i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-08 22:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs: describe side-stream timestamp CSV files

Browse Source
This commit is contained in:
ob-yalian
2026-09-16 18:20:52 +08:00
parent 1fb48756d0
commit a4a9ec71bd
2 changed files with 6 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
+3 -3
View File
@@ -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 `<stem>_color.csv` and `<stem>_depth.csv` files. Synchronized accelerometer and gyroscope data are written to `<stem>_imu.csv`, while standalone accelerometer and gyroscope data are written to `<stem>_accel.csv` and `<stem>_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 `<stem>_color.csv` and `<stem>_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 `<stem>_imu.csv`, while standalone accelerometer and gyroscope data are written to `<stem>_accel.csv` and `<stem>_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