OrbbecSDK_ROS2/en/.doctrees/source/6_benchmark/othertools.doctree

€•C3Œdocutils.nodes”Œdocument”“”)�”}”(Œ	rawsource”Œ”Œchildren”]”hŒsection”“”)�”}”(hhh]”(hŒtitle”“”)�”}”(hŒOther Tools”h]”hŒText”“”ŒOther Tools”…”�”}”(Œparent”hŒ	_document”hŒsource”NŒline”NubaŒ
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hhhŒX/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/en/source/6_benchmark/othertools.md”ubh
)�”}”(hhh]”(h)�”}”(hŒOb_benchmark tool”h]”(hŒOb”…”�”}”(hh/hhhNhNubhŒ
_”…”�”}”(hh/hhhNhNubhŒbenchmark tool”…”�”}”(hh/hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hhKhh,hh+ubhŒblock_quote”“”)�”}”(hhh]”hŒ	paragraph”“”)�”}”(hŒËThe goal of this tool is to benchmark the performance of various OrbbecSDK_ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)”h]”(hŒJThe goal of this tool is to benchmark the performance of various OrbbecSDK”…”�”}”(hhLhhhNhNubhŒ
_”…”�”}”(hhLhhhNhNubhŒ€ROS2 camera configurations. The benchmark results depend on the camera and settings used.(Currently only works with ROS2 Humble)”…”�”}”(hhLhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhKhhGhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hEhKhh,hhhh+ubhK)�”}”(hŒ/You can find example usage code in the example.”h]”(hŒ'You can find example usage code in the ”…”�”}”(hhhhhhNhNubhŒ	reference”“”)�”}”(hŒexample”h]”hŒexample”…”�”}”(hhrhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”Œrefuri”ŒLhttps://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples”uh*hphKhhhhhhh+ubhŒ
.”…”�”}”(hhhhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhKhh,hhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒ0Tool Configuration (start_benchmark_params.json)”h]”(hŒTool Configuration (”…”�”}”(hh�hhhNhNubhq)�”}”(hŒstart_benchmark_params.json”h]”(hŒstart”…”�”}”(hh—hhhNhNubhŒ
_”…”�”}”(hh—hhhNhNubhŒ	benchmark”…”�”}”(hh—hhhNhNubhŒ
_”…”�”}”(hh—hhhh+hKubhŒparams.json”…”�”}”(hh—hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”h€Œ{https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json”uh*hphK	hh�hhhh+ubhŒ
)”…”�”}”(hh�hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hhK	hhŒhh+ubhŒ
literal_block”“”)�”}”(hX+
{
    "start_benchmark_params": {
        "camera_name": [
            "camera_01",
            "camera_02",
            "camera_03",
            "camera_04"
        ],
        "process_name": "component_conta",
        "switch_cycle": 300,
        "test_cycle": 1,
        "skip_number": 30
    }
}”h]”hX+
{
    "start_benchmark_params": {
        "camera_name": [
            "camera_01",
            "camera_02",
            "camera_03",
            "camera_04"
        ],
        "process_name": "component_conta",
        "switch_cycle": 300,
        "test_cycle": 1,
        "skip_number": 30
    }
}”…”�”}”hhÂsbah}”(h ]”h"]”h$]”h&]”h(]”Œlanguage”Œjson”Œ	xml:space”Œpreserve”uh*hÀhhŒhhhh+hKubhŒbullet_list”“”)�”}”(hhh]”(hŒ	list_item”“”)�”}”(hhh]”hK)�”}”(hŒ[camera_name: Names of the cameras to be configured. Example: "camera_01", "camera_02", etc.”h]”(hŒliteral”“”)�”}”(hŒcamera_name”h]”hŒcamera_name”…”�”}”(hhähhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhhÞhhhh+hKubhŒ2: Names of the cameras to be configured. Example: ”…”�”}”(hhÞhhhNhNubhã)�”}”(hŒ"camera_01"”h]”hŒ"camera_01"”…”�”}”(hhöhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhhÞhhhh+hKubhŒ, ”…”�”}”(hhÞhhhNhNubhã)�”}”(hŒ"camera_02"”h]”hŒ"camera_02"”…”�”}”(hj
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhhÞhhhh+hKubhŒ, etc.”…”�”}”(hhÞhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhKhhÛhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÙhKhhÖhhhh+ubhÚ)�”}”(hhh]”hK)�”}”(hŒ…process_name: The name of the process to be monitored. For example, "component_conta" will monitor the data of the container process.”h]”(hã)�”}”(hŒprocess_name”h]”hŒprocess_name”…”�”}”(hj-
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj)
hhhh+hKubhŒ8: The name of the process to be monitored. For example, ”…”�”}”(hj)
hhhNhNubhã)�”}”(hŒ"component_conta"”h]”hŒ"component_conta"”…”�”}”(hj?
