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中文 | English
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5.2.3. Multi_camera_synced_verification_tool

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This article will introduce how to verify the synchronization accuracy of multi-camera synchronization.

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First, please see how to use multi_camera_synced.

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You can find example usage code in the example.

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5.2.3.1. Directory Structure

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.
-├── multicamera_sync/
-│   ├── output/
-│       ├──20250218102900/
-│          ├──DevicesInfo.txt
-│          ├──StreamProfileInfo.txt
-│   ├── Python/
-│       ├──Config.ini
-├── gemini_330_series_synced_verify.launch.py
-├── multi_camera_synced_verify.launch.py
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multicamera_sync

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  • gemini_330_series_synced_verify.launch.py : Single camera runs launch, which provides the camera running node for multi_camera_synced_verify.launch.py.

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  • multi_camera_synced_verify.launch.py : Multi camer synced + launch of save_rgbir tool.

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output

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The ouput folder is the folder where the camera pictures are output

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In the output example provided

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  • 20250218102900 : Represents the camera image information collected at 10:29:00 on February 18, 2025.

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  • TotalModeFrames : Camera image information storage directory.

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  • results-2025-02-25_163648 : The result after analyzing and matching the image information of TotalModeFrames.

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  • DevicesInfo.txt : Camera equipment basic information (need to be modified).

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  • StreamProfileInfo.txt : Camera video stream information (no need to modify).

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Python

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  • Config.ini : Configuration file for Python analysis script (need to be modified).

    • +
    中文 | English
    +

    5.2.3. Multi-Camera Synchronization Verification Node

    +

    File path: image_sync_example_node.cpp

    +

    This example node is designed for synchronized capture and timestamp verification across four Orbbec cameras. +It can be used to validate frame alignment accuracy under the multi-camera Primary / Secondary Synced mode.

    +
    +
    +

    5.2.3.1. Usage Guide

    +
    +

    5.2.3.1.1. Modify multi_camera_synced.launch.py as follows

    +
      +

    • Add launch_include to support four cameras.

      • +

    • Select the appropriate launch file based on your camera model. +For example, use gemini_330_series.launch.py for the Gemini 330 series.

      • +

    • Naming convention: +camera_name should follow the format camera_01, camera_02, camera_03, …

      • +

    • Set device_num to 4.

      • +

    • Configure the USB ports using:

      +

      ros2 run orbbec_camera list_devices_node

      +

      to view and bind the correct ports.

      +
      • +

    • Set synchronization mode to Primary/Secondary Synced, +with one camera as primary and the others as secondary_synced.

      • +

    • Startup sequence: +The Primary camera should always be launched last to ensure the synchronization signal is established correctly.

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    5.2.3.2. Preparation for operation

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    save_rgbir node

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    Edit multi_camera_synced_verify.launch.py and fill in the activated camera device,we can find that save_rgbir is started at the end.

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    -

    IMPORTANT

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    If you are using ROS 2 Foxy, you need to launch the save_rgbir node first.

    -
    -
    # Launch description
+
    
+
    
+
    5.2.3.1.2. Modify configuration files
    
+
    Edit the following two files under the config directory:
    
+
      
+
    • camera_params.yaml
      • 
+
    • camera_secondary_params.yaml
      • 
+
    
+
    Ensure the following settings are consistent across all cameras:
    
+
      
+
    • Enable both depth and color streams.
      • 
+
    • Use the same frame rate (fps) for all cameras.
      • 
+
    
+
    
+
    
+
    
+
    5.2.3.1.3. Launch and Verification
    
+
      
+
    • Start the multi-camera synchronization launch file:
      
+
      ros2 launch orbbec_camera multi_camera_synced.launch.py
      
+
      • 
+
    • In a new terminal, run the synchronization verification node:
      
+
      ros2 run orbbec_camera image_sync_example_node
      
+
      This node outputs timestamp differences between multiple camera streams for synchronization validation.
      
+
      • 
+
    
+
    
+
    
+
    
+
    5.2.3.1.4. Reference Launch File
    
+
    import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, GroupAction, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node, LoadComposableNodes
+
+
+
+def generate_launch_description():
+    # Include launch files
+    package_dir = get_package_share_directory("orbbec_camera")
+    launch_file_dir = os.path.join(package_dir, "launch")
+    config_file_dir = os.path.join(package_dir, "config")
+    config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
+
+    launch1_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_01",
+            "usb_port": "2-2.3",
+            "device_num": "4",
+            "sync_mode": "primary",
+            "config_file_path": config_file_path,
+            "trigger_out_enabled": "true"
+        }.items(),
+    )
+
+    launch2_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_02",
+            "usb_port": "2-1",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
+
+    launch3_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_03",
+            "usb_port": "2-3",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
+
+    launch4_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_file_dir, "gemini_330_series.launch.py")
+        ),
+        launch_arguments={
+            "camera_name": "camera_04",
+            "usb_port": "2-4",
+            "device_num": "4",
+            "sync_mode": "secondary_synced",
+            "config_file_path": secondary_config_file_path,
+            "trigger_out_enabled": "false"
+        }.items(),
+    )
+
+
+
+    # Launch description
     ld = LaunchDescription(
         [
-            shared_orbbec_container,
+
             TimerAction(period=0.0, actions=[GroupAction([launch2_include])]),
-            TimerAction(period=2.0, actions=[GroupAction([launch1_include])]),
+            TimerAction(period=2.0, actions=[GroupAction([launch3_include])]),
+            TimerAction(period=4.0, actions=[GroupAction([launch4_include])]),
+            TimerAction(period=6.0, actions=[GroupAction([launch1_include])]),
             # The primary camera should be launched at last
-            TimerAction(period=6.0, actions=[GroupAction([save_rgbir])]),
-            # save_rgbir is synced verification tool
         ]
     )
 
     return ld
 
    
 
    
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    save_rgbir is a tool for saving images. The configuration file of this tool is in multi_save_rgbir_params.json.
    
