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feat: update frame drop logging to include total dropped frames in warnings

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slz
2026-06-05 14:35:46 +08:00
parent 951e48e715
commit 8e58d17d9c
1 changed files with 10 additions and 8 deletions
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orbbec_camera/src/frame_timestamp_csv_logger.cpp
+10 -8
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@@ -327,10 +327,11 @@ void FrameTimestampCsvLogger::populateArrivalData(StreamState &state, TrackedStr
std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1); std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
if (drop_log_enabled_) { if (drop_log_enabled_) {
previous.dropped_frames += lost_frames; previous.dropped_frames += lost_frames;
RCLCPP_WARN_STREAM( RCLCPP_WARN_STREAM(logger_,
logger_, "Frame drop detected: stage=SDK_RECEIVE" "Frame drop detected: stage=SDK_RECEIVE"
<< " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth") << " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth")
<< " frame_index=" << state.frame_index << " dropped=" << lost_frames); << " frame_index=" << state.frame_index
<< " dropped=" << previous.dropped_frames);
} }
} }
} }
@@ -377,10 +378,11 @@ void FrameTimestampCsvLogger::populatePublishData(StreamState &state, TrackedStr
std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1); std::max<int64_t>(1, device_ts_delta_us / state.expected_interval_us - 1);
if (drop_log_enabled_) { if (drop_log_enabled_) {
previous.publish_dropped_frames += lost_frames; previous.publish_dropped_frames += lost_frames;
RCLCPP_WARN_STREAM( RCLCPP_WARN_STREAM(logger_,
logger_, "Frame drop detected: stage=ROS_PUBLISH" "Frame drop detected: stage=ROS_PUBLISH"
<< " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth") << " stream=" << (stream == TrackedStream::COLOR ? "color" : "depth")
<< " frame_index=" << state.frame_index << " dropped=" << lost_frames); << " frame_index=" << state.frame_index
<< " dropped=" << previous.publish_dropped_frames);
} }
} }
} }