-
Notifications
You must be signed in to change notification settings - Fork 4.8k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Record Multiple Cameras with python #8183
Comments
inter_cam_sync_mode is used to synchronize RealSense depth cameras that have been wired together. See this article for more information: Unfortunately the T265 does not support any kind of hardware synchronization. If you try to set inter_cam_sync_mode on the T265 you will get an error. If you need a precise synchronization between the D435 and T265 you will need to find some way to align them in software, which is not an easy task to do reliably. If you have a D435i there may be a way to align the IMU data with the T265 pose data. |
My solution currently is to record both cameras in two separate depth files and then find the closest pose frame timestamp for each color + depth frame timestamp. This works fine but seems kind of hacky to me. Would still be interested in a more "developed" solution if there exists one. |
@brunovollmer Can rosbag record function meet your requirement? It can record all currently available stream 'topics' using its -all condition. You can launch each camera independently in a separate ROS 'terminal' window, and the collective topics from all of the camera sources should get captured by the 'all' function of rosbag record. For more details, you can refer to the link in https://wiki.ros.org/rosbag/Commandline#rosbag_record |
This would be a workaround but I would prefer a single script to record. |
@brunovollmer Sorry at present we don't have such plan to add new feature to record multiple cameras into one bag file. Please keep using the workaround you're using now. Thanks for your understanding! |
@brunovollmer Any other questions about this? If no, will close it accordingly. Thanks! |
As a related aside to this issue, the specific I believe that this was previously allowed, though didn't actually set anything until the device was stopped and started again (per other issues on this repo). Now it seems to actually throw this error if you attempt it at runtime. If you set it before you start the pipeline, e.g. if you set it on the device from a context, then it seems to be ok. For example: ctx = rs.context()
device = ctx.devices[0]
sensor = device.first_depth_sensor()
sensor.set_option(rs.option.inter_cam_sync_mode, 1.0)
pipeline = rs.pipeline(ctx)
profile = pipeline.start() |
@alkasm Thanks for your sharing! |
@brunovollmer Any other questions about this ticket? Could you please update? Thanks! |
No thanks |
Issue Description
Hey,
my goal is to record synced footage from my multicam setup, which consists of a D435 and a T265 camera. I used this issue as a starting point for my record script (attachted below). When I run the script I receive the following error:
Anybody an idea how to fix this?
Additionally I'm wondering if it is possible to record in the same .bag file?
Record Script:
The text was updated successfully, but these errors were encountered: