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feat: add dropped frames tracking and logging for frame timestamps

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slz
2026-05-15 17:19:48 +08:00
parent 00cb360976
commit 4d72b8a03f
2 changed files with 31 additions and 10 deletions
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orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h
+2
View File
@@ -88,6 +88,8 @@ class FrameTimestampCsvLogger {
std::optional<int64_t> device_ts_us;
std::optional<int64_t> publish_device_ts_us;
int64_t expected_interval_us = 0;
int64_t dropped_frames = 0;
int64_t publish_dropped_frames = 0;
std::optional<int64_t> sensor_ts_us;
std::optional<int64_t> global_ts_us;
std::optional<int64_t> sdk_system_ts_us;
orbbec_camera/src/frame_timestamp_csv_logger.cpp
+29 -10
View File
@@ -1,5 +1,6 @@
#include "orbbec_camera/frame_timestamp_csv_logger.h"
#include <algorithm>
#include <chrono>
#include <filesystem>
#include <iomanip>
@@ -37,6 +38,13 @@ FrameTimestampCsvLogger::FrameTimestampCsvLogger(bool enabled, const std::string
return;
}
RCLCPP_INFO_STREAM(
logger_,
"Frame drop log enabled. Format: <SDK|PUB> drop <color|depth>: idx=<frame_index> "
"ts=<device_timestamp_us> gap=<actual_interval_ms> ideal=<expected_interval_ms> "
"total=<total_dropped_frames>. SDK means frame arrival from SDK; PUB means before ROS "
"image publish.");
if (csv_file_path_.empty()) {
RCLCPP_INFO_STREAM(logger_,
"Frame timestamp CSV file is empty; only frame lost logs are enabled.");
@@ -313,11 +321,17 @@ void FrameTimestampCsvLogger::populateArrivalData(StreamState &state, TrackedStr
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) {
RCLCPP_WARN_STREAM(logger_, "SDK " << (stream == TrackedStream::COLOR ? "color" : "depth")
<< " lost frame: interval=" << device_ts_delta_us << "us"
<< " ideal=" << state.expected_interval_us << "us"
<< " frame_index=" << state.frame_index
<< " device_timestamp=" << state.device_ts_us << "us");
const auto lost_frames =
std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
previous.dropped_frames += lost_frames;
RCLCPP_WARN_STREAM(
logger_, "SDK drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx="
<< state.frame_index << " ts=" << state.device_ts_us << "us"
<< " gap=" << std::fixed << std::setprecision(1)
<< (static_cast<double>(device_ts_delta_us) / 1000.0) << "ms"
<< " ideal="
<< (static_cast<double>(state.expected_interval_us) / 1000.0) << "ms"
<< " total=" << previous.dropped_frames);
}
}
if (frame->hasMetadata(OB_FRAME_METADATA_TYPE_FRAME_NUMBER)) {
@@ -359,12 +373,17 @@ void FrameTimestampCsvLogger::populatePublishData(StreamState &state, TrackedStr
if (previous.publish_device_ts_us.has_value()) {
const auto device_ts_delta_us = state.device_ts_us - previous.publish_device_ts_us.value();
if (state.expected_interval_us > 0 && device_ts_delta_us > state.expected_interval_us * 3 / 2) {
const auto lost_frames =
std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
previous.publish_dropped_frames += lost_frames;
RCLCPP_WARN_STREAM(
logger_, (stream == TrackedStream::COLOR ? "color" : "depth")
<< " lost frame before publish: interval=" << device_ts_delta_us << "us"
<< " ideal=" << state.expected_interval_us << "us"
<< " frame_index=" << state.frame_index
<< " device_timestamp=" << state.device_ts_us << "us");
logger_, "PUB drop " << (stream == TrackedStream::COLOR ? "color" : "depth") << ": idx="
<< state.frame_index << " ts=" << state.device_ts_us << "us"
<< " gap=" << std::fixed << std::setprecision(1)
<< (static_cast<double>(device_ts_delta_us) / 1000.0) << "ms"
<< " ideal="
<< (static_cast<double>(state.expected_interval_us) / 1000.0) << "ms"
<< " total=" << previous.publish_dropped_frames);
}
}
previous.publish_device_ts_us = state.device_ts_us;