picamera2
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raspberrypi
[HOW-TO] Sync two cameras in software
Describe what it is that you want to accomplish With the Pi5 there are two camera ports and I would like to sync the cameras frames as best as possible. It doesn't need to be exact. I wonder if something similar like this can be achieved with picamera2 also: https://picamera.readthedocs.io/en/release-1.13/api_camera.html?highlight=pid#picamera.PiCamera.framerate_delta
Describe alternatives you've considered None, if not possible.
Additional context
This is an area we've quite wanted to do work on, but haven't got round to it.
It should be possible to synchronise a pair of cameras with a software control loop. The things you'd have to do would be:
-
Look at the
"SensorTimestamp"value in the metadata with each frame. By comparing these you can obviously tell how unsynchronised the cameras are. -
Adjust the
"FrameDurationLimits"control value to bring the frames together.
Thank you, that was the starter information I needed. I will check it out!
``So, this is cool, seems to work.
Finally I wanted to save stills so I started directly using the create_still_configuration which implicitely uses just one buffer. When the control loop is close to zero delta it could lead to a jump in the SensorTimestamp by 1/FPS seconds due to a dropped frame. I fixed by using a buffer, here buffer_count=3.
This is my very basic script, that just syncronizes, but nothing more yet:
#!/usr/bin/python
from picamera2 import Picamera2
def P_controller(Kp: float = 0.05, setpoint: float = 0, measurement: float = 0, output_limits=(-10000, 10000)):
e = setpoint - measurement
P = Kp * e
output_value = P
# output and limit if output_limits set
lower, upper = output_limits
if (upper is not None) and (output_value > upper):
return upper
elif (lower is not None) and (output_value < lower):
return lower
return output_value
if len(Picamera2.global_camera_info()) <= 1:
print("SKIPPED (one camera)")
quit()
# Primary (leads)
picam2a = Picamera2(0)
# need buffer_count > 1 because if a frame is skipped, there will be a jump in SensorTimestamp due to dropped frame which messes with the control
config2a = picam2a.create_still_configuration(controls={"FrameRate": 10}, buffer_count=3)
picam2a.configure(config2a)
# Secondary (follows)
picam2b = Picamera2(1)
# need buffer_count > 1 because if a frame is skipped, there will be a jump in SensorTimestamp due to dropped frame which messes with the control
config2b = picam2b.create_still_configuration(controls={"FrameRate": 10}, buffer_count=3)
picam2b.configure(config2b)
picam2a.start()
picam2b.start()
print("Press Ctrl+C to exit")
try:
while True:
metadata_picam2a = picam2a.capture_metadata()
metadata_picam2b = picam2b.capture_metadata()
timestamp_picam2a = metadata_picam2a["SensorTimestamp"] / 1000 # convert ns to µs because all other values are in µs
timestamp_picam2b = metadata_picam2b["SensorTimestamp"] / 1000 # convert ns to µs because all other values are in µs
timestamp_delta = timestamp_picam2b - timestamp_picam2a
controller_output_frameduration_delta = int(P_controller(0.05, 0, timestamp_delta, (-10000, 10000)))
control_out_frameduration = int(metadata_picam2a["FrameDuration"] + controller_output_frameduration_delta) # sync to a, so use that for ref
print("Cam A: SensorTimestamp: ", timestamp_picam2a, " FrameDuration: ", metadata_picam2a["FrameDuration"])
print("Cam B: SensorTimestamp: ", timestamp_picam2b, " FrameDuration: ", metadata_picam2b["FrameDuration"])
print("SensorTimestampDelta: ", round(timestamp_delta / 1000, 1), "ms")
print("FrameDurationDelta: ", controller_output_frameduration_delta, "new FrameDurationLimit: ", control_out_frameduration)
with picam2b.controls as ctrl:
