mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 20:17:47 +08:00
refactor: centralize timestamp CSV logger management
This commit is contained in:
slz
@@ -738,54 +738,19 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
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setupTopics();
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if (enable_frame_drop_log_ || !frame_timestamp_csv_file_.empty()) {
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if (enable_frame_sync_ && (enable_stream_[COLOR] || enable_stream_[DEPTH])) {
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frame_timestamp_csv_logger_ = std::make_unique<FrameTimestampCsvLogger>(
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enable_frame_drop_log_, frame_timestamp_csv_file_,
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FrameTimestampCsvLogger::OutputMode::SYNCED, logger_);
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if (!frame_timestamp_csv_logger_->enabled()) {
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frame_timestamp_csv_logger_.reset();
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}
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} else {
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if (enable_stream_[COLOR]) {
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color_timestamp_csv_logger_ = std::make_unique<FrameTimestampCsvLogger>(
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enable_frame_drop_log_, frame_timestamp_csv_file_,
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FrameTimestampCsvLogger::OutputMode::COLOR, logger_);
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if (!color_timestamp_csv_logger_->enabled()) {
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color_timestamp_csv_logger_.reset();
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}
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}
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if (enable_stream_[DEPTH]) {
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depth_timestamp_csv_logger_ = std::make_unique<FrameTimestampCsvLogger>(
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enable_frame_drop_log_, frame_timestamp_csv_file_,
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FrameTimestampCsvLogger::OutputMode::DEPTH, logger_);
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if (!depth_timestamp_csv_logger_->enabled()) {
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depth_timestamp_csv_logger_.reset();
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}
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}
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}
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if (!frame_timestamp_csv_file_.empty() && (enable_stream_[ACCEL] || enable_stream_[GYRO])) {
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if (enable_sync_output_accel_gyro_) {
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imu_timestamp_csv_logger_ = std::make_unique<ImuTimestampCsvLogger>(
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frame_timestamp_csv_file_, ImuTimestampCsvLogger::OutputMode::SYNCED, logger_);
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if (!imu_timestamp_csv_logger_->enabled()) {
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imu_timestamp_csv_logger_.reset();
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}
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} else {
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if (enable_stream_[ACCEL]) {
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accel_timestamp_csv_logger_ = std::make_unique<ImuTimestampCsvLogger>(
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frame_timestamp_csv_file_, ImuTimestampCsvLogger::OutputMode::ACCEL, logger_);
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if (!accel_timestamp_csv_logger_->enabled()) {
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accel_timestamp_csv_logger_.reset();
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}
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}
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if (enable_stream_[GYRO]) {
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gyro_timestamp_csv_logger_ = std::make_unique<ImuTimestampCsvLogger>(
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frame_timestamp_csv_file_, ImuTimestampCsvLogger::OutputMode::GYRO, logger_);
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if (!gyro_timestamp_csv_logger_->enabled()) {
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gyro_timestamp_csv_logger_.reset();
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}
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}
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}
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TimestampCsvLogger::Config timestamp_config;
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timestamp_config.frame_drop_log_enabled = enable_frame_drop_log_;
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timestamp_config.csv_file_path = frame_timestamp_csv_file_;
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timestamp_config.frame_sync_enabled = enable_frame_sync_;
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timestamp_config.color_enabled = enable_stream_[COLOR];
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timestamp_config.depth_enabled = enable_stream_[DEPTH];
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timestamp_config.imu_sync_enabled = enable_sync_output_accel_gyro_;
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timestamp_config.accel_enabled = enable_stream_[ACCEL];
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timestamp_config.gyro_enabled = enable_stream_[GYRO];
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timestamp_csv_logger_ =
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std::make_unique<TimestampCsvLogger>(std::move(timestamp_config), logger_);
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if (!timestamp_csv_logger_->enabled()) {
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timestamp_csv_logger_.reset();
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}
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}
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@@ -855,53 +820,9 @@ void OBCameraNode::clean() noexcept {
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is_running_.store(false);
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is_camera_node_initialized_.store(false);
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try {
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if (frame_timestamp_csv_logger_) {
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frame_timestamp_csv_logger_->shutdown();
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frame_timestamp_csv_logger_.reset();
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}
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} catch (...) {
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RCLCPP_WARN_STREAM(logger_, "Exception while shutting down frame timestamp CSV logger");
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}
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try {
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if (color_timestamp_csv_logger_) {
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color_timestamp_csv_logger_->shutdown();
