mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-10 18:30:20 +08:00
498 lines
20 KiB
Python
498 lines
20 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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Support: ROS2
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name: common_benchmark_node.py
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function: A ROS2 node to monitor and log the performance of an Orbbec camera node:
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frame rates, delays, CPU and RAM usage, packet/frame loss statistics.
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usage:
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ros2 run orbbec_camera common_benchmark_node.py --run_time 20 --csv_file /tmp/cam_log.csv
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You can also pass an ideal frame rate for drop detection: --ideal_fps 30
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Monitor multiple cameras: --camera_names camera,camera01
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"""
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import argparse
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import rclpy
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from rclpy.node import Node
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import psutil
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import time
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import csv
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import os
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from collections import defaultdict
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from orbbec_camera_msgs.msg import DeviceStatus
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from sensor_msgs.msg import Image
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import sys
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from tabulate import tabulate
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CAMERA_NODE_NAMES = ["component_container", "orbbec_camera_node", "nodelet"]
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# ----------------tool functions----------------
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def parse_duration(s):
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# Parse duration strings like "10s", "5m", "1h", "2d" into seconds.
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if isinstance(s, (int, float)):
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return float(s)
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s = str(s).strip().lower()
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if s.endswith("s"):
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return float(s[:-1])
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elif s.endswith("m"):
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return float(s[:-1]) * 60
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elif s.endswith("h"):
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return float(s[:-1]) * 3600
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elif s.endswith("d"):
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return float(s[:-1]) * 86400
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else:
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return float(s)
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def format_duration(seconds):
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seconds = int(seconds)
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days, seconds = divmod(seconds, 86400)
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hours, seconds = divmod(seconds, 3600)
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minutes, seconds = divmod(seconds, 60)
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parts = []
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if days > 0:
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parts.append(f"{days}d")
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if hours > 0:
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parts.append(f"{hours}h")
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if minutes > 0:
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parts.append(f"{minutes}m")
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if seconds > 0 or not parts:
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parts.append(f"{seconds}s")
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return " ".join(parts)
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def parse_camera_names(camera_names):
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if isinstance(camera_names, str):
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names = camera_names.replace(";", ",").split(",")
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else:
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names = camera_names or []
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parsed_names = []
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for name in names:
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normalized = str(name).strip().strip("/")
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if normalized and normalized not in parsed_names:
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parsed_names.append(normalized)
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return parsed_names or ["camera"]
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def make_stat():
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return {"cur": 0.0, "avg": 0.0, "min": float("inf"), "max": float("-inf"), "count": 0, "sum": 0.0}
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def estimate_dropped_frames(dt, expected_interval):
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if expected_interval <= 0 or dt <= 1.5 * expected_interval:
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return 0
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return max(1, int(dt / expected_interval) - 1)
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# ----------------------------------------------
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class TopicTracker:
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def __init__(self, logger=None):
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self.received = 0
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self.last_time = None
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self.drop_frames = 0
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self.logger = logger
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def on_msg(self, header, avg_fps):
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stamp = header.stamp.sec + header.stamp.nanosec * 1e-9
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self.received += 1
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if self.last_time is not None and avg_fps > 0:
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dt = stamp - self.last_time
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expected_interval = 1.0 / avg_fps
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self.drop_frames += estimate_dropped_frames(dt, expected_interval)
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self.last_time = stamp
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def frames_loss_rate(self):
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total = self.received + self.drop_frames
