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feat: add support for printing only dropped-frame logs

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slz
2026-05-14 18:10:23 +08:00
parent f23ddeddd1
commit 00cb360976
3 changed files with 14 additions and 6 deletions
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orbbec_camera/src/frame_timestamp_csv_logger.cpp
+13 -1
View File
@@ -37,6 +37,12 @@ FrameTimestampCsvLogger::FrameTimestampCsvLogger(bool enabled, const std::string
return;
}
if (csv_file_path_.empty()) {
RCLCPP_INFO_STREAM(logger_,
"Frame timestamp CSV file is empty; only frame lost logs are enabled.");
return;
}
try {
auto path = std::filesystem::path(csv_file_path_);
if (path.has_parent_path() && !std::filesystem::exists(path.parent_path())) {
@@ -300,7 +306,10 @@ void FrameTimestampCsvLogger::populateArrivalData(StreamState &state, TrackedStr
state.publish_expected = publish_expected;
state.frame_index = frame->getIndex();
state.device_ts_us = static_cast<int64_t>(frame->getTimeStampUs());
state.expected_interval_us = getExpectedIntervalUs(frame);
if (previous.expected_interval_us <= 0) {
previous.expected_interval_us = getExpectedIntervalUs(frame);
}
state.expected_interval_us = previous.expected_interval_us;
if (previous.device_ts_us.has_value() && state.expected_interval_us > 0) {
const auto device_ts_delta_us = state.device_ts_us - previous.device_ts_us.value();
if (device_ts_delta_us > state.expected_interval_us * 3 / 2) {
@@ -387,6 +396,9 @@ bool FrameTimestampCsvLogger::isRowReady(const PendingRow &row) const {
}
void FrameTimestampCsvLogger::enqueueCompletedRow(const PendingRow &row) {
if (csv_file_path_.empty()) {
return;
}
std::lock_guard<std::mutex> queue_lock(completed_rows_mutex_);
completed_rows_.push_back(row);
if (completed_rows_.size() > kCompletedQueueSoftLimit) {
orbbec_camera/src/ob_camera_node.cpp
-5
View File
@@ -400,11 +400,6 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
setupTopics();
if (enable_frame_timestamp_csv_) {
if (frame_timestamp_csv_file_.empty()) {
frame_timestamp_csv_file_ =
(std::filesystem::current_path() / (camera_name_ + "_frame_timestamp_stats.csv"))
.string();
}
frame_timestamp_csv_logger_ =
std::make_unique<FrameTimestampCsvLogger>(true, frame_timestamp_csv_file_, logger_);
if (!frame_timestamp_csv_logger_->enabled()) {