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color_timestamp_csv_logger_.reset();
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}
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} catch (...) {
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RCLCPP_WARN_STREAM(logger_, "Exception while shutting down color timestamp CSV logger");
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}
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try {
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if (depth_timestamp_csv_logger_) {
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depth_timestamp_csv_logger_->shutdown();
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depth_timestamp_csv_logger_.reset();
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}
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} catch (...) {
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RCLCPP_WARN_STREAM(logger_, "Exception while shutting down depth timestamp CSV logger");
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}
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try {
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if (imu_timestamp_csv_logger_) {
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imu_timestamp_csv_logger_->shutdown();
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imu_timestamp_csv_logger_.reset();
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}
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} catch (...) {
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RCLCPP_WARN_STREAM(logger_, "Exception while shutting down IMU timestamp CSV logger");
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}
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try {
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if (accel_timestamp_csv_logger_) {
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accel_timestamp_csv_logger_->shutdown();
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accel_timestamp_csv_logger_.reset();
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}
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} catch (...) {
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RCLCPP_WARN_STREAM(logger_, "Exception while shutting down accel timestamp CSV logger");
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}
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try {
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if (gyro_timestamp_csv_logger_) {
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gyro_timestamp_csv_logger_->shutdown();
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gyro_timestamp_csv_logger_.reset();
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}
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} catch (...) {
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RCLCPP_WARN_STREAM(logger_, "Exception while shutting down gyro timestamp CSV logger");
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if (timestamp_csv_logger_) {
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timestamp_csv_logger_->shutdown();
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timestamp_csv_logger_.reset();
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}
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// Stop diagnostic timer and updater first BEFORE acquiring device_lock to prevent deadlock
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@@ -4214,13 +4135,13 @@ void OBCameraNode::startIMUSyncStream() {
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auto aFrame = frameSet->getFrame(OB_FRAME_ACCEL);
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auto gFrame = frameSet->getFrame(OB_FRAME_GYRO);
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const bool log_imu_timestamps = is_camera_node_initialized_.load() && rclcpp::ok() &&
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imu_timestamp_csv_logger_ &&
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imu_timestamp_csv_logger_->enabled();
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timestamp_csv_logger_ &&
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timestamp_csv_logger_->syncedImuEnabled();
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const auto arrival_system_us = log_imu_timestamps ? getSystemNowUs() : 0;
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if (aFrame && gFrame) {
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onNewIMUFrameSyncOutputCallback(aFrame, gFrame, arrival_system_us);
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} else if (log_imu_timestamps && (aFrame || gFrame)) {
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imu_timestamp_csv_logger_->recordFrameSet(aFrame, gFrame, arrival_system_us, std::nullopt);
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timestamp_csv_logger_->recordSyncedImu(aFrame, gFrame, arrival_system_us, std::nullopt);
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}
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});
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@@ -6192,9 +6113,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
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if (frame_set == nullptr) {
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return;
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}
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if ((frame_timestamp_csv_logger_ && frame_timestamp_csv_logger_->enabled()) ||
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(color_timestamp_csv_logger_ && color_timestamp_csv_logger_->enabled()) ||
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(depth_timestamp_csv_logger_ && depth_timestamp_csv_logger_->enabled())) {
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if (timestamp_csv_logger_ && timestamp_csv_logger_->imageEnabled()) {
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const auto frame_set_arrival_system_us = getSystemNowUs();
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const auto frame_set_arrival_steady_us = getSteadyNowUs();
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auto final_color_frame = frame_set->getFrame(OB_FRAME_COLOR);
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@@ -6204,23 +6123,10 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
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const bool color_publish_expected = track_color;
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const bool depth_publish_expected = track_depth;
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if (frame_timestamp_csv_logger_) {
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frame_timestamp_csv_logger_->recordFrameSet(
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final_color_frame, final_depth_frame, frame_set_arrival_system_us,
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frame_set_arrival_steady_us, track_color, track_depth, color_publish_expected,
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depth_publish_expected);
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} else {
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if (track_color && color_timestamp_csv_logger_) {
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color_timestamp_csv_logger_->recordStandaloneFrameArrival(
