From 8e58d17d9cbebdd363e867b9edcb5e888904d6b7 Mon Sep 17 00:00:00 2001 From: slz Date: Fri, 5 Jun 2026 14:35:46 +0800 Subject: [PATCH] feat: update frame drop logging to include total dropped frames in warnings --- .../src/frame_timestamp_csv_logger.cpp | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/orbbec_camera/src/frame_timestamp_csv_logger.cpp b/orbbec_camera/src/frame_timestamp_csv_logger.cpp index 367acc53..fe7554b1 100644 --- a/orbbec_camera/src/frame_timestamp_csv_logger.cpp +++ b/orbbec_camera/src/frame_timestamp_csv_logger.cpp @@ -327,10 +327,11 @@ void FrameTimestampCsvLogger::populateArrivalData(StreamState &state, TrackedStr std::max(1, device_ts_delta_us / state.expected_interval_us - 1); if (drop_log_enabled_) { previous.dropped_frames += lost_frames; - RCLCPP_WARN_STREAM( - logger_, "Frame drop detected: stage=SDK_RECEIVE" - << " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth") - << " frame_index=" << state.frame_index << " dropped=" << lost_frames); + RCLCPP_WARN_STREAM(logger_, + "Frame drop detected: stage=SDK_RECEIVE" + << " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth") + << " frame_index=" << state.frame_index + << " dropped=" << previous.dropped_frames); } } } @@ -377,10 +378,11 @@ void FrameTimestampCsvLogger::populatePublishData(StreamState &state, TrackedStr std::max(1, device_ts_delta_us / state.expected_interval_us - 1); if (drop_log_enabled_) { previous.publish_dropped_frames += lost_frames; - RCLCPP_WARN_STREAM( - logger_, "Frame drop detected: stage=ROS_PUBLISH" - << " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth") - << " frame_index=" << state.frame_index << " dropped=" << lost_frames); + RCLCPP_WARN_STREAM(logger_, + "Frame drop detected: stage=ROS_PUBLISH" + << " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth") + << " frame_index=" << state.frame_index + << " dropped=" << previous.publish_dropped_frames); } } }