From 8d92bb589ed79ac738d9e300492c1d91bc731782 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Wed, 26 Aug 2026 15:00:26 +0800 Subject: [PATCH] docs: document ROS2 timestamp CSV outputs --- docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md | 2 +- docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md index 7d52dd3c..90683a2e 100644 --- a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md +++ b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md @@ -4,7 +4,7 @@ This section describes frame continuity, timestamp, topic statistics, end-to-end ## Frame Drop Log and Timestamp CSV Recording -After `enable_frame_drop_log` is enabled, the camera node prints color and depth frame drop statistics in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node also records color and depth frame timestamp data to a CSV file for analyzing frame continuity, publish latency, and timestamp anomalies. +After `enable_frame_drop_log` is enabled, the camera node prints color and depth frame drop statistics in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node records timestamp data for color, depth, and enabled IMU streams to CSV files for analyzing frame continuity, publish latency, and timestamp anomalies. When frame synchronization (`enable_frame_sync:=true`) is enabled, color and depth timestamps are combined into one CSV file; otherwise, they are written to separate `_color.csv` and `_depth.csv` files. Synchronized accelerometer and gyroscope data are written to `_imu.csv`, while standalone accelerometer and gyroscope data are written to `_accel.csv` and `_gyro.csv`. All CSV files follow the same rotation rule. ```bash ros2 launch orbbec_camera gemini_330_series.launch.py \ diff --git a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md index 6080518c..38f98c5b 100644 --- a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md +++ b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md @@ -4,7 +4,7 @@ ## 帧丢失日志与时间戳 CSV 记录 -开启 `enable_frame_drop_log` 后，相机节点会在日志中输出彩色和深度帧丢失统计，用于定位 SDK 接收阶段和 ROS 发布阶段的丢帧。设置 `frame_timestamp_csv_file` 后，相机节点会额外记录彩色和深度帧的时间戳数据到 CSV 文件，用于分析帧连续性、发布延迟和时间戳异常。 +开启 `enable_frame_drop_log` 后，相机节点会在日志中输出彩色和深度帧丢失统计，用于定位 SDK 接收阶段和 ROS 发布阶段的丢帧。设置 `frame_timestamp_csv_file` 后，节点会将彩色、深度以及已启用 IMU 流的时间戳记录到 CSV 文件，用于分析帧连续性、发布延迟和时间戳异常。启用帧同步（`enable_frame_sync:=true`）时，彩色和深度时间戳会汇聚到同一个 CSV 文件中；未启用时分别写入 `_color.csv` 和 `_depth.csv`。同步加速度计和陀螺仪数据写入 `_imu.csv`，独立加速度计和陀螺仪数据分别写入 `_accel.csv` 和 `_gyro.csv`。所有 CSV 文件遵循相同的分片规则。 ```bash ros2 launch orbbec_camera gemini_330_series.launch.py \