6.7. Multi-Camera Helper Tools
This section describes multi-camera image saving, synchronization verification, and static TF debugging helper tools.
6.7.1. multi_save_rgbir_node
multi_save_rgbir_node subscribes to multi-camera RGB/IR images and metadata according to multi_save_rgbir_params.json, and uses the start_capture service to trigger saving. Start the corresponding multi-camera nodes before using it.
ros2 run orbbec_camera multi_save_rgbir_node
The configuration file is:
orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json
Trigger saving 10 frames:
ros2 service call /start_capture orbbec_camera_msgs/srv/SetInt32 "{data: 10}"
6.7.2. image_sync_example_node
image_sync_example_node verifies multi-image timestamp synchronization online. It subscribes to 1 to 8 image topics, displays synchronized images, and prints timestamp difference and FPS statistics. Start the camera node before using it.
If sync_topics is not set, the node automatically discovers color/depth image topics:
ros2 run orbbec_camera image_sync_example_node
You can also specify topics manually:
ros2 run orbbec_camera image_sync_example_node \
--ros-args \
-p sync_topics:="['/camera_01/color/image_raw', '/camera_02/color/image_raw']"
For detailed multi-camera synchronization verification, see Multi-Camera Synchronization Verification Tool.
6.7.3. SyncFramesMain.py
SyncFramesMain.py is the offline analysis script for multi-camera synchronization verification. It reads frame data from the output directory, selects the corresponding frame matching script based on device PID, and generates matched, unmatched, and abnormal results.
cd orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/Python
python3 SyncFramesMain.py
6.7.4. group_image.py
group_image.py groups saved multi-camera images by timestamp and copies grouped results to the grouped_images directory. The default image directory in the script is /home/orbbec/image/; modify it to match your environment before using it.
python3 orbbec_camera/scripts/group_image.py
6.7.5. static_transforms_publisher.py
static_transforms_publisher.py publishes hard-coded static TFs for specific multi-camera debugging scenarios. Modify the matrices and frame names according to the actual calibration before using it.
python3 orbbec_camera/scripts/static_transforms_publisher.py