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feat: implement frame drop estimation in benchmark

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slz
2026-05-21 18:15:23 +08:00
parent 41cac868ec
commit 5651a41d74
1 changed files with 6 additions and 2 deletions
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orbbec_camera/scripts/common_benchmark_node.py
+6 -2
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@@ -77,6 +77,11 @@ def parse_camera_names(camera_names):
def make_stat(): def make_stat():
return {"cur": 0.0, "avg": 0.0, "min": float("inf"), "max": float("-inf"), "count": 0, "sum": 0.0} return {"cur": 0.0, "avg": 0.0, "min": float("inf"), "max": float("-inf"), "count": 0, "sum": 0.0}
def estimate_dropped_frames(dt, expected_interval):
if expected_interval <= 0 or dt <= 1.5 * expected_interval:
return 0
return max(1, int(dt / expected_interval) - 1)
# ---------------------------------------------- # ----------------------------------------------
class TopicTracker: class TopicTracker:
@@ -95,8 +100,7 @@ class TopicTracker:
if self.last_time is not None and avg_fps > 0: if self.last_time is not None and avg_fps > 0:
dt = stamp - self.last_time dt = stamp - self.last_time
expected_interval = 1.0 / avg_fps expected_interval = 1.0 / avg_fps
if expected_interval > 0 and dt > 1.5 * expected_interval: self.drop_frames += estimate_dropped_frames(dt, expected_interval)
self.drop_frames += 1
self.last_time = stamp self.last_time = stamp