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feat: rename frame timestamp CSV logging to frame drop logging and update related parameters

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slz
2026-06-05 14:07:23 +08:00
parent a43b358fea
commit 951e48e715
25 changed files with 97 additions and 105 deletions
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orbbec_camera/src/ob_camera_node.cpp
+16 -17
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@@ -192,11 +192,10 @@ std::string normalizeClosedSetParameterValue(const rclcpp::Logger &logger,
}
RCLCPP_ERROR_STREAM(logger, "Invalid parameter "
<< param_name << " " << formatParameterValue(value)
<< ". Valid values: "
<< formatValidParameterValues(valid_values)
<< ". Skip setting and use "
<< formatParameterValue(default_value) << ".");
<< param_name << " " << formatParameterValue(value)
<< ". Valid values: " << formatValidParameterValues(valid_values)
<< ". Skip setting and use "
<< formatParameterValue(default_value) << ".");
return default_value;
}
@@ -575,9 +574,9 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
setupDefaultImageFormat();
setupTopics();
if (enable_frame_timestamp_csv_) {
frame_timestamp_csv_logger_ =
std::make_unique<FrameTimestampCsvLogger>(true, frame_timestamp_csv_file_, logger_);
if (enable_frame_drop_log_ || !frame_timestamp_csv_file_.empty()) {
frame_timestamp_csv_logger_ = std::make_unique<FrameTimestampCsvLogger>(
enable_frame_drop_log_, frame_timestamp_csv_file_, logger_);
if (!frame_timestamp_csv_logger_->enabled()) {
frame_timestamp_csv_logger_.reset();
}
@@ -3559,9 +3558,9 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", "");
disparity_to_depth_mode_ = normalizeClosedSetParameterValue(
logger_, "disparity_to_depth_mode", disparity_to_depth_mode_, {"", "HW", "SW", "disable"},
"");
disparity_to_depth_mode_ =
normalizeClosedSetParameterValue(logger_, "disparity_to_depth_mode", disparity_to_depth_mode_,
{"", "HW", "SW", "disable"}, "");
setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
if (!depth_filter_config_.empty()) {
enable_depth_filter_ = true;
@@ -3728,9 +3727,9 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<bool>(enable_firmware_log_, "enable_firmware_log", false);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
time_domain_ = normalizeClosedSetParameterValue(
logger_, "time_domain", time_domain_, {"global", "device", "system"}, "global");
setAndGetNodeParameter<bool>(enable_frame_timestamp_csv_, "enable_frame_timestamp_csv", false);
time_domain_ = normalizeClosedSetParameterValue(logger_, "time_domain", time_domain_,
{"global", "device", "system"}, "global");
setAndGetNodeParameter<bool>(enable_frame_drop_log_, "enable_frame_drop_log", false);
setAndGetNodeParameter<std::string>(frame_timestamp_csv_file_, "frame_timestamp_csv_file", "");
setAndGetNodeParameter<std::string>(exposure_range_mode_, "exposure_range_mode", "");
setAndGetNodeParameter<std::string>(load_config_json_file_path_, "load_config_json_file_path",
@@ -3810,9 +3809,9 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(offset_index1_, "offset_index1", -1);
setAndGetNodeParameter<std::string>(frame_aggregate_mode_, "frame_aggregate_mode", "ANY");
frame_aggregate_mode_ = normalizeClosedSetParameterValue(
logger_, "frame_aggregate_mode", frame_aggregate_mode_,
{"full_frame", "color_frame", "ANY", "disable"}, "ANY");
frame_aggregate_mode_ =
normalizeClosedSetParameterValue(logger_, "frame_aggregate_mode", frame_aggregate_mode_,
{"full_frame", "color_frame", "ANY", "disable"}, "ANY");
setAndGetNodeParameter<bool>(show_fps_enable_, "show_fps_enable", false);
setAndGetNodeParameter<bool>(enable_publish_extrinsic_, "enable_publish_extrinsic", false);