i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-12 19:20:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add metadata frame number and sensor timestamp handling for csv log

Browse Source
This commit is contained in:
slz
2026-04-20 15:07:02 +08:00
parent 7818e9cea1
commit a6f0cc02dd
2 changed files with 50 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h
+4
View File
@@ -53,6 +53,8 @@ class FrameTimestampCsvLogger {
bool final = false;
uint64_t frame_index = 0;
std::optional<int64_t> metadata_frame_number;
std::optional<int64_t> sensor_ts_us;
int64_t device_ts_us = 0;
int64_t global_ts_us = 0;
int64_t sdk_system_ts_us = 0;
@@ -62,6 +64,7 @@ class FrameTimestampCsvLogger {
std::optional<int64_t> publish_steady_us;
std::optional<int64_t> device_ts_delta_us;
std::optional<int64_t> sensor_ts_delta_us;
std::optional<int64_t> global_ts_delta_us;
std::optional<int64_t> sdk_system_ts_delta_us;
std::optional<int64_t> arrival_system_delta_us;
@@ -82,6 +85,7 @@ class FrameTimestampCsvLogger {
struct PreviousStreamTimestamps {
std::optional<int64_t> device_ts_us;
std::optional<int64_t> sensor_ts_us;
std::optional<int64_t> global_ts_us;
std::optional<int64_t> sdk_system_ts_us;
std::optional<int64_t> arrival_system_us;
orbbec_camera/src/frame_timestamp_csv_logger.cpp
+46 -20
View File
@@ -284,12 +284,30 @@ void FrameTimestampCsvLogger::populateArrivalData(StreamState &state, TrackedStr
state.has_frame = true;
state.publish_expected = publish_expected;
state.frame_index = frame->getIndex();
if (frame->hasMetadata(OB_FRAME_METADATA_TYPE_FRAME_NUMBER)) {
state.metadata_frame_number =
static_cast<int64_t>(frame->getMetadataValue(OB_FRAME_METADATA_TYPE_FRAME_NUMBER));
} else {
state.metadata_frame_number.reset();
}
if (frame->hasMetadata(OB_FRAME_METADATA_TYPE_SENSOR_TIMESTAMP)) {
state.sensor_ts_us =
static_cast<int64_t>(frame->getMetadataValue(OB_FRAME_METADATA_TYPE_SENSOR_TIMESTAMP));
} else {
state.sensor_ts_us.reset();
}
state.device_ts_us = static_cast<int64_t>(frame->getTimeStampUs());
state.global_ts_us = static_cast<int64_t>(frame->getGlobalTimeStampUs());
state.sdk_system_ts_us = static_cast<int64_t>(frame->getSystemTimeStampUs());
state.arrival_system_us = arrival_system_us;
state.arrival_steady_us = arrival_steady_us;
state.device_ts_delta_us = updateDelta(previous.device_ts_us, state.device_ts_us);
if (state.sensor_ts_us.has_value()) {
state.sensor_ts_delta_us = updateDelta(previous.sensor_ts_us, state.sensor_ts_us.value());
} else {
state.sensor_ts_delta_us.reset();
previous.sensor_ts_us.reset();
}
state.global_ts_delta_us = updateDelta(previous.global_ts_us, state.global_ts_us);
state.sdk_system_ts_delta_us = updateDelta(previous.sdk_system_ts_us, state.sdk_system_ts_us);
state.arrival_system_delta_us = updateDelta(previous.arrival_system_us, state.arrival_system_us);
@@ -375,31 +393,36 @@ std::string FrameTimestampCsvLogger::serializeRow(const PendingRow &row) const {
}
std::string FrameTimestampCsvLogger::serializeStreamColumns(const StreamState &state) const {
std::vector<std::string> fields(19, "");
std::vector<std::string> fields(22, "");
if (state.has_frame) {
fields[0] = std::to_string(state.frame_index);
