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add delta duration

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datean
2024-11-27 10:47:30 +08:00
parent 16a420dfec
commit 6521015f9c
2 changed files with 35 additions and 15 deletions
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orbbec_camera/src/ob_camera_node.cpp
+23 -13
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@@ -2034,6 +2034,8 @@ void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
double dst_duration = duration;
int dst_fps = 0;
stream_index_pair dst_frame_type;
double delta_duration = 2000.0;
int delta_fps = 2;
switch (stream_info.frame_type) {
case OB_FRAME_COLOR:
@@ -2055,7 +2057,7 @@ void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
}
if (interleave_skip_enable_) {
dst_duration = (1000000.0 / fps_[dst_frame_type]) * 2;
dst_duration = (1000000.0 / fps_[dst_frame_type]) * 2 + delta_duration;
dst_fps = fps_[dst_frame_type] / 2;
} else {
dst_duration = 1000000.0 / fps_[dst_frame_type];
@@ -2063,26 +2065,34 @@ void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
}
if (duration > dst_duration) {
RCLCPP_INFO_STREAM(logger_, "[WARNING] Frame interval for frame_type "
<< stream_info.frame_type << " exceeded " << dst_duration / 1000.0 << " ms. Interval: "
<< duration / 1000.0 << " ms\n");
RCLCPP_INFO_STREAM(logger_, "[WARNING] Frame interval for frame_type "
<< stream_info.frame_type << " exceeded " << dst_duration / 1000.0 << " ms. Interval: "
<< duration / 1000.0 << " ms\n");
}
stream_info.frame_count_++;
stream_info.frame_count++;
if (stream_info.frame_count_ % dst_fps == 0) {
double elapsed_seconds = std::chrono::duration<double>(now - stream_info.last_frame_time).count();
if (elapsed_seconds > 0) {
stream_info.frame_rate_ = dst_fps / elapsed_seconds;
RCLCPP_INFO_STREAM(logger_, "[INFO] Frame rate for frame_type " << stream_info.frame_type
<< ": " << stream_info.frame_rate_ << " FPS\n");
if (stream_info.frame_count % dst_fps == 0) {
auto now = std::chrono::steady_clock::now();
double elapsed_seconds = std::chrono::duration<double>(now - stream_info.last_fps_calculation_time).count();
if (elapsed_seconds > 0) {
int frames_in_interval = stream_info.frame_count - stream_info.last_fps_frame_count;
stream_info.frame_rate = frames_in_interval / elapsed_seconds;
if (stream_info.frame_rate < (dst_fps - delta_fps)) {
RCLCPP_INFO_STREAM(logger_, "[INFO] Frame rate for frame_type " << stream_info.frame_type
<< ": " << stream_info.frame_rate << " FPS\n");
}
}
stream_info.last_fps_calculation_time = now;
stream_info.last_fps_frame_count = stream_info.frame_count;
}
}
stream_info.last_frame_time = now;
}
void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
const stream_index_pair &stream_index) {
if (frame == nullptr) {