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if total <= 0:
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return 0.0
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return float(self.drop_frames) / total
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def reset(self):
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self.__init__(logger=self.logger)
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class CameraMonitorNode(Node):
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def __init__(self, run_time, csv_file="camera_monitor_log.csv", ideal_fps: float = 0.0, camera_names=None):
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super().__init__("camera_monitor_node")
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self.run_time = run_time
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self.start_time = time.time()
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self.process = psutil.Process(os.getpid())
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self.first_data_collected = False
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self.camera_names = parse_camera_names(camera_names)
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self.node_names = {camera_name: "Not Found" for camera_name in self.camera_names}
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self.total_node_name = "Not Found"
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# If > 0, use this ideal fps value for drop-frame detection instead of the reported average
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self.ideal_fps = float(ideal_fps) if ideal_fps is not None else 0.0
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self.finished = False
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self.cameras = {}
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for camera_name in self.camera_names:
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self.cameras[camera_name] = {
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"connection_type": None,
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"disconnect_count": 0,
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"prev_online": True,
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"data_collected": False,
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"stats": defaultdict(make_stat),
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"cpu_stats": make_stat(),
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"ram_stats": make_stat(),
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"trackers": {
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"color": TopicTracker(logger=self.get_logger()),
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"depth": TopicTracker(logger=self.get_logger())
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}
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}
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self.total_cpu_stats = make_stat()
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self.total_ram_stats = make_stat()
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# CSV
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self.csv_file = csv_file
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self.csv_fh = open(self.csv_file, "w", newline="")
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self.csv_writer = csv.writer(self.csv_fh)
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self.csv_writer.writerow(self.build_csv_header())
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# subscriptions
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for camera_name in self.camera_names:
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ns = self.camera_namespace(camera_name)
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self.create_subscription(
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DeviceStatus,
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f"{ns}/device_status",
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lambda msg, name=camera_name: self.status_callback(msg, name),
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5
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)
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self.create_subscription(
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Image,
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f"{ns}/color/image_raw",
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lambda msg, name=camera_name: self.image_callback(msg, name, "color"),
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5
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)
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self.create_subscription(
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Image,
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f"{ns}/depth/image_raw",
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lambda msg, name=camera_name: self.image_callback(msg, name, "depth"),
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5
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)
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# timer runs every 1s to update system stats, log csv and print status
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self.timer = self.create_timer(1.0, self.timer_callback)
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def timer_callback(self):
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elapsed = time.time() - self.start_time
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if elapsed > self.run_time:
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self.finish()
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rclpy.shutdown()
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return
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camera_sys_stats, total_cpu, total_ram, self.total_node_name = self.get_camera_stats()
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for camera_name in self.camera_names:
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camera = self.cameras[camera_name]
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cpu, ram, node_name = camera_sys_stats.get(camera_name, (0.0, 0.0, "Not Found"))
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self.node_names[camera_name] = node_name
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self.update_sys_stat(camera["cpu_stats"], cpu, camera["prev_online"])
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self.update_sys_stat(camera["ram_stats"], ram, camera["prev_online"])
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self.update_sys_stat(self.total_cpu_stats, total_cpu, True)
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self.update_sys_stat(self.total_ram_stats, total_ram, True)
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if self.first_data_collected:
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self.log_to_csv(elapsed)
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self.print_status()
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def finish(self):
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if self.finished:
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return
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self.finished = True
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elapsed = time.time() - self.start_time
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try:
