luxonis · Erol444 · Oct 23, 2022 · Oct 17, 2022 · Oct 17, 2022 · Oct 17, 2022
diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -72,6 +72,7 @@ node functionalities are presented with code.
 
    tutorials/hello_world.rst
    tutorials/standalone_mode.rst
+   tutorials/message_syncing.rst
    tutorials/multiple.rst
    tutorials/maximize_fov.rst
    tutorials/debugging.rst

diff --git a/docs/source/samples/StereoDepth/rgb_depth_aligned.rst b/docs/source/samples/StereoDepth/rgb_depth_aligned.rst
@@ -4,6 +4,10 @@ RGB Depth alignment
 This example shows usage of RGB depth alignment. Since OAK-D has a color and a pair of stereo cameras,
 you can align depth map to the color frame on top of that to get RGB depth.
 
+In this example, rgb and depth aren't perfectly in sync. For that, you would need to add :ref:`Software syncing`, which
+has been added to the `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing#host-rgb-depth-sync>`__,
+where RGB and depth frames have sub-ms delay.
+
 Demo
 ####
 

diff --git a/docs/source/samples/mixed/frame_sync.rst b/docs/source/samples/mixed/frame_sync.rst
@@ -1,7 +1,8 @@
 Frame syncing on OAK
 ====================
 
-This example showcases how you can use :ref:`Script` node to sync frames from multiple streams. It uses :ref:`ImgFrame`'s timestamps to achieve syncing precision.
+This example showcases how you can use :ref:`Script` node to perform :ref:`Message syncing` of multiple streams.
+Example uses :ref:`ImgFrame`'s timestamps to achieve syncing precision.
 
 Similar syncing demo scripts (python) can be found at our depthai-experiments repository in `gen2-syncing <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing>`__
 folder.

diff --git a/docs/source/tutorials/message_syncing.rst b/docs/source/tutorials/message_syncing.rst
@@ -0,0 +1,81 @@
+Message syncing
+###############
+
+There are two ways to synchronize messages from different sensors (frames, IMU packet, ToF, etc.);
+
+- :ref:`Software syncing <Software syncing>` (based on timestamp/sequence numbers)
+- `Hardware syncing <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/sync_frames.html>`__ (multi-sensor sub-ms accuracy, hardware trigger)
+
+Software syncing
+****************
+
+This documentation page focuses on software syncing. There are two approaches for it:
+
+- :ref:`Sequece number syncing` - for streams set to the same FPS, sub-ms accuracy can be achieved
+- :ref:`Timestamp syncing` - for streams with different FPS, syncing with other sensors either onboard (eg. IMU) or also connected to the host computer (eg. USB ToF sensor)
+
+Sequece number syncing
+======================
+
+If we want to synchronize multiple messages from the same OAK, such as:
+
+- Camera frames from `ColorCamera <https://docs.luxonis.com/projects/api/en/latest/components/nodes/color_camera/#colorcamera>`__ or `MonoCamera <https://docs.luxonis.com/projects/api/en/latest/components/nodes/mono_camera/#monocamera>`__ (color, left and right frames)
+- Messages generated from camera frames (NN results, disparity/depth, edge detections, tracklets, encoded frames, tracked features, etc.)
+
+We can use sequence number syncing, `demos here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing#message-syncing>`__.
+Each frame from ColorCamera/MonoCamera will get assigned a sequence number, which then also gets copied to message generated from that frame.
+
+For sequence number syncing **FPS of all cameras need to be the same**. On host or inside script node you can get message's sequence number like this:
+
+.. code-block:: python
+
+    # Get the message from the queue
+    message = queue.get()
+    # message can be ImgFrame, NNData, Tracklets, ImgDetections, TrackedFeatures...
+    seqNum = message.getSequenceNum()
+
+
+Through firmware sync, we're monitoring for drift and aligning the capture timestamps of all cameras (left, right, color), which are taken
+at the MIPI Start-of-Frame (SoF) event. The Left/Right global shutter cameras are driven by the same clock, started by broadcast write
+on I2C, so no drift will happen over time, even when running freely without a hardware sync.
+
+The RGB rolling shutter has a slight difference in clocking/frame-time, so when we detect a small drift, we're modifying the
+frame-time (number of lines) for the next frame by a small amount to compensate.
+
+If sensors are set to the same FPS (default is 30), the above two approaches are **already integrated into depthai and enabled**
+by default, which allows us to **achieve sub-ms delay between all frames** + messages generated by these frames!
+
+.. code-block:: bash
+
+    [Seq 325] RGB timestamp: 0:02:33.549449
+    [Seq 325] Disparity timestamp: 0:02:33.549402
+    -----------
+    [Seq 326] RGB timestamp: 0:02:33.582756
+    [Seq 326] Disparity timestamp: 0:02:33.582715
+    -----------
+    [Seq 327] RGB timestamp: 0:02:33.616075
+    [Seq 327] Disparity timestamp: 0:02:33.616031
+
+Disparity and color frame timestamps indicate that we achieve well below sub-ms accuracy.
+
+Timestamp syncing
+=================
+
+As opposed to sequence number syncing, **timestamp syncing** can sync:
+
+- **streams** with **different FPS**
+- **IMU** results with other messages
+- messages with **other devices connected to the computer**, as timestamps are synced to the host computer clock
+
+Feel free to check the `demo here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-syncing#imu--rgb--depth-timestamp-syncing>`__
+which uses timestamps to sync IMU, color and disparity frames together, with all of these streams producing messages at different FPS.
+
+In case of **multiple streams having different FPS**, there are 2 options on how to sync them:
+
+#. **Removing some messages** from faster streams to get the synced FPS of the slower stream
+#. **Duplicating some messages** from slower streams to get the synced FPS of the fastest stream
+
+**Timestamps are assigned** to the frame at the **MIPI Start-of-Frame** (SoF) events,
+`more details here <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/sync_frames.html#frame-capture-graphs>`__.
+
+.. include::  /includes/footer-short.rst
diff --git a/docs/source/tutorials/multiple.rst b/docs/source/tutorials/multiple.rst
@@ -1,35 +1,22 @@
 Multiple DepthAI per Host
 =========================
 
