6.7. Multi-Camera Helper Tools
This section describes multi-camera synchronization verification and image grouping helper tools provided by the ROS1 project.
6.7.1. image_sync_example_node
image_sync_example_node verifies multi-camera image timestamp synchronization online. It subscribes to 1 to 8 image topics, displays synchronized images, and prints timestamp difference and FPS statistics for validating frame alignment in Primary / Secondary Synced mode.
If sync_topics is not set, the node automatically discovers image topics for left_color, right_color, left_ir, right_ir, color, depth, and ir. To select topics explicitly, configure up to 8 entries with the sync_topics private parameter.
Start multi-camera synchronization:
roslaunch orbbec_camera multi_camera_synced.launch
In a new terminal, run the synchronization verification node:
rosrun orbbec_camera image_sync_example_node
For the complete multi-camera synchronization setup, see Multi-Camera Synchronization Verification Node.
6.7.2. group_images.sh
group_images.sh is an offline grouping script for saved multi-camera images. By default, it reads /home/orbbec/image/, groups images by timestamp, and copies the grouped result to grouped_images under the script directory.
Before using it, edit image_directory, master_camera_serial_no, use_device_time, and related variables in the script for your environment.
cd src/OrbbecSDK_ROS1/scripts
python3 group_images.sh
Note: The file extension is
.sh, but the content is a Python script.