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use frame timestamp for duration and fps judgement

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datean
2024-11-27 16:22:13 +08:00
parent 9bfd47969f
commit 90dfddeaa0
3 changed files with 28 additions and 21 deletions
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orbbec_camera/src/ob_camera_node.cpp
+14 -11
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@@ -2031,14 +2031,18 @@ std::shared_ptr<ob::Frame> OBCameraNode::decodeIRMJPGFrame(
return frame;
}
void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
auto now = std::chrono::steady_clock::now();
auto duration = std::chrono::duration<double, std::micro>(now - stream_info.last_frame_time).count();
void OBCameraNode::updateStreamInfo(const std::shared_ptr<ob::Frame> &frame, VideoStreamInfo& stream_info) {
uint64_t current_timestamp = getFrameTimestampUs(frame);
uint64_t duration = current_timestamp - stream_info.last_frame_time;
double dst_duration = duration;
int dst_fps = 0;
stream_index_pair dst_frame_type;
double delta_duration = delta_duration_;
int delta_fps = delta_fps_;
if (current_timestamp <= stream_info.last_frame_time) {
RCLCPP_INFO_STREAM(logger_, "[WARNING] current_timestamp "
<< current_timestamp << " stream_info.last_frame_time " << stream_info.last_frame_time << "\n");
}
switch (stream_info.frame_type) {
case OB_FRAME_COLOR:
@@ -2076,8 +2080,7 @@ void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
stream_info.frame_count++;
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();
double elapsed_seconds = (current_timestamp - stream_info.last_fps_calculation_time) / 1e6;
if (elapsed_seconds > 0) {
int frames_in_interval = stream_info.frame_count - stream_info.last_fps_frame_count;
@@ -2088,12 +2091,12 @@ void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
<< ": " << stream_info.frame_rate << " FPS\n");
}
stream_info.last_fps_calculation_time = now;
stream_info.last_fps_calculation_time = current_timestamp;
stream_info.last_fps_frame_count = stream_info.frame_count;
}
}
stream_info.last_frame_time = now;
stream_info.last_frame_time = current_timestamp;
}
void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
@@ -2113,7 +2116,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
}
std::shared_ptr<ob::VideoFrame> video_frame;
if (frame->getType() == OB_FRAME_COLOR) {
updateStreamInfo(color_stream_info_);
updateStreamInfo(frame, color_stream_info_);
video_frame = frame->as<ob::ColorFrame>();
} else if (frame->getType() == OB_FRAME_DEPTH) {
// interleave filter depth
@@ -2125,7 +2128,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return;
}
updateStreamInfo(depth_stream_info_);
updateStreamInfo(frame, depth_stream_info_);
}
video_frame = frame->as<ob::DepthFrame>();
} else if (frame->getType() == OB_FRAME_IR || frame->getType() == OB_FRAME_IR_LEFT ||
@@ -2142,10 +2145,10 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
return;
}
if (frame->getType() == OB_FRAME_IR_LEFT){
updateStreamInfo(left_ir_stream_info_);
updateStreamInfo(frame, left_ir_stream_info_);
}
if (frame->getType() == OB_FRAME_IR_RIGHT){
updateStreamInfo(right_ir_stream_info_);
updateStreamInfo(frame, right_ir_stream_info_);
}
}