update

ros2/TrackingRos2.cpp

@@ -477,21 +477,13 @@ void TrackingRos2::TrackingPorcess(objTrackListPtr objsPtr) {
   //（top收到的时间戳，三个点云同步完成时间戳，点云拼接完的时间戳,点云检测完成时间，检测结果发送时间）
   // (收到检测结果时间戳，与相机融合之后的时间戳，融合之后发送的时间戳，tracking收到消息时间戳）
     static int64_t beginPrint = GetCurTime();
-    if(GetCurTime() - beginPrint > 3000*1000)
+    auto& pt = objsPtr->pt;
+    if(GetCurTime() - beginPrint > 3000*1000 && pt.size() == 9)
     {
-        auto& pt = objsPtr->pt;
         uint64_t start_timestamp = pt.size() > 0 ? pt[0] : 0;
-        RCLCPP_INFO(this->get_logger(),"detector timestamp = %lld, delay time = [%lld,%lld,%lld,%lld,%lld,%lld,%lld,%lld,%lld,%lld]",start_timestamp,
-                pt.size() > 0 ? pt[0] - start_timestamp : 0,
-                pt.size() > 1 ? pt[1] - start_timestamp : 0,
-                pt.size() > 2 ? pt[2] - start_timestamp : 0,
-                pt.size() > 3 ? pt[3] - start_timestamp : 0,
-                pt.size() > 4 ? pt[4] - start_timestamp : 0,
-                pt.size() > 5 ? pt[5] - start_timestamp : 0,
-                pt.size() > 6 ? pt[6] - start_timestamp : 0,
-                pt.size() > 7 ? pt[7] - start_timestamp : 0,
-                pt.size() > 8 ? pt[8] - start_timestamp : 0,
-                GetCurTime() - start_timestamp);        
+        RCLCPP_INFO(this->get_logger(),"detector timestamp = %lld, delay time: threeSyn[%.2f]concatenated[%.2f]clouddetect[%.2f]cloudsend[%.2f]fusionRcv[%.2f]merge[%.2f]fusinSend[%.2f]trackingRcv[%.2f],totel[%.2f]",start_timestamp,
+                float(pt[1] - pt[0])/1000,float(pt[2] - pt[1])/1000,float(pt[3] - pt[2])/1000,float(pt[4] - pt[3])/1000,
+                float(pt[5] - pt[4])/1000,float(pt[6] - pt[5])/1000,float(pt[7] - pt[6])/1000,float(pt[8] - pt[7])/1000,float(GetCurTime() - start_timestamp)/1000);      
         beginPrint = GetCurTime();
     }