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jj
2024-12-24 17:28:04 +08:00
parent 7faab8f0bc
commit 88c04e2742
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docs/source/6_tools/tools.md
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@@ -52,10 +52,25 @@ This tool will save the color and left IR images of each camera and the timestam
The configuration parameter file of this tool node is multi_save_rgbir_params.json
![Multi_camera1](../image/multi_save_rgbir_node1.png)
```json
{
"save_rgbir_params": {
"time_domain": "device",
"usb_ports": [
"2-3",
"2-1"
],
"camera_name": [
"G330_0",
"G330_1"
]
}
}
```
* The parameter order of usb_ports: "Host", "Slave 1", "Slave 2", "Slave 3". Fill in as many usb_ports as there are cameras.
* ir_topics and color_topics are topic names. Fill in as many names as there are cameras.
* time_domain: timestamp type
* usb_ports parameter order: "host", "slave 1", "slave 2", "slave 3", fill in as many usb_ports as there are cameras
* camera_name: the name set for the camera, for example: G330_0
## metadata_save_files_node
@@ -63,7 +78,18 @@ The metadata_save_files_node tool will save the depth, left and right IR, images
The configuration parameter file of this tool node is metadata_save_params.json
![Multi_camera1](../image/metadata_save_params.png)
```json
{
"metadata_save_params": {
"left_ir_image_topic": "/camera/left_ir/image_raw",
"right_ir_image_topic": "/camera/right_ir/image_raw",
"depth_image_topic": "/camera/depth/image_raw",
"left_ir_metadata_topic": "/camera/left_ir/metadata",
"right_ir_metadata_topic": "/camera/right_ir/metadata",
"depth_metadata_topic": "/camera/depth/metadata"
}
}
```
```bash
ros2 run orbbec_camera metadata_save_files_node
@@ -75,7 +101,21 @@ The metadata_save_files_node tool will save depth, color, left and right IR imag
The configuration parameter file of this tool node is metadata_save_params.json
![Multi_camera1](https://file+.vscode-resource.vscode-cdn.net/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/docs/source/image/metadata_save_params.png)
```json
{
"metadata_export_params": {
"sn": "CP1L44P00085",
"left_ir_image_topic": "/camera/left_ir/image_raw",
"right_ir_image_topic": "/camera/right_ir/image_raw",
"depth_image_topic": "/camera/depth/image_raw",
"color_image_topic": "/camera/color/image_raw",
"left_ir_metadata_topic": "/camera/left_ir/metadata",
"right_ir_metadata_topic": "/camera/right_ir/metadata",
"depth_metadata_topic": "/camera/depth/metadata",
"color_metadata_topic": "/camera/color/metadata"
}
}
```
```bash
ros2 run orbbec_camera metadata_export_files_node