OrbbecSDK_ROS2/zh/source/camera_devices/6_benchmark/introduction.html

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            OrbbecSDK V2 ROS2 封装
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<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
<h1>介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<p>本节介绍性能基准测试工具，解释其目的、功能以及它可以帮助您测量的内容。</p>
<section id="id2">
<h2>通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<p><code class="docutils literal notranslate"><span class="pre">common_benchmark_node.py</span></code> 是一个用于监控在 ROS 环境中运行的 Orbbec 相机性能的工具。它实时收集和记录关键相机指标，如帧率、延迟、系统资源使用和丢包率，帮助用户评估相机节点的稳定性和性能（每秒更新一次）。</p>
<p><strong>功能</strong></p>
<ul class="simple">
<li><p>测量发布的图像帧率和延迟（当前、最小、最大、平均）</p></li>
<li><p>监控相机节点的 CPU/ARM 使用率（当前、最小、最大、平均）</p></li>
<li><p>跟踪丢帧率（发布者）和丢包率（订阅者）</p></li>
<li><p>将实时统计信息（1 Hz）打印到终端并将结果保存到 CSV 文件</p></li>
<li><p>支持可配置的运行时长和 CSV 输出路径</p></li>
</ul>
<p><strong>示例</strong></p>
<p>在 ROS1 中，可以测量丢帧率和丢包率，而在 ROS2 中，header 缺少 <code class="docutils literal notranslate"><span class="pre">seq</span></code> 字段，因此仅计算发布者端的丢帧率。</p>
<p><img alt="common_benchmark_ros1" src="../../../_images/common_benchmark_ros1.png" /></p>
<p><img alt="common_benchmark_ros2" src="../../../_images/common_benchmark_ros2.png" /></p>
</section>
<section id="id3">
<h2>服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<p><code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> 工具用于监控服务调用的性能。它可以测量服务调用的成功率和执行服务所需的时间。</p>
<p><strong>功能</strong></p>
<ul class="simple">
<li><p>对单个服务调用进行基准测试，测量延迟和成功率</p></li>
<li><p>对 YAML 配置文件中定义的多个服务进行基准测试</p></li>
<li><p>可选择将基准测试结果保存到 CSV 文件</p></li>
</ul>
<p><strong>示例</strong></p>
<p><img alt="service benchmark" src="../../../_images/service_benchmark.png" /></p>
<p>当您需要收集多个服务的数据时，建议使用 CSV 文件进行分析。</p>
</section>
</section>


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