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Fix the benchmark tools

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slz
2025-09-23 15:33:49 +08:00
parent 6b01461c86
commit 084fbed94a
3 changed files with 1 additions and 14 deletions
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orbbec_camera/scripts/common_benchmark_node.py
+1 -10
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@@ -62,23 +62,15 @@ def format_duration(seconds):
# ----------------------------------------------
class TopicTracker:
"""
Tracks sequence/packet loss and frame-drop estimates for a topic stream.
Works when header.seq exists (ROS1 style) or when only timestamps exist (ROS2 common case).
"""
def __init__(self, logger=None):
self.received = 0
self.last_time = None # last seen stamp in seconds (float)
self.last_time = None
self.drop_frames = 0
self.logger = logger
def on_msg(self, header, avg_fps):
"""
header: std_msgs/Header (ROS2)
avg_fps: float (the expected average FPS for determining drop frames)
"""
stamp = header.stamp.sec + header.stamp.nanosec * 1e-9
self.received += 1
@@ -121,7 +113,6 @@ class CameraMonitorNode(Node):
self.cpu_stats = {"cur": 0.0, "avg": 0.0, "min": float("inf"), "max": float("-inf"), "count": 0, "sum": 0.0}
self.ram_stats = {"cur": 0.0, "avg": 0.0, "min": float("inf"), "max": float("-inf"), "count": 0, "sum": 0.0}
# pass node logger into trackers for helpful warnings
self.trackers = {
"color": TopicTracker(logger=self.get_logger()),
"depth": TopicTracker(logger=self.get_logger())