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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-l3" >< a class = "reference internal" href = "../../lidar_devices/lidar.html#id11" > 3.1. 点云格式</ a ></ li >
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< 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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< li class = "breadcrumb-item active" > 其他工具</ li >
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< a href = "../../../_sources/source/camera_devices/6_benchmark/othertools.md.txt" rel = "nofollow" > 查看页面源码</ a >
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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 > 其他工具< a class = "headerlink" href = "#id1" title = "Link to this heading" > </ a ></ h1 >
< section id = "ob-benchmark" >
< h2 > Ob_benchmark 工具< a class = "headerlink" href = "#ob-benchmark" title = "Link to this heading" > </ a ></ h2 >
< blockquote >
< div >< p > 此工具的目标是对各种 OrbbecSDK_ROS2 相机配置的性能进行基准测试。基准测试结果取决于使用的相机和设置。（目前仅适用于 ROS2 Humble） </ p >
</ div ></ blockquote >
< p > 您可以在 < a class = "reference external" href = "https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples" > example</ a > 中找到示例使用代码。</ p >
< section id = "start-benchmark-params-json" >
< h3 > 工具配置 (< a class = "reference external" href = "https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json" > start_benchmark_params.json</ a > )< a class = "headerlink" href = "#start-benchmark-params-json" title = "Link to this heading" > </ a ></ h3 >
< div class = "highlight-json notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "p" > {</ span >
< span class = "w" > </ span >< span class = "nt" > " start_benchmark_params" </ span >< span class = "p" > :</ span >< span class = "w" > </ span >< span class = "p" > {</ span >
< span class = "w" > </ span >< span class = "nt" > " camera_name" </ span >< span class = "p" > :</ span >< span class = "w" > </ span >< span class = "p" > [</ span >
< span class = "w" > </ span >< span class = "s2" > " camera_01" </ span >< span class = "p" > ,</ span >
< span class = "w" > </ span >< span class = "s2" > " camera_02" </ span >< span class = "p" > ,</ span >
< span class = "w" > </ span >< span class = "s2" > " camera_03" </ span >< span class = "p" > ,</ span >
< span class = "w" > </ span >< span class = "s2" > " camera_04" </ span >
< span class = "w" > </ span >< span class = "p" > ],</ span >
< span class = "w" > </ span >< span class = "nt" > " process_name" </ span >< span class = "p" > :</ span >< span class = "w" > </ span >< span class = "s2" > " component_conta" </ span >< span class = "p" > ,</ span >
< span class = "w" > </ span >< span class = "nt" > " switch_cycle" </ span >< span class = "p" > :</ span >< span class = "w" > </ span >< span class = "mi" > 300</ span >< span class = "p" > ,</ span >
< span class = "w" > </ span >< span class = "nt" > " test_cycle" </ span >< span class = "p" > :</ span >< span class = "w" > </ span >< span class = "mi" > 1</ span >< span class = "p" > ,</ span >
< span class = "w" > </ span >< span class = "nt" > " skip_number" </ span >< span class = "p" > :</ span >< span class = "w" > </ span >< span class = "mi" > 30</ span >
< span class = "w" > </ span >< span class = "p" > }</ span >
< span class = "p" > }</ span >
</ pre ></ div >
</ div >
< ul class = "simple" >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > camera_name</ span ></ code > ：要配置的相机名称。例如：< code class = "docutils literal notranslate" >< span class = "pre" > " camera_01" </ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > " camera_02" </ span ></ code > 等。</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > process_name</ span ></ code > ：要监控的进程名称。例如，< code class = "docutils literal notranslate" >< span class = "pre" > " component_conta" </ span ></ code > 将监控容器进程的数据。</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > switch_cycle</ span ></ code > ：切换配置的周期时间，以秒为单位。例如，设置为 < code class = "docutils literal notranslate" >< span class = "pre" > 300</ span ></ code > 意味着配置将每 300 秒切换一次。</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > test_cycle</ span ></ code > ：测试周期，以秒为单位。例如，设置为 < code class = "docutils literal notranslate" >< span class = "pre" > 1</ span ></ code > 意味着工具将每 1 秒收集一次监控进程的数据。</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > skip_number</ span ></ code > ：要跳过的数据点数量。例如，设置为 < code class = "docutils literal notranslate" >< span class = "pre" > 30</ span ></ code > 意味着将忽略前 30 个数据点。</ p ></ li >
</ ul >
</ section >
< section id = "id2" >
< h3 > 相机配置（启动文件）< a class = "headerlink" href = "#id2" title = "Link to this heading" > </ a ></ h3 >
< p > 在 launch 文件夹中，有多个 .launch.py 文件（< code class = "docutils literal notranslate" >< span class = "pre" > ob_benchmark_0.launch.py</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > ob_benchmark_1.launch.py</ span ></ code > 、...、< code class = "docutils literal notranslate" >< span class = "pre" > ob_benchmark_19.launch.py</ span ></ code > ）。每个文件对应不同的相机配置。</ p >
</ section >
< section id = "id3" >
< h3 > 运行 ob_benchmark 工具< a class = "headerlink" href = "#id3" title = "Link to this heading" > </ a ></ h3 >
< p > 要运行该工具，请使用以下命令：</ p >
< div class = "highlight-bash notranslate" >< div class = "highlight" >< pre >< span ></ span >< span class = "nb" > source</ span >< span class = "w" > </ span > install/setup.bash
ros2< span class = "w" > </ span > run< span class = "w" > </ span > orbbec_camera< span class = "w" > </ span > ob_benchmark_node
</ pre ></ div >
</ div >
</ section >
< section id = "id4" >
< h3 > 输出数据文件< a class = "headerlink" href = "#id4" title = "Link to this heading" > </ a ></ h3 >
< p > 输出数据文件将存储在 ob_benchmark 文件夹中，文件名如 < code class = "docutils literal notranslate" >< span class = "pre" > 0.csv</ span ></ code > 、< code class = "docutils literal notranslate" >< span class = "pre" > 1.csv</ span ></ code > 、...、19.csv。例如：</ p >
< ul class = "simple" >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > 0.csv</ span ></ code > 包含来自 < code class = "docutils literal notranslate" >< span class = "pre" > ob_benchmark_0.launch.py</ span ></ code > 配置的数据。</ p ></ li >
< li >< p >< code class = "docutils literal notranslate" >< span class = "pre" > 1.csv</ span ></ code > 包含来自 < code class = "docutils literal notranslate" >< span class = "pre" > ob_benchmark_1.launch.py</ span ></ code > 配置的数据。</ p ></ li >
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2026-01-04 01:19:58 +00:00
< span class = "lastupdated" > 最后更新于 2026年01月04日 01:19:55.
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