From a4a9ec71bd0e581324ac44676344d272890427f4 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Wed, 16 Sep 2026 16:12:36 +0800 Subject: [PATCH] docs: describe side-stream timestamp CSV files --- .../source/camera_devices/6_benchmark/diagnostic_tools.md | 6 +++--- .../source/camera_devices/6_benchmark/diagnostic_tools.md | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md index 90683a2e..10bd8e3c 100644 --- a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md +++ b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md @@ -4,7 +4,7 @@ This section describes frame continuity, timestamp, topic statistics, end-to-end ## Frame Drop Log and Timestamp CSV Recording -After `enable_frame_drop_log` is enabled, the camera node prints color and depth frame drop statistics in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node records timestamp data for color, depth, and enabled IMU streams to CSV files for analyzing frame continuity, publish latency, and timestamp anomalies. When frame synchronization (`enable_frame_sync:=true`) is enabled, color and depth timestamps are combined into one CSV file; otherwise, they are written to separate `_color.csv` and `_depth.csv` files. Synchronized accelerometer and gyroscope data are written to `_imu.csv`, while standalone accelerometer and gyroscope data are written to `_accel.csv` and `_gyro.csv`. All CSV files follow the same rotation rule. +After `enable_frame_drop_log` is enabled, the camera node prints frame drop statistics for color, depth, left color, right color, left IR, and right IR in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node records timestamp data for `color`, `depth`, `left_color`, `right_color`, `left_ir`, `right_ir`, and enabled IMU streams to CSV files for analyzing frame continuity, publish latency, and timestamp anomalies. When frame synchronization (`enable_frame_sync:=true`) is enabled, `color` and `depth` timestamps are combined into one CSV file; otherwise, they are written to separate `_color.csv` and `_depth.csv` files. Left color, right color, left IR, and right IR are always written to separate files with the corresponding stream-name suffix. Synchronized accelerometer and gyroscope data are written to `_imu.csv`, while standalone accelerometer and gyroscope data are written to `_accel.csv` and `_gyro.csv`. All CSV files follow the same rotation rule. ```bash ros2 launch orbbec_camera gemini_330_series.launch.py \ @@ -20,7 +20,7 @@ Each CSV file contains at most `1,024,575` frame rows plus the header. When the ### Field Description -The current CSV contains two groups of fields with the same structure, prefixed by `color_` and `depth_`, for example `color_sdk_frame_index` and `depth_sdk_frame_index`. The two groups have identical definitions and differ only in data source. +The CSV contains groups of identically structured fields for each image stream. In synchronized records, the `color` and `depth` groups use the `color_` and `depth_` prefixes; standalone records also use prefixes such as `left_color_`, `right_color_`, `left_ir_`, and `right_ir_`. The groups have identical definitions and differ only in data source. | Field suffix | Description | Unit / Notes | | --- | --- | --- | @@ -62,7 +62,7 @@ The current CSV contains two groups of fields with the same structure, prefixed #### Synchronization Note -This CSV is mainly used to analyze continuity and latency of a single color or depth stream. It cannot directly measure synchronization between color and depth. +This CSV is mainly used to analyze continuity and latency for each image stream. It cannot directly measure synchronization between color and depth. ## topic_statistics_node diff --git a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md index 38f98c5b..f2241085 100644 --- a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md +++ b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md @@ -4,7 +4,7 @@ ## 帧丢失日志与时间戳 CSV 记录 -开启 `enable_frame_drop_log` 后，相机节点会在日志中输出彩色和深度帧丢失统计，用于定位 SDK 接收阶段和 ROS 发布阶段的丢帧。设置 `frame_timestamp_csv_file` 后，节点会将彩色、深度以及已启用 IMU 流的时间戳记录到 CSV 文件，用于分析帧连续性、发布延迟和时间戳异常。启用帧同步（`enable_frame_sync:=true`）时，彩色和深度时间戳会汇聚到同一个 CSV 文件中；未启用时分别写入 `_color.csv` 和 `_depth.csv`。同步加速度计和陀螺仪数据写入 `_imu.csv`，独立加速度计和陀螺仪数据分别写入 `_accel.csv` 和 `_gyro.csv`。所有 CSV 文件遵循相同的分片规则。 +开启 `enable_frame_drop_log` 后，相机节点会在日志中输出彩色、深度、左右彩色和左右 IR 帧丢失统计，用于定位 SDK 接收阶段和 ROS 发布阶段的丢帧。设置 `frame_timestamp_csv_file` 后，节点会将 `color`、`depth`、`left_color`、`right_color`、`left_ir`、`right_ir` 以及已启用 IMU 流的时间戳记录到 CSV 文件，用于分析帧连续性、发布延迟和时间戳异常。启用帧同步（`enable_frame_sync:=true`）时，`color` 和 `depth` 时间戳会汇聚到同一个 CSV 文件中；未启用时分别写入 `_color.csv` 和 `_depth.csv`，左右彩色和左右 IR 始终分别写入带对应流名称后缀的文件。同步加速度计和陀螺仪数据写入 `_imu.csv`，独立加速度计和陀螺仪数据分别写入 `_accel.csv` 和 `_gyro.csv`。所有 CSV 文件遵循相同的分片规则。 ```bash ros2 launch orbbec_camera gemini_330_series.launch.py \ @@ -20,7 +20,7 @@ CSV 中包含 SDK frame index、hardware frame number、sensor timestamp、devic ### 字段说明 -当前 CSV 中包含两组同构字段，分别以 `color_` 和 `depth_` 为前缀，例如 `color_sdk_frame_index` 和 `depth_sdk_frame_index`。两组字段定义完全一致，仅数据来源不同。 +当前 CSV 按图像流包含同构字段组。同步记录中的 `color` 和 `depth` 字段分别以 `color_` 和 `depth_` 为前缀；独立记录还会使用 `left_color_`、`right_color_`、`left_ir_` 和 `right_ir_` 等流名称前缀。每组字段定义一致，仅数据来源不同。 | 字段后缀 | 描述 | 单位/说明 | | --- | --- | --- | @@ -62,7 +62,7 @@ CSV 中包含 SDK frame index、hardware frame number、sensor timestamp、devic #### 同步说明 -当前这份 CSV 主要用于分析单路彩色或深度流的连续性和延迟，不能直接用于统计彩色与深度之间的同步效果。 +当前这份 CSV 主要用于分析各图像流的连续性和延迟，不能直接用于统计彩色与深度之间的同步效果。 ## topic_statistics_node