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Update abnormal frame output log

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jj
2025-03-26 14:52:30 +08:00
parent 841c7eab41
commit 97dece0444
1 changed files with 9 additions and 8 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9 -8
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@@ -2169,7 +2169,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
if (interleave_skip_color_index_ % 2 == 0) { if (interleave_skip_color_index_ % 2 == 0) {
return; return;
} }
updateStreamInfo(frame, color_stream_info_); // updateStreamInfo(frame, color_stream_info_);
} }
video_frame = frame->as<ob::ColorFrame>(); video_frame = frame->as<ob::ColorFrame>();
} else if (frame->getType() == OB_FRAME_DEPTH) { } else if (frame->getType() == OB_FRAME_DEPTH) {
@@ -2187,27 +2187,28 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
if (interleave_frame_enable_ && interleave_skip_enable_) { if (interleave_frame_enable_ && interleave_skip_enable_) {
if (video_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_POWER_MODE) != if (video_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_POWER_MODE) !=
interleave_skip_index_) { interleave_skip_index_) {
return;
} else {
if (frame->getType() == OB_FRAME_IR_LEFT) { if (frame->getType() == OB_FRAME_IR_LEFT) {
if ((getFrameTimestampUs(frame) - left_last_time) > 37000) { if ((getFrameTimestampUs(frame) - left_last_time) > 37000) {
RCLCPP_INFO_STREAM(logger_, RCLCPP_WARN_STREAM(logger_,
"left this FrameTimestampUs: " << (getFrameTimestampUs(frame))); "left this FrameTimestampUs: " << (getFrameTimestampUs(frame)));
RCLCPP_INFO_STREAM(logger_, "left last FrameTimestampUs: " << (left_last_time)); RCLCPP_WARN_STREAM(logger_, "left last FrameTimestampUs: " << (left_last_time));
RCLCPP_INFO_STREAM(logger_, "left-between current and previous fram " RCLCPP_WARN_STREAM(logger_, "left-between current and previous fram "
<< (getFrameTimestampUs(frame) - left_last_time)); << (getFrameTimestampUs(frame) - left_last_time));
} }
left_last_time = getFrameTimestampUs(frame); left_last_time = getFrameTimestampUs(frame);
} }
if (frame->getType() == OB_FRAME_IR_RIGHT) { if (frame->getType() == OB_FRAME_IR_RIGHT) {
if ((getFrameTimestampUs(frame) - right_last_time) > 37000) { if ((getFrameTimestampUs(frame) - right_last_time) > 37000) {
RCLCPP_INFO_STREAM(logger_, RCLCPP_WARN_STREAM(logger_,
"right this FrameTimestampUs: " << (getFrameTimestampUs(frame))); "right this FrameTimestampUs: " << (getFrameTimestampUs(frame)));
RCLCPP_INFO_STREAM(logger_, "right last FrameTimestampUs: " << (right_last_time)); RCLCPP_WARN_STREAM(logger_, "right last FrameTimestampUs: " << (right_last_time));
RCLCPP_INFO_STREAM(logger_, "right-between current and previous fram " RCLCPP_WARN_STREAM(logger_, "right-between current and previous fram "
<< (getFrameTimestampUs(frame) - right_last_time)); << (getFrameTimestampUs(frame) - right_last_time));
} }
right_last_time = getFrameTimestampUs(frame); right_last_time = getFrameTimestampUs(frame);
} }
return;
} }
} }
} else { } else {