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107 lines
3.4 KiB
Markdown
107 lines
3.4 KiB
Markdown
## Multi-camera synchronous image storage and script analysis
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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.
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### Connection preparation
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Please follow the instructions to connect multiple Orbbec cameras and Multi-Camera Sync Hub Pro.
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* 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/).
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* Example of connecting multiple cameras to Multi-Camera Sync Hub Pro.
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### Multi-camera synchronous image storage
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#### Check the USB port of your device
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```bash
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ros2 run orbbec_camera list_devices_node
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```
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#### **Parameter configuration**
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##### multi_camera_synced.launch.py
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1. `usb_port` is set to the USB port of the device.
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2. `device_num` is set to 2, indicating that two cameras are started.
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3. `sync_mode` is set to primary, indicating that the camera device is set to host mode.
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4. The slave sets `trigger_out_enabled` to false.
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##### multi_save_rgbir_params.json
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Configure USB ports and names for multiple devices.
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##### camera_params.yaml
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Enable the left IR camera.
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`enable_left_ir: true`
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##### start_multi_sync.sh
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`{data: 100}` means that each stream of each camera stores 100 images.
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#### Running
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Start multiple Orbbec cameras (select 1).
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* On terminal 1
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```bash
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cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/tools
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sudo chmod +x start_multi_sync.sh
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bash start_multi_sync.sh
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```
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Save the image synchronously (select 4).
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* On terminal 2
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```bash
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cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/tools
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bash start_multi_sync.sh
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```
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### Script parsing
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`multicamera_sync` - save the image and analysis script storage directory.
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* `ouput` - save the image directory
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* `Python` - analysis script directory
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Note: `multicamera_sync` needs to be copied to the current workspace directory (same level as the `install` directory).
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#### Configuration Files
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* `Config.ini` configures the camera's actual frame rate and maximum error timestamp threshold.
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* `DevicesInfo.txt` configures the number of cameras and the camera's pid, vid, SN number and other parameters.
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* `StreamProfileInfo.txt` configures the camera resolution, frame rate, and encoding format.
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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).
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#### Running
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Run the parsing script to parse the images stored synchronously by multiple cameras.
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```bash
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cd ~/ros2_ws/multicamera_sync/Python
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python3 SyncFramesMain.py
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```
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#### Output
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* `matchFrames`: Incomplete dataset of the same camera group, camera image information is missing.
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* `notMatchFrames`: Complete dataset of the same camera group.
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* `abnormal`: The same set of complete data sets of cameras, and the camera synchronization time exceeds the parameter `tspRangeThreshold` set in `Config.ini`.
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