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self.csv_fh.close()
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except Exception:
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pass
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print(f"Monitoring finished, it takes time: {format_duration(elapsed)}")
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print(f"CSV data is saved to: {self.csv_file}")
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def camera_namespace(self, camera_name):
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return "/" + camera_name.strip("/")
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def cmdline_has_camera_namespace(self, cmdline_args, camera_name):
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ns = self.camera_namespace(camera_name)
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candidates = [
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f"__ns:={ns}",
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f"__ns:={camera_name}",
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f"namespace:={ns}",
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f"namespace:={camera_name}",
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]
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return any(arg in candidates for arg in cmdline_args)
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def find_camera_nodes(self):
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found = {camera_name: [] for camera_name in self.camera_names}
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for proc in psutil.process_iter(['pid', 'name', 'cmdline']):
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try:
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cmdline_args = proc.info.get('cmdline') or []
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cmdline = " ".join(cmdline_args)
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if not any(name.lower() in cmdline.lower() for name in CAMERA_NODE_NAMES):
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continue
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for camera_name in self.camera_names:
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if self.cmdline_has_camera_namespace(cmdline_args, camera_name):
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found[camera_name].append(proc)
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except Exception:
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continue
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return found
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def get_camera_stats(self):
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found = self.find_camera_nodes()
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camera_stats = {}
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total_cpu = 0.0
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total_ram = 0.0
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total_proc_count = 0
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for camera_name, root_procs in found.items():
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if not root_procs:
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camera_stats[camera_name] = (0.0, 0.0, "Not Found")
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continue
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seen_pids = set()
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procs = []
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for proc in root_procs:
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try:
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proc_group = [proc] + proc.children(recursive=True)
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for p in proc_group:
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if p.pid not in seen_pids:
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seen_pids.add(p.pid)
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procs.append(p)
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except Exception:
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continue
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try:
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cpu = sum((p.cpu_percent(interval=None) for p in procs)) / max(1, psutil.cpu_count())
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mem_bytes = sum((p.memory_info().rss for p in procs))
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mem_mb = mem_bytes / (1024 * 1024)
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root_names = ", ".join(f"{p.name()}[{p.pid}]" for p in root_procs)
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if len(procs) > len(root_procs):
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root_names = f"{root_names} + {len(procs) - len(root_procs)} child"
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camera_stats[camera_name] = (cpu, mem_mb, root_names)
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total_cpu += cpu
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total_ram += mem_mb
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total_proc_count += len(procs)
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except Exception:
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camera_stats[camera_name] = (0.0, 0.0, "Error")
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total_node_name = f"{total_proc_count} matched process(es)" if total_proc_count > 0 else "Not Found"
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return camera_stats, total_cpu, total_ram, total_node_name
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def status_callback(self, msg: DeviceStatus, camera_name: str):
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if not self.first_data_collected:
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self.first_data_collected = True
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camera = self.cameras[camera_name]
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camera["data_collected"] = True
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camera["connection_type"] = msg.connection_type
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if camera["prev_online"] and not msg.device_online:
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camera["disconnect_count"] += 1
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camera["prev_online"] = msg.device_online
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return
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camera["prev_online"] = msg.device_online
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# update stats from DeviceStatus message fields
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self.update_stats(camera["stats"], "color_fps", msg.color_frame_rate_cur, msg.color_frame_rate_min, msg.color_frame_rate_max, msg.color_frame_rate_avg)
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self.update_stats(camera["stats"], "color_delay", msg.color_delay_ms_cur, msg.color_delay_ms_min, msg.color_delay_ms_max, msg.color_delay_ms_avg)
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self.update_stats(camera["stats"], "depth_fps", msg.depth_frame_rate_cur, msg.depth_frame_rate_min, msg.depth_frame_rate_max, msg.depth_frame_rate_avg)
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self.update_stats(camera["stats"], "depth_delay", msg.depth_delay_ms_cur, msg.depth_delay_ms_min, msg.depth_delay_ms_max, msg.depth_delay_ms_avg)