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OB_STREAM_COLOR, final_color_frame, frame_set_arrival_system_us,
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frame_set_arrival_steady_us, color_publish_expected);
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}
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if (track_depth && depth_timestamp_csv_logger_) {
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depth_timestamp_csv_logger_->recordStandaloneFrameArrival(
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OB_STREAM_DEPTH, final_depth_frame, frame_set_arrival_system_us,
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frame_set_arrival_steady_us, depth_publish_expected);
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}
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}
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timestamp_csv_logger_->recordImageFrameSet(
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final_color_frame, final_depth_frame, frame_set_arrival_system_us,
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frame_set_arrival_steady_us, track_color, track_depth, color_publish_expected,
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depth_publish_expected);
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}
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try {
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@@ -6714,17 +6620,11 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
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if (frame == nullptr) {
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return;
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}
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FrameTimestampCsvLogger *timestamp_csv_logger = nullptr;
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if (stream_index == COLOR) {
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timestamp_csv_logger = frame_timestamp_csv_logger_ ? frame_timestamp_csv_logger_.get()
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: color_timestamp_csv_logger_.get();
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} else if (stream_index == DEPTH) {
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timestamp_csv_logger = frame_timestamp_csv_logger_ ? frame_timestamp_csv_logger_.get()
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: depth_timestamp_csv_logger_.get();
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}
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const bool log_image_timestamps =
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timestamp_csv_logger_ && timestamp_csv_logger_->imageStreamEnabled(stream_index.first);
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const auto record_image_publish_skipped = [&]() {
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if (timestamp_csv_logger && timestamp_csv_logger->enabled()) {
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timestamp_csv_logger->recordImagePublishSkipped(stream_index.first, frame);
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if (log_image_timestamps) {
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timestamp_csv_logger_->recordImagePublishSkipped(stream_index.first, frame);
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}
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};
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CHECK_NOTNULL(image_publishers_[stream_index]);
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@@ -6841,10 +6741,9 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
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}
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if ((stream_index == COLOR || stream_index == COLOR_LEFT || stream_index == COLOR_RIGHT) &&
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frame->getFormat() == OB_FORMAT_MJPG && has_compressed_image_subscriber) {
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if (!has_raw_image_subscriber && stream_index == COLOR && timestamp_csv_logger &&
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timestamp_csv_logger->enabled()) {
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timestamp_csv_logger->recordPreImagePublish(stream_index.first, frame, getSystemNowUs(),
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getSteadyNowUs());
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if (!has_raw_image_subscriber && stream_index == COLOR && log_image_timestamps) {
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timestamp_csv_logger_->recordImagePrePublish(stream_index.first, frame, getSystemNowUs(),
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getSteadyNowUs());
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}
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publishCompressedColorImage(frame, stream_index, timestamp, frame_id);
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if (!has_raw_image_subscriber && stream_index == COLOR) {
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@@ -6916,9 +6815,9 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
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record_image_publish_skipped();
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return;
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}
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if (timestamp_csv_logger && timestamp_csv_logger->enabled()) {
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timestamp_csv_logger->recordPreImagePublish(stream_index.first, frame, getSystemNowUs(),
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getSteadyNowUs());
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if (log_image_timestamps) {
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timestamp_csv_logger_->recordImagePrePublish(stream_index.first, frame, getSystemNowUs(),
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getSteadyNowUs());
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}
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if (stream_index == COLOR) {
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fps_delay_status_color_->tick(frame_timestamp);
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@@ -7039,10 +6938,10 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
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return;
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}
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const auto record_timestamps = [&](std::optional<int64_t> publish_system_us) {
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if (arrival_system_us != 0 && imu_timestamp_csv_logger_ &&
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imu_timestamp_csv_logger_->enabled()) {
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imu_timestamp_csv_logger_->recordFrameSet(accelframe, gryoframe, arrival_system_us,
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publish_system_us);
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if (arrival_system_us != 0 && timestamp_csv_logger_ &&
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timestamp_csv_logger_->syncedImuEnabled()) {
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timestamp_csv_logger_->recordSyncedImu(accelframe, gryoframe, arrival_system_us,
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publish_system_us);
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}