# set new FrameDurationLimits based on P_controller output.
ctrl.FrameDurationLimits = (control_out_frameduration, control_out_frameduration)
except KeyboardInterrupt:
print("got Ctrl+C, exiting")
picam2a.stop()
picam2b.stop()
This is the output. The delta remains very stable close to zero after first start:
Cam A: SensorTimestamp: 10227724610.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10227752441.0 FrameDuration: 97300 SensorTimestampDelta: 27.8 ms
FrameDurationDelta: -1391 new FrameDurationLimit: 98591
Cam A: SensorTimestamp: 10227824592.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10227849742.0 FrameDuration: 97510 SensorTimestampDelta: 25.1 ms
FrameDurationDelta: -1257 new FrameDurationLimit: 98725
Cam A: SensorTimestamp: 10227924577.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10227947255.0 FrameDuration: 97721 SensorTimestampDelta: 22.7 ms
FrameDurationDelta: -1133 new FrameDurationLimit: 98849
Cam A: SensorTimestamp: 10228024561.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228044979.0 FrameDuration: 97931 SensorTimestampDelta: 20.4 ms
FrameDurationDelta: -1020 new FrameDurationLimit: 98962
Cam A: SensorTimestamp: 10228124544.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228142911.0 FrameDuration: 98115 SensorTimestampDelta: 18.4 ms
FrameDurationDelta: -918 new FrameDurationLimit: 99064
Cam A: SensorTimestamp: 10228224528.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228241027.0 FrameDuration: 98273 SensorTimestampDelta: 16.5 ms
FrameDurationDelta: -824 new FrameDurationLimit: 99158
Cam A: SensorTimestamp: 10228324509.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228339302.0 FrameDuration: 98430 SensorTimestampDelta: 14.8 ms
FrameDurationDelta: -739 new FrameDurationLimit: 99243
Cam A: SensorTimestamp: 10228424491.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228437736.0 FrameDuration: 98588 SensorTimestampDelta: 13.2 ms
FrameDurationDelta: -662 new FrameDurationLimit: 99320
Cam A: SensorTimestamp: 10228524475.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228536326.0 FrameDuration: 98720 SensorTimestampDelta: 11.9 ms
FrameDurationDelta: -592 new FrameDurationLimit: 99390
Cam A: SensorTimestamp: 10228624458.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228635047.0 FrameDuration: 98825 SensorTimestampDelta: 10.6 ms
FrameDurationDelta: -529 new FrameDurationLimit: 99453
Cam A: SensorTimestamp: 10228724440.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228733874.0 FrameDuration: 98956 SensorTimestampDelta: 9.4 ms
FrameDurationDelta: -471 new FrameDurationLimit: 99511
Cam A: SensorTimestamp: 10228824423.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228832833.0 FrameDuration: 99061 SensorTimestampDelta: 8.4 ms
FrameDurationDelta: -420 new FrameDurationLimit: 99562
Cam A: SensorTimestamp: 10228924407.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10228931899.0 FrameDuration: 99140 SensorTimestampDelta: 7.5 ms
FrameDurationDelta: -374 new FrameDurationLimit: 99608
Cam A: SensorTimestamp: 10229024390.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229031037.0 FrameDuration: 99219 SensorTimestampDelta: 6.6 ms
FrameDurationDelta: -332 new FrameDurationLimit: 99650
Cam A: SensorTimestamp: 10229124372.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229130260.0 FrameDuration: 99298 SensorTimestampDelta: 5.9 ms
FrameDurationDelta: -294 new FrameDurationLimit: 99688
Cam A: SensorTimestamp: 10229224355.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229229557.0 FrameDuration: 99377 SensorTimestampDelta: 5.2 ms
FrameDurationDelta: -260 new FrameDurationLimit: 99722
Cam A: SensorTimestamp: 10229324338.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229328939.0 FrameDuration: 99430 SensorTimestampDelta: 4.6 ms
FrameDurationDelta: -230 new FrameDurationLimit: 99752
Cam A: SensorTimestamp: 10229424322.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229428371.0 FrameDuration: 99508 SensorTimestampDelta: 4.0 ms
FrameDurationDelta: -202 new FrameDurationLimit: 99780
Cam A: SensorTimestamp: 10229524308.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229527881.0 FrameDuration: 99561 SensorTimestampDelta: 3.6 ms
FrameDurationDelta: -178 new FrameDurationLimit: 99804
Cam A: SensorTimestamp: 10229624287.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229627440.0 FrameDuration: 99587 SensorTimestampDelta: 3.2 ms
FrameDurationDelta: -157 new FrameDurationLimit: 99825
Cam A: SensorTimestamp: 10229724271.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229727031.0 FrameDuration: 99640 SensorTimestampDelta: 2.8 ms
FrameDurationDelta: -138 new FrameDurationLimit: 99844