fields[1] = formatSecondsColumn(state.device_ts_us);
fields[2] = formatOptionalIntColumn(state.device_ts_delta_us);
fields[3] = formatSecondsColumn(state.global_ts_us);
fields[4] = formatOptionalIntColumn(state.global_ts_delta_us);
fields[5] = formatSecondsColumn(state.sdk_system_ts_us);
fields[6] = formatOptionalIntColumn(state.sdk_system_ts_delta_us);
fields[7] = formatSecondsColumn(state.arrival_system_us);
fields[8] = formatOptionalIntColumn(state.arrival_system_delta_us);
fields[9] = formatSecondsColumn(state.arrival_steady_us);
fields[10] = formatOptionalIntColumn(state.arrival_steady_delta_us);
fields[1] = formatOptionalIntColumn(state.metadata_frame_number);
if (state.sensor_ts_us.has_value()) {
fields[2] = formatSecondsColumn(state.sensor_ts_us.value());
}
fields[3] = formatOptionalIntColumn(state.sensor_ts_delta_us);
fields[4] = formatSecondsColumn(state.device_ts_us);
fields[5] = formatOptionalIntColumn(state.device_ts_delta_us);
fields[6] = formatSecondsColumn(state.global_ts_us);
fields[7] = formatOptionalIntColumn(state.global_ts_delta_us);
fields[8] = formatSecondsColumn(state.sdk_system_ts_us);
fields[9] = formatOptionalIntColumn(state.sdk_system_ts_delta_us);
fields[10] = formatSecondsColumn(state.arrival_system_us);
fields[11] = formatOptionalIntColumn(state.arrival_system_delta_us);
fields[12] = formatSecondsColumn(state.arrival_steady_us);
fields[13] = formatOptionalIntColumn(state.arrival_steady_delta_us);
if (state.publish_system_us.has_value()) {
fields[11] = formatSecondsColumn(state.publish_system_us.value());
fields[14] = formatSecondsColumn(state.publish_system_us.value());
}
fields[12] = formatOptionalIntColumn(state.publish_system_delta_us);
fields[15] = formatOptionalIntColumn(state.publish_system_delta_us);
if (state.publish_steady_us.has_value()) {
fields[13] = formatSecondsColumn(state.publish_steady_us.value());
fields[16] = formatSecondsColumn(state.publish_steady_us.value());
}
fields[14] = formatOptionalIntColumn(state.publish_steady_delta_us);
fields[15] = formatOptionalIntColumn(state.arrival_to_publish_system_us);
fields[16] = formatOptionalIntColumn(state.arrival_to_publish_steady_us);
fields[17] = formatOptionalIntColumn(state.sdk_delay_from_global_us);
fields[18] = formatOptionalIntColumn(state.sdk_delay_from_system_us);
fields[17] = formatOptionalIntColumn(state.publish_steady_delta_us);
fields[18] = formatOptionalIntColumn(state.arrival_to_publish_system_us);
fields[19] = formatOptionalIntColumn(state.arrival_to_publish_steady_us);
fields[20] = formatOptionalIntColumn(state.sdk_delay_from_global_us);
fields[21] = formatOptionalIntColumn(state.sdk_delay_from_system_us);
}
std::ostringstream ss;
@@ -428,7 +451,10 @@ std::string FrameTimestampCsvLogger::formatOptionalIntColumn(const std::optional
std::string FrameTimestampCsvLogger::csvHeader() {
std::ostringstream ss;
for (const auto *prefix : {"color", "depth"}) {
ss << prefix << "_frame_index,";
ss << prefix << "_sdk_frame_index,";
ss << prefix << "_hardware_frame_number,";
ss << prefix << "_sensor_ts_sec,";
ss << prefix << "_sensor_ts_delta_us,";
ss << prefix << "_device_ts_sec,";
ss << prefix << "_device_ts_delta_us,";
ss << prefix << "_global_ts_sec,";