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def image_callback(self, msg: Image, camera_name: str, stream: str):
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if stream not in ("color", "depth"):
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return
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header = msg.header
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camera = self.cameras[camera_name]
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tracker = camera["trackers"][stream]
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# Prefer a user-specified ideal fps for drop detection when provided.
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fps_to_use = self.ideal_fps if (self.ideal_fps and self.ideal_fps > 0.0) else camera["stats"][f"{stream}_fps"]["avg"]
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tracker.on_msg(header, fps_to_use)
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def update_stats(self, stats, key, cur, min_val, max_val, avg_val):
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if min_val <= 1e-3 or avg_val < 0: # ignore invalid data
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return
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s = stats[key]
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s["cur"] = (cur)
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s["count"] += 1
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s["sum"] += avg_val
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s["avg"] = s["sum"] / s["count"] if s["count"] > 0 else 0.0
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s["min"] = min(s["min"], min_val)
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s["max"] = max(s["max"], max_val)
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def update_sys_stat(self, stat_dict, value, online=True):
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stat_dict["cur"] = value
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if value is None or value <= 0.0 or not online:
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return
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stat_dict["count"] += 1
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stat_dict["sum"] += value
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stat_dict["avg"] = stat_dict["sum"] / stat_dict["count"] if stat_dict["count"] > 0 else 0.0
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stat_dict["min"] = min(stat_dict["min"], value)
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stat_dict["max"] = max(stat_dict["max"], value)
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def log_to_csv(self, elapsed):
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row = [round(elapsed, 2)]
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for camera_name in self.camera_names:
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camera = self.cameras[camera_name]
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row.extend(self.build_camera_csv_values(camera))
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row.extend([
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round(self.total_cpu_stats["cur"], 2), round(self.total_cpu_stats["avg"], 2),
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self.format_csv_number(self.total_cpu_stats["min"]), self.format_csv_number(self.total_cpu_stats["max"]),
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round(self.total_ram_stats["cur"], 2), round(self.total_ram_stats["avg"], 2),
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self.format_csv_number(self.total_ram_stats["min"]), self.format_csv_number(self.total_ram_stats["max"]),
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])
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self.csv_writer.writerow(row)
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def build_csv_header(self):
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header = ["time(s)"]
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camera_fields = [
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"connection_type", "status_online", "disconnects",
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"color_fps_cur", "color_fps_avg", "color_fps_min", "color_fps_max",
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"color_delay_cur", "color_delay_avg", "color_delay_min", "color_delay_max",
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"depth_fps_cur", "depth_fps_avg", "depth_fps_min", "depth_fps_max",
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"depth_delay_cur", "depth_delay_avg", "depth_delay_min", "depth_delay_max",
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"cpu_cur", "cpu_avg", "cpu_min", "cpu_max",
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"ram_cur", "ram_avg", "ram_min", "ram_max",
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"color_frames_loss", "color_frames_loss_rate(%)",
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"depth_frames_loss", "depth_frames_loss_rate(%)"
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]
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for camera_name in self.camera_names:
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header.extend([f"{camera_name}_{field}" for field in camera_fields])
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header.extend([
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"total_cpu_cur", "total_cpu_avg", "total_cpu_min", "total_cpu_max",
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"total_ram_cur", "total_ram_avg", "total_ram_min", "total_ram_max",
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])
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return header
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def build_camera_csv_values(self, camera):
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color_tracker = camera["trackers"]["color"]
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depth_tracker = camera["trackers"]["depth"]
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def safe(k):
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v = camera["stats"].get(k, {})
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return (
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round(v.get("cur", 0.0), 2),
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round(v.get("avg", 0.0), 2),
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self.format_csv_number(v.get("min", 0.0)),
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self.format_csv_number(v.get("max", 0.0)),
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)
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if not camera["prev_online"]:
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return [
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camera["connection_type"], camera["prev_online"], camera["disconnect_count"],
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*["N/A"] * 16,
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round(camera["cpu_stats"]["cur"], 2), "N/A", "N/A", "N/A",
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round(camera["ram_stats"]["cur"], 2), "N/A", "N/A", "N/A",
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color_tracker.drop_frames, round(color_tracker.frames_loss_rate() * 100.0, 3),
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depth_tracker.drop_frames, round(depth_tracker.frames_loss_rate() * 100.0, 3)
