Multi Cam Point Cloud Fusion

drakeramses

Hello all,

I was working on a project where I was trying to take two OAK-D Pro W OV9782 cameras and I was wanting to synchronize there point clouds as best as possible. To accomplish this we made a truss that holds them in place with exact dimensions relative to each.

I am struggling in the process of actually synchronizing them together though. I read up on the multi cam sync tutorial where we create a pose matrix of each camera and synchronize the cameras that way, however it didn't seem to properly align the cameras whatsoever.

I'm really just looking for some advice as to where I should start to complete this fusion.

Cheers!

jakaskerl

drakeramses
Synchonizing can be done on host PC using timestamps. Mainly getTimestamp() method for each message will tell you at what time the camera produced the message (relative to host PC clock). Use this to match frames together and create a pointcloud.

Thanks,
Jaka