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};
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if (!imu_gyro_accel_publisher_) {
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@@ -7098,14 +6997,13 @@ void OBCameraNode::onNewIMUFrameCallback(const std::shared_ptr<ob::Frame> &frame
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if (!is_camera_node_initialized_.load() || !rclcpp::ok()) {
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return;
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}
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auto *timestamp_csv_logger =
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stream_index == ACCEL ? accel_timestamp_csv_logger_.get() : gyro_timestamp_csv_logger_.get();
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const bool log_imu_timestamps = timestamp_csv_logger && timestamp_csv_logger->enabled();
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const bool log_imu_timestamps =
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timestamp_csv_logger_ && timestamp_csv_logger_->standaloneImuEnabled(stream_index.first);
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const auto arrival_system_us = log_imu_timestamps ? getSystemNowUs() : 0;
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const auto record_timestamps = [&](std::optional<int64_t> publish_system_us) {
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if (log_imu_timestamps) {
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timestamp_csv_logger->recordStandaloneFrame(stream_index.first, frame, arrival_system_us,
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publish_system_us);
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timestamp_csv_logger_->recordStandaloneImu(stream_index.first, frame, arrival_system_us,
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publish_system_us);
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}
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};
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if (!imu_publishers_.count(stream_index)) {
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@@ -0,0 +1,194 @@
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#include "orbbec_camera/timestamp_csv_logger.h"
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#include "orbbec_camera/frame_timestamp_csv_logger.h"
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#include "orbbec_camera/imu_timestamp_csv_logger.h"
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#include <exception>
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#include <utility>
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namespace orbbec_camera {
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TimestampCsvLogger::TimestampCsvLogger(Config config, rclcpp::Logger logger)
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: logger_(std::move(logger)) {
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const auto create_image_logger = [this, &config](FrameTimestampCsvLogger::OutputMode mode) {
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auto timestamp_logger = std::make_unique<FrameTimestampCsvLogger>(
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config.frame_drop_log_enabled, config.csv_file_path, mode, logger_);
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if (!timestamp_logger->enabled()) {
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timestamp_logger.reset();
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}
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return timestamp_logger;
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};
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if (config.frame_sync_enabled && (config.color_enabled || config.depth_enabled)) {
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synced_image_logger_ = create_image_logger(FrameTimestampCsvLogger::OutputMode::SYNCED);
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} else {
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if (config.color_enabled) {
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color_logger_ = create_image_logger(FrameTimestampCsvLogger::OutputMode::COLOR);
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}
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if (config.depth_enabled) {
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depth_logger_ = create_image_logger(FrameTimestampCsvLogger::OutputMode::DEPTH);
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}
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}
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if (config.csv_file_path.empty() || (!config.accel_enabled && !config.gyro_enabled)) {
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return;
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}
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const auto create_imu_logger = [this, &config](ImuTimestampCsvLogger::OutputMode mode) {
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auto timestamp_logger =
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std::make_unique<ImuTimestampCsvLogger>(config.csv_file_path, mode, logger_);
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if (!timestamp_logger->enabled()) {
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timestamp_logger.reset();
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}
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return timestamp_logger;
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};
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if (config.imu_sync_enabled) {
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synced_imu_logger_ = create_imu_logger(ImuTimestampCsvLogger::OutputMode::SYNCED);
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} else {
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if (config.accel_enabled) {
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accel_logger_ = create_imu_logger(ImuTimestampCsvLogger::OutputMode::ACCEL);
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}
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if (config.gyro_enabled) {
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gyro_logger_ = create_imu_logger(ImuTimestampCsvLogger::OutputMode::GYRO);
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}
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}
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}
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TimestampCsvLogger::~TimestampCsvLogger() noexcept { shutdown(); }
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bool TimestampCsvLogger::enabled() const {
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return imageEnabled() || syncedImuEnabled() || standaloneImuEnabled(OB_STREAM_ACCEL) ||
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standaloneImuEnabled(OB_STREAM_GYRO);
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}
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bool TimestampCsvLogger::imageEnabled() const {
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return (synced_image_logger_ && synced_image_logger_->enabled()) ||
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(color_logger_ && color_logger_->enabled()) || (depth_logger_ && depth_logger_->enabled());
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}