Cam A: SensorTimestamp: 10229824253.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229826672.0 FrameDuration: 99666 SensorTimestampDelta: 2.4 ms
FrameDurationDelta: -120 new FrameDurationLimit: 99862
Cam A: SensorTimestamp: 10229924236.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10229926340.0 FrameDuration: 99719 SensorTimestampDelta: 2.1 ms
FrameDurationDelta: -105 new FrameDurationLimit: 99877
Cam A: SensorTimestamp: 10230024220.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230026062.0 FrameDuration: 99745 SensorTimestampDelta: 1.8 ms
FrameDurationDelta: -92 new FrameDurationLimit: 99890
Cam A: SensorTimestamp: 10230124202.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230125808.0 FrameDuration: 99771 SensorTimestampDelta: 1.6 ms
FrameDurationDelta: -80 new FrameDurationLimit: 99902
Cam A: SensorTimestamp: 10230224185.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230225581.0 FrameDuration: 99798 SensorTimestampDelta: 1.4 ms
FrameDurationDelta: -69 new FrameDurationLimit: 99913
Cam A: SensorTimestamp: 10230324169.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230325381.0 FrameDuration: 99824 SensorTimestampDelta: 1.2 ms
FrameDurationDelta: -60 new FrameDurationLimit: 99922
Cam A: SensorTimestamp: 10230424151.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230425207.0 FrameDuration: 99824 SensorTimestampDelta: 1.1 ms
FrameDurationDelta: -52 new FrameDurationLimit: 99930
Cam A: SensorTimestamp: 10230524135.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230525032.0 FrameDuration: 99850 SensorTimestampDelta: 0.9 ms
FrameDurationDelta: -44 new FrameDurationLimit: 99938
Cam A: SensorTimestamp: 10230624117.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230624885.0 FrameDuration: 99876 SensorTimestampDelta: 0.8 ms
FrameDurationDelta: -38 new FrameDurationLimit: 99944
Cam A: SensorTimestamp: 10230724099.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230724763.0 FrameDuration: 99876 SensorTimestampDelta: 0.7 ms
FrameDurationDelta: -33 new FrameDurationLimit: 99949
Cam A: SensorTimestamp: 10230824083.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230824641.0 FrameDuration: 99876 SensorTimestampDelta: 0.6 ms
FrameDurationDelta: -27 new FrameDurationLimit: 99955
Cam A: SensorTimestamp: 10230924066.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10230924525.0 FrameDuration: 99903 SensorTimestampDelta: 0.5 ms
FrameDurationDelta: -22 new FrameDurationLimit: 99960
Cam A: SensorTimestamp: 10231024049.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231024430.0 FrameDuration: 99903 SensorTimestampDelta: 0.4 ms
FrameDurationDelta: -19 new FrameDurationLimit: 99963
Cam A: SensorTimestamp: 10231124032.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231124335.0 FrameDuration: 99929 SensorTimestampDelta: 0.3 ms
FrameDurationDelta: -15 new FrameDurationLimit: 99967
Cam A: SensorTimestamp: 10231224016.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231224265.0 FrameDuration: 99929 SensorTimestampDelta: 0.2 ms
FrameDurationDelta: -12 new FrameDurationLimit: 99970
Cam A: SensorTimestamp: 10231323998.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231324197.0 FrameDuration: 99929 SensorTimestampDelta: 0.2 ms
FrameDurationDelta: -9 new FrameDurationLimit: 99973
Cam A: SensorTimestamp: 10231423981.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231424128.0 FrameDuration: 99929 SensorTimestampDelta: 0.1 ms
FrameDurationDelta: -7 new FrameDurationLimit: 99975
Cam A: SensorTimestamp: 10231523964.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231524058.0 FrameDuration: 99929 SensorTimestampDelta: 0.1 ms
FrameDurationDelta: -4 new FrameDurationLimit: 99978
Cam A: SensorTimestamp: 10231623948.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231623985.0 FrameDuration: 99955 SensorTimestampDelta: 0.0 ms
FrameDurationDelta: -1 new FrameDurationLimit: 99981
Cam A: SensorTimestamp: 10231723930.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231723949.0 FrameDuration: 99955 SensorTimestampDelta: 0.0 ms
FrameDurationDelta: 0 new FrameDurationLimit: 99982
Cam A: SensorTimestamp: 10231823927.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231823907.0 FrameDuration: 99955 SensorTimestampDelta: -0.0 ms
FrameDurationDelta: 1 new FrameDurationLimit: 99983
Cam A: SensorTimestamp: 10231923889.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10231923865.0 FrameDuration: 99955 SensorTimestampDelta: -0.0 ms
FrameDurationDelta: 1 new FrameDurationLimit: 99983
Cam A: SensorTimestamp: 10232023872.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232023823.0 FrameDuration: 99955 SensorTimestampDelta: -0.0 ms
FrameDurationDelta: 2 new FrameDurationLimit: 99984