-Learn how to discover DepthAI devices connected to your system, and use them individually.
+You can find `Demo scripts here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-multiple-devices>`__.
+Learn how to discover multiple OAK cameras connected to your system, and use them individually.
 
 .. image:: /_static/images/tutorials/multiple/setup.jpg
   :alt: face
 
-Shown on the left is Luxonis `uAI (BW1093) <https://shop.luxonis.com/products/bw1093>`__ which is actually plugged into
-a `Raspberry Pi Compute Module Edition (BW1097) <https://shop.luxonis.com/products/depthai-rpi-compute-module-edition>`__.
+Shown on the left is Luxonis `OAK-1 <https://shop.luxonis.com/products/bw1093>`__ which is actually plugged into
+an `OAK-D-CM3 <https://shop.luxonis.com/products/depthai-rpi-compute-module-edition>`__.
 
-So in this case, everything is running on the (single) Raspberry Pi 3B+ which is in the back of the BW1097.
+So in this case, everything is running on the (single) Raspberry Pi 3B+ host which is in the back of the OAK-D-CM3.
 
-Demo code
-#########
+Discovering OAK cameras
+#######################
 
-You can find demo code `here <https://github.com/luxonis/depthai-experiments/tree/master/gen2-multiple-devices>`__. The demo will find all devices connected to the host and display an RGB preview from each of them.
-
-Dependencies
-############
-
-You have already set up the Python API on your system (if you have a Raspberry Pi Compute Module it came pre-setup).
-See :ref:`here <Python API Reference>` if you have not yet installed the DepthAI Python API on your system.
-
-Discover DepthAI-USB Port Mapping
-#################################
-
-The DepthAI multi-device support is currently done by selecting the device mx_id (serial number) of a connected DepthAI
-device.
-
-If you'd like to associate a given DepthAI device with specific code (e.g. neural model) to be run on it, it is recommended
-to plug in one device at a time, and then use the following code to determine which device is on which port:
+You can use DepthAI to discover all connected OAK cameras, either via USB or through the LAN (OAK POE cameras).
+The code snippet below finds all OAK cameras and prints their MxIDs (unique identifier) and their XLink state.
 
 .. code-block:: python
 
@@ -52,28 +39,22 @@ For example, if the first device is desirable from above use the following code:
 
 .. code-block:: python
 
-  found, device_info = depthai.Device.getDeviceByMxId("14442C10D13EABCE00")
-
-  if not found:
-      raise RuntimeError("Device not found!")
-
-You can then use the `device_info` to specify on which device you want to run your pipeline:
-
-.. code-block:: python
-
+  # Specify MXID, IP Address or USB path
+  device_info = depthai.DeviceInfo("14442C108144F1D000") # MXID
+  #device_info = depthai.DeviceInfo("192.168.1.44") # IP Address
+  #device_info = depthai.DeviceInfo("3.3.3") # USB port name
   with depthai.Device(pipeline, device_info) as device:
+      # ...
 
 And you can use this code as a basis for your own use cases, such that you can run differing neural models
-on different DepthAI/uAI models.
+on different OAK models.
 
 Specifying POE device to be used
 ********************************
 
-You can specify the POE device to be used by the IP address as well. Here's the `code snippet <https://docs.luxonis.com/projects/hardware/en/latest/pages/guides/getting-started-with-poe.html#manually-specify-device-ip>`__.
-
-Now use as many DepthAI devices as you need!
+You can specify the POE device to be used by the IP address as well, as shown in the code snippet above.
 
-And since DepthAI does all the heavy lifting, you can usually use quite a
-few of them with very little burden to the host.
+Now use as many OAK cameras as you need!
+And since DepthAI does all the heavy lifting, you can usually use quite a few of them with very little burden to the host.
 
 .. include::  /includes/footer-short.rst