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bool TimestampCsvLogger::imageStreamEnabled(OBStreamType stream_type) const {
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const auto *timestamp_logger = imageLoggerForStream(stream_type);
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return timestamp_logger && timestamp_logger->enabled();
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}
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bool TimestampCsvLogger::syncedImuEnabled() const {
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return synced_imu_logger_ && synced_imu_logger_->enabled();
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}
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bool TimestampCsvLogger::standaloneImuEnabled(OBStreamType stream_type) const {
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const auto *timestamp_logger = standaloneImuLoggerForStream(stream_type);
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return timestamp_logger && timestamp_logger->enabled();
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}
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void TimestampCsvLogger::recordImageFrameSet(const std::shared_ptr<ob::Frame> &color_frame,
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const std::shared_ptr<ob::Frame> &depth_frame,
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int64_t arrival_system_us, int64_t arrival_steady_us,
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bool track_color, bool track_depth,
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bool color_image_publish_expected,
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bool depth_image_publish_expected) {
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if (synced_image_logger_) {
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synced_image_logger_->recordFrameSet(
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color_frame, depth_frame, arrival_system_us, arrival_steady_us, track_color, track_depth,
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color_image_publish_expected, depth_image_publish_expected);
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return;
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}
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if (track_color && color_logger_) {
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color_logger_->recordStandaloneFrameArrival(OB_STREAM_COLOR, color_frame, arrival_system_us,
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arrival_steady_us, color_image_publish_expected);
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}
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if (track_depth && depth_logger_) {
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depth_logger_->recordStandaloneFrameArrival(OB_STREAM_DEPTH, depth_frame, arrival_system_us,
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arrival_steady_us, depth_image_publish_expected);
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}
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}
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void TimestampCsvLogger::recordImagePrePublish(OBStreamType stream_type,
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const std::shared_ptr<ob::Frame> &frame,
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int64_t publish_system_us,
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int64_t publish_steady_us) {
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auto *timestamp_logger = imageLoggerForStream(stream_type);
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if (timestamp_logger) {
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timestamp_logger->recordPreImagePublish(stream_type, frame, publish_system_us,
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publish_steady_us);
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}
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}
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void TimestampCsvLogger::recordImagePublishSkipped(OBStreamType stream_type,
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const std::shared_ptr<ob::Frame> &frame) {
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auto *timestamp_logger = imageLoggerForStream(stream_type);
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if (timestamp_logger) {
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timestamp_logger->recordImagePublishSkipped(stream_type, frame);
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}
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}
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|
||||
void TimestampCsvLogger::recordSyncedImu(const std::shared_ptr<ob::Frame> &accel_frame,
|
||||
const std::shared_ptr<ob::Frame> &gyro_frame,
|
||||
int64_t arrival_system_us,
|
||||
std::optional<int64_t> publish_system_us) {
|
||||
if (synced_imu_logger_) {
|
||||
synced_imu_logger_->recordFrameSet(accel_frame, gyro_frame, arrival_system_us,
|
||||
publish_system_us);
|
||||
}
|
||||
}
|
||||
|
||||
void TimestampCsvLogger::recordStandaloneImu(OBStreamType stream_type,
|
||||
const std::shared_ptr<ob::Frame> &frame,
|
||||
int64_t arrival_system_us,
|
||||
std::optional<int64_t> publish_system_us) {
|
||||
auto *timestamp_logger = standaloneImuLoggerForStream(stream_type);
|
||||
if (timestamp_logger) {
|
||||
timestamp_logger->recordStandaloneFrame(stream_type, frame, arrival_system_us,
|
||||
publish_system_us);
|
||||
}
|
||||
}
|
||||
|
||||
void TimestampCsvLogger::shutdown() noexcept {
|
||||
if (shutdown_requested_.exchange(true)) {
|
||||
return;
|
||||
}
|
||||
|
||||
const auto shutdown_logger = [this](auto ×tamp_logger, const char *name) {
|
||||
if (!timestamp_logger) {
|
||||
return;
|
||||
}
|
||||
try {
|
||||
timestamp_logger->shutdown();
|
||||
} catch (const std::exception &e) {
|
||||
RCLCPP_WARN_STREAM(logger_, "Exception while shutting down " << name << ": " << e.what());
|
||||
} catch (...) {
|
||||
RCLCPP_WARN_STREAM(logger_, "Unknown exception while shutting down " << name);
|
||||
}
|
||||
};
|
||||
|
||||
shutdown_logger(synced_image_logger_, "synced image timestamp CSV logger");
|
||||
shutdown_logger(color_logger_, "color timestamp CSV logger");
|
||||
shutdown_logger(depth_logger_, "depth timestamp CSV logger");
|
||||
shutdown_logger(synced_imu_logger_, "synced IMU timestamp CSV logger");
|
||||
shutdown_logger(accel_logger_, "accel timestamp CSV logger");
|
||||
shutdown_logger(gyro_logger_, "gyro timestamp CSV logger");
|
||||
}
|
||||
|
||||
FrameTimestampCsvLogger *TimestampCsvLogger::imageLoggerForStream(OBStreamType stream_type) const {
|
||||
if (stream_type == OB_STREAM_COLOR) {
|
||||
return synced_image_logger_ ? synced_image_logger_.get() : color_logger_.get();
|
||||
}
|
||||
if (stream_type == OB_STREAM_DEPTH) {
|
||||
return synced_image_logger_ ? synced_image_logger_.get() : depth_logger_.get();
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
ImuTimestampCsvLogger *TimestampCsvLogger::standaloneImuLoggerForStream(
|
||||
OBStreamType stream_type) const {
|
||||
if (stream_type == OB_STREAM_ACCEL) {
|
||||
return accel_logger_.get();
|
||||
}
|
||||
if (stream_type == OB_STREAM_GYRO) {
|
||||
return gyro_logger_.get();
|
||||
}
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
} // namespace orbbec_camera
|
||||
Reference in New Issue
Block a user