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]
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return [
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camera["connection_type"], camera["prev_online"], camera["disconnect_count"],
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*safe("color_fps"),
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*safe("color_delay"),
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*safe("depth_fps"),
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*safe("depth_delay"),
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round(camera["cpu_stats"]["cur"], 2), round(camera["cpu_stats"]["avg"], 2),
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self.format_csv_number(camera["cpu_stats"]["min"]), self.format_csv_number(camera["cpu_stats"]["max"]),
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round(camera["ram_stats"]["cur"], 2), round(camera["ram_stats"]["avg"], 2),
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self.format_csv_number(camera["ram_stats"]["min"]), self.format_csv_number(camera["ram_stats"]["max"]),
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color_tracker.drop_frames, round(color_tracker.frames_loss_rate() * 100.0, 3),
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depth_tracker.drop_frames, round(depth_tracker.frames_loss_rate() * 100.0, 3)
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]
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def format_csv_number(self, value):
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if value == float("inf") or value == float("-inf"):
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return 0.0
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return round(value, 2)
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def print_status(self):
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def format_stats(s):
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if s["count"] <= 0:
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return "0.00", "0.00", "0.00", "0.00"
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return f"{s['cur']:.2f}", f"{s['avg']:.2f}", f"{s['min']:.2f}", f"{s['max']:.2f}"
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rows = []
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for camera_name in self.camera_names:
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camera = self.cameras[camera_name]
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for stream in ["color", "depth"]:
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fps_key = f"{stream}_fps"
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delay_key = f"{stream}_delay"
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topic_name = f"/{camera_name}/{stream}/image_raw"
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if not camera["prev_online"]:
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rows.append([camera_name, topic_name, *["N/A"] * 10])
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else:
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fps_vals = format_stats(camera["stats"][fps_key])
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delay_vals = format_stats(camera["stats"][delay_key])
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tracker = camera["trackers"][stream]
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frames_loss = tracker.drop_frames
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frames_loss_rate = round(tracker.frames_loss_rate() * 100.0, 3)
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rows.append([camera_name, topic_name, *fps_vals, *delay_vals, frames_loss, frames_loss_rate])
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header_bottom = ["Camera", "Topic", "fps_cur", "fps_avg", "fps_min", "fps_max", "delay_cur(ms)", "delay_avg(ms)", "delay_min(ms)", "delay_max(ms)", "Pub_lost_count", "Pub_lost_rate(%)"]
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os.system("clear")
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print("Orbbec Camera Benchmark\n")
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print(tabulate([header_bottom] + rows, tablefmt="fancy_grid"))
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|
|
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sys_rows = []
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for camera_name in self.camera_names:
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camera = self.cameras[camera_name]
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if not camera["prev_online"]:
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cpu_vals = (f"{camera['cpu_stats']['cur']:.2f}", "N/A", "N/A", "N/A")
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ram_vals = (f"{camera['ram_stats']['cur']:.2f}", "N/A", "N/A", "N/A")
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else:
|
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cpu_vals = format_stats(camera["cpu_stats"])
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ram_vals = format_stats(camera["ram_stats"])
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|
|
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sys_rows.append([camera_name, "CPU Usage (%)", *cpu_vals, self.node_names[camera_name]])
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sys_rows.append([camera_name, "RAM Usage (MB)", *ram_vals, self.node_names[camera_name]])
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|
|
|
sys_rows.append(["TOTAL", "CPU Usage (%)", *format_stats(self.total_cpu_stats), self.total_node_name])
|
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sys_rows.append(["TOTAL", "RAM Usage (MB)", *format_stats(self.total_ram_stats), self.total_node_name])
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|
|
|
print("\n\n(CPU & RAM)\n")
|
|
print(tabulate(sys_rows, headers=["Camera", "Option", "cur", "avg", "min", "max", "Camera Node"], tablefmt="fancy_grid"))
|
|
|
|
status_rows = []
|
|
for camera_name in self.camera_names:
|
|
camera = self.cameras[camera_name]
|
|
status_rows.append([camera_name, camera["connection_type"], camera["prev_online"], camera["disconnect_count"]])
|
|
print("\n")
|
|
print(tabulate(status_rows, headers=["Camera", "connection_type", "status_online", "disconnect_count"], tablefmt="fancy_grid"))
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|
|
|
|
|
def main(argv=None):
|
|
parser = argparse.ArgumentParser()
|
|
parser.add_argument("--run_time", type=str, default="10s", help="Total run time for monitoring, e.g., 10s, 5m, 1h.")
|
|
parser.add_argument("--csv_file", type=str, default="camera_monitor_log.csv")
|
|
parser.add_argument("--ideal_fps", type=float, default=0.0, help="Optional ideal frame rate to use for drop detection (overrides reported avg).")
|
|
parser.add_argument("--camera_names", type=str, default="camera", help="Comma-separated camera namespaces, e.g., camera,camera01,camera02.")
|
|
cli_args, _ = parser.parse_known_args(argv)
|
|
|
|
rclpy.init(args=argv)
|
|
run_time = parse_duration(cli_args.run_time)
|
|
node = CameraMonitorNode(run_time, cli_args.csv_file, ideal_fps=cli_args.ideal_fps, camera_names=cli_args.camera_names)
|
|
|
|
try:
|
|
rclpy.spin(node)
|
|
except KeyboardInterrupt:
|
|
node.finish()
|
|
finally:
|
|
try:
|
|
node.csv_fh.close()
|
|
except Exception:
|
|
pass
|
|
node.destroy_node()
|
|
|
|
if __name__ == "__main__":
|
|
main()
|