same camera group.
+* `abnormal`: The same set of complete data sets of cameras, and the camera synchronization time exceeds the parameter `tspRangeThreshold` set in `Config.ini`.