Cam A: SensorTimestamp: 10232123855.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232123780.0 FrameDuration: 99955 SensorTimestampDelta: -0.1 ms
FrameDurationDelta: 3 new FrameDurationLimit: 99985
Cam A: SensorTimestamp: 10232223843.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232223737.0 FrameDuration: 99955 SensorTimestampDelta: -0.1 ms
FrameDurationDelta: 5 new FrameDurationLimit: 99987
Cam A: SensorTimestamp: 10232323825.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232323693.0 FrameDuration: 99955 SensorTimestampDelta: -0.1 ms
FrameDurationDelta: 6 new FrameDurationLimit: 99988
Cam A: SensorTimestamp: 10232423809.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232423652.0 FrameDuration: 99955 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 7 new FrameDurationLimit: 99989
Cam A: SensorTimestamp: 10232523791.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232523607.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10232623774.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232623592.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10232723757.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232723574.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10232823740.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232823558.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10232923723.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10232923543.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10233023706.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10233023525.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10233123689.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10233123509.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10233223674.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10233223493.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 9 new FrameDurationLimit: 99991
Cam A: SensorTimestamp: 10233323655.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10233323476.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 8 new FrameDurationLimit: 99990
Cam A: SensorTimestamp: 10233423638.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10233423461.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 8 new FrameDurationLimit: 99990
Cam A: SensorTimestamp: 10233523621.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10233523444.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 8 new FrameDurationLimit: 99990
Cam A: SensorTimestamp: 10233623604.0 FrameDuration: 99982
Cam B: SensorTimestamp: 10233623428.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms
FrameDurationDelta: 8 new FrameDurationLimit: 99990
^Cgot Ctrl+C, exiting
I added also sync capture triggered by gpio on pi5. Pictures came out synced perfectly and got no hiccups after photos were taken in the synchronization. You mind if I send a minimal example via pullrequest?
Yes, please do send new examples. If you can check the contribution guidelines that would be helpful - I think it boils down mostly to running flake8, signing the commit, and submitting it to the "next" branch.
``So, this is cool, seems to work.
Finally I wanted to save stills so I started directly using the
create_still_configurationwhich implicitely uses just one buffer. When the control loop is close to zero delta it could lead to a jump in theSensorTimestampby 1/FPS seconds due to a dropped frame. I fixed by using a buffer, herebuffer_count=3.This is my very basic script, that just syncronizes, but nothing more yet:
#!/usr/bin/python from picamera2 import Picamera2 def P_controller(Kp: float = 0.05, setpoint: float = 0, measurement: float = 0, output_limits=(-10000, 10000)): e = setpoint - measurement P = Kp * e output_value = P # output and limit if output_limits set lower, upper = output_limits if (upper is not None) and (output_value > upper): return upper elif (lower is not None) and (output_value < lower): return lower return output_value if len(Picamera2.global_camera_info()) <= 1: print("SKIPPED (one camera)") quit() # Primary (leads) picam2a = Picamera2(0) # need buffer_count > 1 because if a frame is skipped, there will be a jump in SensorTimestamp due to dropped frame which messes with the control config2a = picam2a.create_still_configuration(controls={"FrameRate": 10}, buffer_count=3) picam2a.configure(config2a) # Secondary (follows) picam2b = Picamera2(1) # need buffer_count > 1 because if a frame is skipped, there will be a jump in SensorTimestamp due to dropped frame which messes with the control config2b = picam2b.create_still_configuration(controls={"FrameRate": 10}, buffer_count=3) picam2b.configure(config2b) picam2a.start() picam2b.start() print("Press Ctrl+C to exit") try: while True: metadata_picam2a = picam2a.capture_metadata() metadata_picam2b = picam2b.capture_metadata() timestamp_picam2a = metadata_picam2a["SensorTimestamp"] / 1000 # convert ns to µs because all other values are in µs timestamp_picam2b = metadata_picam2b["SensorTimestamp"] / 1000 # convert ns to µs because all other values are in µs timestamp_delta = timestamp_picam2b - timestamp_picam2a controller_output_frameduration_delta = int(P_controller(0.05, 0, timestamp_delta, (-10000, 10000))) control_out_frameduration = int(metadata_picam2a["FrameDuration"] + controller_output_frameduration_delta) # sync to a, so use that for ref print("Cam A: SensorTimestamp: ", timestamp_picam2a, " FrameDuration: ", metadata_picam2a["FrameDuration"]) print("Cam B: SensorTimestamp: ", timestamp_picam2b, " FrameDuration: ", metadata_picam2b["FrameDuration"]) print("SensorTimestampDelta: ", round(timestamp_delta / 1000, 1), "ms") print("FrameDurationDelta: ", controller_output_frameduration_delta, "new FrameDurationLimit: ", control_out_frameduration) with picam2b.controls as ctrl: # set new FrameDurationLimits based on P_controller output. ctrl.FrameDurationLimits = (control_out_frameduration, control_out_frameduration) except KeyboardInterrupt: print("got Ctrl+C, exiting") picam2a.stop() picam2b.stop()This is the output. The delta remains very stable close to zero after first start:
Cam A: SensorTimestamp: 10227724610.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10227752441.0 FrameDuration: 97300 SensorTimestampDelta: 27.8 ms FrameDurationDelta: -1391 new FrameDurationLimit: 98591 Cam A: SensorTimestamp: 10227824592.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10227849742.0 FrameDuration: 97510 SensorTimestampDelta: 25.1 ms FrameDurationDelta: -1257 new FrameDurationLimit: 98725 Cam A: SensorTimestamp: 10227924577.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10227947255.0 FrameDuration: 97721 SensorTimestampDelta: 22.7 ms FrameDurationDelta: -1133 new FrameDurationLimit: 98849 Cam A: SensorTimestamp: 10228024561.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228044979.0 FrameDuration: 97931 SensorTimestampDelta: 20.4 ms FrameDurationDelta: -1020 new FrameDurationLimit: 98962 Cam A: SensorTimestamp: 10228124544.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228142911.0 FrameDuration: 98115 SensorTimestampDelta: 18.4 ms FrameDurationDelta: -918 new FrameDurationLimit: 99064 Cam A: SensorTimestamp: 10228224528.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228241027.0 FrameDuration: 98273 SensorTimestampDelta: 16.5 ms FrameDurationDelta: -824 new FrameDurationLimit: 99158 Cam A: SensorTimestamp: 10228324509.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228339302.0 FrameDuration: 98430 SensorTimestampDelta: 14.8 ms FrameDurationDelta: -739 new FrameDurationLimit: 99243 Cam A: SensorTimestamp: 10228424491.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228437736.0 FrameDuration: 98588 SensorTimestampDelta: 13.2 ms FrameDurationDelta: -662 new FrameDurationLimit: 99320 Cam A: SensorTimestamp: 10228524475.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228536326.0 FrameDuration: 98720 SensorTimestampDelta: 11.9 ms FrameDurationDelta: -592 new FrameDurationLimit: 99390 Cam A: SensorTimestamp: 10228624458.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228635047.0 FrameDuration: 98825 SensorTimestampDelta: 10.6 ms FrameDurationDelta: -529 new FrameDurationLimit: 99453 Cam A: SensorTimestamp: 10228724440.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228733874.0 FrameDuration: 98956 SensorTimestampDelta: 9.4 ms FrameDurationDelta: -471 new FrameDurationLimit: 99511 Cam A: SensorTimestamp: 10228824423.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228832833.0 FrameDuration: 99061 SensorTimestampDelta: 8.4 ms FrameDurationDelta: -420 new FrameDurationLimit: 99562 Cam A: SensorTimestamp: 10228924407.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10228931899.0 FrameDuration: 99140 SensorTimestampDelta: 7.5 ms FrameDurationDelta: -374 new FrameDurationLimit: 99608 Cam A: SensorTimestamp: 10229024390.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229031037.0 FrameDuration: 99219 SensorTimestampDelta: 6.6 ms FrameDurationDelta: -332 new FrameDurationLimit: 99650 Cam A: SensorTimestamp: 10229124372.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229130260.0 FrameDuration: 99298 SensorTimestampDelta: 5.9 ms FrameDurationDelta: -294 new FrameDurationLimit: 99688 Cam A: SensorTimestamp: 10229224355.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229229557.0 FrameDuration: 99377 SensorTimestampDelta: 5.2 ms FrameDurationDelta: -260 new FrameDurationLimit: 99722 Cam A: SensorTimestamp: 10229324338.