From c2ba7f14fb1b9c60fde2da3ed93a4762be1b8320 Mon Sep 17 00:00:00 2001
From: Justus Braun <Justus.Braun@alliedvision.com>
Date: Wed, 20 Mar 2024 15:22:02 +0100
Subject: [PATCH] Fixed the asynchronous_grab example

---
 .../vimbax_camera_examples/asynchronous_grab.py | 17 +++--------------
 1 file changed, 3 insertions(+), 14 deletions(-)

diff --git a/vimbax_camera_examples/vimbax_camera_examples/asynchronous_grab.py b/vimbax_camera_examples/vimbax_camera_examples/asynchronous_grab.py
index 9b63be0..2845125 100644
--- a/vimbax_camera_examples/vimbax_camera_examples/asynchronous_grab.py
+++ b/vimbax_camera_examples/vimbax_camera_examples/asynchronous_grab.py
@@ -23,9 +23,7 @@
 
 from sensor_msgs.msg import Image
 
-last_frame_id = -1
 frames_recv = 0
-frames_missing = 0
 
 
 def main():
@@ -39,7 +37,7 @@ def signal_handler(signum, frame):
     signal.signal(signal.SIGTERM, signal_handler)
 
     parser = argparse.ArgumentParser()
-    parser.add_argument("node_name")
+    parser.add_argument("node_namespace")
     parser.add_argument("-i", "--info", action="store_true", help="Show frame infos")
     parser.add_argument("-c", "--count", type=int, default=0, help="Frame count until stop stream")
 
@@ -52,28 +50,19 @@ def signal_handler(signum, frame):
     def on_frame(msg: Image):
         global last_frame_id
         global frames_recv
-        global frames_missing
-        frame_id = int(msg.header.frame_id)
-        missing = frame_id - last_frame_id - 1
 
-        if frames_recv > 0:
-            frames_missing += missing
         if args.info:
-            if missing > 0:
-                print(f"{missing} frame missing!")
             print(f"Frame id {msg.header.frame_id} Size {msg.width}x{msg.height} "
                   + f"Format {msg.encoding}")
         else:
             print(".", end='', flush=True)
 
         frames_recv += 1
-        last_frame_id = frame_id
         if args.count > 0 and frames_recv >= args.count:
             stop_future.set_result(None)
 
-    node.create_subscription(Image, f"{args.node_name}/image_raw", on_frame, 10)
+    node.create_subscription(Image, f"{args.node_namespace}/image_raw", on_frame, 10)
 
     rclpy.spin_until_future_complete(node, stop_future)
 
-    print(f"Received frames {frames_recv}")
-    print(f"Missing frames {frames_missing}")
+    print(f"\nReceived frames {frames_recv}")