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    {
-  "save_rgbir_params": {
-      "time_domain": "global",
-      "usb_ports": [
-          "2-1",
-          "2-3"
-      ],
-      "camera_name": [
-          "camera_01",
-          "camera_02"
-      ]
-  }
-}
-
    
-
    
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    • time_domain : Timestamp Type
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    • usb_ports : “primary”, “secondary 1”, “secondary 2”, “secondary 3”, fill in as many usb_ports as there are cameras
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    • camera_name : The name of the camera setting, for example: camera_01
      • 
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    DevicesInfo.txt
    
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    Edit DevicesInfo.txt. Only the primarySerialNumber, index and serialNumber parameters need to be changed. Other parameters do not need to be changed.Refer to the example of 20250218102900.
    
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    • primarySerialNumber : The SN serial number of the primary camera
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    • index : Camera index
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    • serialNumber : The SN serial number of the camera
      • 
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    Config.ini
    
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    Edit Config.ini.Modify frameRate and tspRangeThreshold.
    
 
    
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    5.2.3.3. Run this example
    
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    Run launch and save camera pictures
    
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    • First terminal
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    ros2 launch orbbec_camera multi_camera_synced_verify.launch.py
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    • Second terminal
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    ros2 service call /save_rgbir/start_capture orbbec_camera_msgs/srv/SetInt32 '{data: 100}'
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    When the terminal displays “over”, the image is saved.A new multicamera_sync folder will be generated under the workspace.
    
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    Camera pictures naming format
    
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    Take color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg as an example
    
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    • color : This image is a snapshot of the color stream.
      • 
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    • SNCP1E5420006D : The camera’s SN serial number is CP1E5420006D.
      • 
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    • Index0 : Camera 0 (usually referred to primary camera).
      • 
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    • g1739874543227 : “g” represents the global timestamp, which means the global timestamp of this frame is 1739874543227.
      • 
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    • f0 : The 0th picture of the color stream acquisition of this camera.
      • 
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    • s1739874543327 : “s” represents the timestamp of the current system, which means the current system timestamp of this frame is 1739874543327.
      • 
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    • e50 : The exposure of this frame is 50.
      • 
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    • d16 : The gain of this frame is 16.
      • 
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    Analyzing camera image data
    
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    You need to copy the modified Python folder to the new multi_camera_synced subdirectory, and copy the modified DevicesInfo.txt and StreamProfileInfo.txt to the same level directory as the TotalModeFrames folder.
    
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    • Finally everything is ready, run the python script
      • 
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    cd multicamera_sync/Python
-python3 SyncFramesMain.py
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    After the operation is successful, you can view the synchronization effect in the  results folder
    
 
    
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    5.2.3.4. Files that need to be changed
    
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    Analysis tools
    
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    Camera Configuration
    
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    camera_params.yaml(Camera startup parameter settings)
    
-
    multi_camera_synced_verify.launch.py
    
+
    
+
    
+
    5.2.3.2. System Configuration Requirements
    
+
    
+
    5.2.3.2.1. Increase USB Buffer Memory
    
+
    Prevent frame drops caused by concurrent data transmission:
    
+
    echo 512 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
    
+
    
+
    
+
    5.2.3.2.2. Configure Fast DDS
    
+
    Optimize ROS2 node communication latency to reduce image transmission delay.
+See this section for detailed configuration instructions.
    
+
    
 
    
 
    
 
@@ -522,7 +546,7 @@ python3 SyncFramesMain.py
 
   
    
     
    © Copyright 2025, ORBBEC INC. www.orbbec.com..
-      Last updated on 2025-10-31 02:59:36.
+      Last updated on 2025-11-17 01:39:33.
       
    
   
    
 
diff --git a/en/source/5_advanced_guide/performance/efficient_intra_process_communication.html b/en/source/5_advanced_guide/performance/efficient_intra_process_communication.html
index 499340b8..9443b1e9 100644
--- a/en/source/5_advanced_guide/performance/efficient_intra_process_communication.html
+++ b/en/source/5_advanced_guide/performance/efficient_intra_process_communication.html
@@ -217,11 +217,19 @@
 
  • 5.2.2.4. Run the following command to start the multi-camera synced
    •
-
  • 5.2.3. Multi_camera_synced_verification_tool
    • diff --git a/en/source/7_developer_guide/building_a_Debian_Package.html b/en/source/7_developer_guide/building_a_Debian_Package.html index 88343b6e..39599205 100644 --- a/en/source/7_developer_guide/building_a_Debian_Package.html +++ b/en/source/7_developer_guide/building_a_Debian_Package.html @@ -217,11 +217,19 @@
  • 5.2.2.4. Run the following command to start the multi-camera synced