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229328939.0 FrameDuration: 99430 SensorTimestampDelta: 4.6 ms FrameDurationDelta: -230 new FrameDurationLimit: 99752 Cam A: SensorTimestamp: 10229424322.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229428371.0 FrameDuration: 99508 SensorTimestampDelta: 4.0 ms FrameDurationDelta: -202 new FrameDurationLimit: 99780 Cam A: SensorTimestamp: 10229524308.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229527881.0 FrameDuration: 99561 SensorTimestampDelta: 3.6 ms FrameDurationDelta: -178 new FrameDurationLimit: 99804 Cam A: SensorTimestamp: 10229624287.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229627440.0 FrameDuration: 99587 SensorTimestampDelta: 3.2 ms FrameDurationDelta: -157 new FrameDurationLimit: 99825 Cam A: SensorTimestamp: 10229724271.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229727031.0 FrameDuration: 99640 SensorTimestampDelta: 2.8 ms FrameDurationDelta: -138 new FrameDurationLimit: 99844 Cam A: SensorTimestamp: 10229824253.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229826672.0 FrameDuration: 99666 SensorTimestampDelta: 2.4 ms FrameDurationDelta: -120 new FrameDurationLimit: 99862 Cam A: SensorTimestamp: 10229924236.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10229926340.0 FrameDuration: 99719 SensorTimestampDelta: 2.1 ms FrameDurationDelta: -105 new FrameDurationLimit: 99877 Cam A: SensorTimestamp: 10230024220.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230026062.0 FrameDuration: 99745 SensorTimestampDelta: 1.8 ms FrameDurationDelta: -92 new FrameDurationLimit: 99890 Cam A: SensorTimestamp: 10230124202.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230125808.0 FrameDuration: 99771 SensorTimestampDelta: 1.6 ms FrameDurationDelta: -80 new FrameDurationLimit: 99902 Cam A: SensorTimestamp: 10230224185.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230225581.0 FrameDuration: 99798 SensorTimestampDelta: 1.4 ms FrameDurationDelta: -69 new FrameDurationLimit: 99913 Cam A: SensorTimestamp: 10230324169.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230325381.0 FrameDuration: 99824 SensorTimestampDelta: 1.2 ms FrameDurationDelta: -60 new FrameDurationLimit: 99922 Cam A: SensorTimestamp: 10230424151.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230425207.0 FrameDuration: 99824 SensorTimestampDelta: 1.1 ms FrameDurationDelta: -52 new FrameDurationLimit: 99930 Cam A: SensorTimestamp: 10230524135.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230525032.0 FrameDuration: 99850 SensorTimestampDelta: 0.9 ms FrameDurationDelta: -44 new FrameDurationLimit: 99938 Cam A: SensorTimestamp: 10230624117.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230624885.0 FrameDuration: 99876 SensorTimestampDelta: 0.8 ms FrameDurationDelta: -38 new FrameDurationLimit: 99944 Cam A: SensorTimestamp: 10230724099.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230724763.0 FrameDuration: 99876 SensorTimestampDelta: 0.7 ms FrameDurationDelta: -33 new FrameDurationLimit: 99949 Cam A: SensorTimestamp: 10230824083.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230824641.0 FrameDuration: 99876 SensorTimestampDelta: 0.6 ms FrameDurationDelta: -27 new FrameDurationLimit: 99955 Cam A: SensorTimestamp: 10230924066.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10230924525.0 FrameDuration: 99903 SensorTimestampDelta: 0.5 ms FrameDurationDelta: -22 new FrameDurationLimit: 99960 Cam A: SensorTimestamp: 10231024049.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231024430.0 FrameDuration: 99903 SensorTimestampDelta: 0.4 ms FrameDurationDelta: -19 new FrameDurationLimit: 99963 Cam A: SensorTimestamp: 10231124032.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231124335.0 FrameDuration: 99929 SensorTimestampDelta: 0.3 ms FrameDurationDelta: -15 new FrameDurationLimit: 99967 Cam A: SensorTimestamp: 10231224016.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231224265.0 FrameDuration: 99929 SensorTimestampDelta: 0.2 ms FrameDurationDelta: -12 new FrameDurationLimit: 99970 Cam A: SensorTimestamp: 10231323998.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231324197.0 FrameDuration: 99929 SensorTimestampDelta: 0.2 ms FrameDurationDelta: -9 new FrameDurationLimit: 99973 Cam A: SensorTimestamp: 10231423981.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231424128.0 FrameDuration: 99929 SensorTimestampDelta: 0.1 ms FrameDurationDelta: -7 new FrameDurationLimit: 99975 Cam A: SensorTimestamp: 10231523964.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231524058.0 FrameDuration: 99929 SensorTimestampDelta: 0.1 ms FrameDurationDelta: -4 new FrameDurationLimit: 99978 Cam A: SensorTimestamp: 10231623948.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231623985.0 FrameDuration: 99955 SensorTimestampDelta: 0.0 ms FrameDurationDelta: -1 new FrameDurationLimit: 99981 Cam A: SensorTimestamp: 10231723930.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231723949.0 FrameDuration: 99955 SensorTimestampDelta: 0.0 ms FrameDurationDelta: 0 new FrameDurationLimit: 99982 Cam A: SensorTimestamp: 10231823927.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231823907.0 FrameDuration: 99955 SensorTimestampDelta: -0.0 ms FrameDurationDelta: 1 new FrameDurationLimit: 99983 Cam A: SensorTimestamp: 10231923889.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10231923865.0 FrameDuration: 99955 SensorTimestampDelta: -0.0 ms FrameDurationDelta: 1 new FrameDurationLimit: 99983 Cam A: SensorTimestamp: 10232023872.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232023823.0 FrameDuration: 99955 SensorTimestampDelta: -0.0 ms FrameDurationDelta: 2 new FrameDurationLimit: 99984 Cam A: SensorTimestamp: 10232123855.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232123780.0 FrameDuration: 99955 SensorTimestampDelta: -0.1 ms FrameDurationDelta: 3 new FrameDurationLimit: 99985 Cam A: SensorTimestamp: 10232223843.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232223737.0 FrameDuration: 99955 SensorTimestampDelta: -0.1 ms FrameDurationDelta: 5 new FrameDurationLimit: 99987 Cam A: SensorTimestamp: 10232323825.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232323693.0 FrameDuration: 99955 SensorTimestampDelta: -0.1 ms FrameDurationDelta: 6 new FrameDurationLimit: 99988 Cam A: SensorTimestamp: 10232423809.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232423652.0 FrameDuration: 99955 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 7 new FrameDurationLimit: 99989 Cam A: SensorTimestamp: 10232523791.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232523607.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10232623774.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232623592.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10232723757.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232723574.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10232823740.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232823558.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10232923723.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10232923543.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10233023706.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10233023525.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10233123689.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10233123509.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10233223674.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10233223493.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 9 new FrameDurationLimit: 99991 Cam A: SensorTimestamp: 10233323655.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10233323476.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 8 new FrameDurationLimit: 99990 Cam A: SensorTimestamp: 10233423638.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10233423461.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 8 new FrameDurationLimit: 99990 Cam A: SensorTimestamp: 10233523621.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10233523444.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 8 new FrameDurationLimit: 99990 Cam A: SensorTimestamp: 10233623604.0 FrameDuration: 99982 Cam B: SensorTimestamp: 10233623428.0 FrameDuration: 99982 SensorTimestampDelta: -0.2 ms FrameDurationDelta: 8 new FrameDurationLimit: 99990 ^Cgot Ctrl+C, exiting
I also manage to write a camera-sync code basically follow the idea by match the picam2.capture_metadata()['SensorTimestamp'] together of each camera. Just like @mgineer85 posted. However, I found this sync result always end up with about 8~10ms error. If the Sensortimestamp is exactly the time first pixel send to CSI. The error should not be so high.
Have you met the same issue? @mgineer85
Hi! I did not test with a stopwatch as I relied on the timestamp to be accurate enough. Visually it seems to be in sync as captures in motion line up very well.
But there is more to it. Above script just demoes the synchronization, how do you actually capture? It needs to be in line with sync and should not interfere.
Check this script, it works very well for me: https://github.com/photobooth-app/wigglecam/blob/main/wigglify/app_camera_service.py The idea is basically to use another thread for the actual capture as it is done on button press.
You can make that work?
Closing this as it was just for demonstration and soon there is an sync feature in the picamera2 anyways :)