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj)
hhhh+hKubhŒ0 will monitor the data of the container process.”…”�”}”(hj)
hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhKhj&
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÙhKhhÖhhhh+ubhÚ)�”}”(hhh]”hK)�”}”(hŒœswitch_cycle: The cycle time for switching configurations, in seconds. For example, setting it to 300 means the configuration will switch every 300 seconds.”h]”(hã)�”}”(hŒswitch_cycle”h]”hŒswitch_cycle”…”�”}”(hjd
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj`
hhhh+hKubhŒV: The cycle time for switching configurations, in seconds. For example, setting it to ”…”�”}”(hj`
hhhNhNubhã)�”}”(hŒ300”h]”hŒ300”…”�”}”(hjv
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj`
hhhh+hKubhŒ7 means the configuration will switch every 300 seconds.”…”�”}”(hj`
hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhKhj]
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÙhKhhÖhhhh+ubhÚ)�”}”(hhh]”hK)�”}”(hŒ’test_cycle: The testing cycle, in seconds. For example, setting it to 1 means the tool will collect data for the monitored process every 1 second.”h]”(hã)�”}”(hŒ
test_cycle”h]”hŒ
test_cycle”…”�”}”(hj›
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj—
hhhh+hKubhŒ<: The testing cycle, in seconds. For example, setting it to ”…”�”}”(hj—
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hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÙhKhhÖhhhh+ubhÚ)�”}”(hhh]”hK)�”}”(hŒ‚skip_number: The number of data points to skip. For example, setting it to 30 means that the first 30 data points will be ignored.”h]”(hã)�”}”(hŒskip_number”h]”hŒskip_number”…”�”}”(hjÒ
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hhhh+hKubhŒ5 means that the first 30 data points will be ignored.”…”�”}”(hjÎ
hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhK hjË
hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÙhK hhÖhhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hÔhKhhŒhhhh+ubeh}”(h ]”Œ.tool-configuration-start-benchmark-params-json”ah"]”h$]”Œ0tool configuration (start_benchmark_params.json)”ah&]”h(]”uh*h	hK	hh,hhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒ#Camera configuration (launch files)”h]”hŒ#Camera configuration (launch files)”…”�”}”(hjhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhK"hjhh+ubhK)�”}”(hŒÉIn the launch folder, there are multiple.launch.py files (ob_benchmark_0.launch.py, ob_benchmark_1.launch.py, ..., ob_benchmark_19.launch.py). Each file corresponds to a different camera configuration.”h]”(hŒ:In the launch folder, there are multiple.launch.py files (”…”�”}”(hj!hhhNhNubhã)�”}”(hŒob_benchmark_0.launch.py”h]”hŒob_benchmark_0.launch.py”…”�”}”(hj)hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj!hhhh+hKubhŒ, ”…”�”}”(hj!hhhNhNubhã)�”}”(hŒob_benchmark_1.launch.py”h]”hŒob_benchmark_1.launch.py”…”�”}”(hj;hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj!hhhh+hKubhŒ, …, ”…”�”}”(hj!hhhNhNubhã)�”}”(hŒob_benchmark_19.launch.py”h]”hŒob_benchmark_19.launch.py”…”�”}”(hjMhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj!hhhh+hKubhŒ=). Each file corresponds to a different camera configuration.”…”�”}”(hj!hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhK$hjhhhh+ubeh}”(h ]”Œ!camera-configuration-launch-files”ah"]”h$]”Œ#camera configuration (launch files)”ah&]”h(]”uh*h	hK"hh,hhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒRunning the ob_benchmark tool”h]”(hŒRunning the ob”…”�”}”(hjphhhNhNubhŒ
_”…”�”}”(hjphhhNhNubhŒbenchmark tool”…”�”}”(hjphhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hhK&hjmhh+ubhK)�”}”(hŒ,To run the tool, use the following commands:”h]”hŒ,To run the tool, use the following commands:”…”�”}”(hj†hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hJhK(hjmhhhh+ubhÁ)�”}”(hŒBsource install/setup.bash
ros2 run orbbec_camera ob_benchmark_node”h]”hŒBsource install/setup.bash
ros2 run orbbec_camera ob_benchmark_node”…”�”}”hj”sbah}”(h ]”h"]”h$]”h&]”h(]”Œlanguage”Œbash”hÒhÓuh*hÀhjmhhhh+hKubeh}”(h ]”Œrunning-the-ob-benchmark-tool”ah"]”h$]”Œrunning the ob_benchmark tool”ah&]”h(]”uh*h	hK&hh,hhhh+ubh
)�”}”(hhh]”(h)�”}”(hŒOutput Data Files”h]”hŒOutput Data Files”…”�”}”(hj¯hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hhK/hj¬hh+ubhK)�”}”(hŒ{The output data files will be stored in the ob_benchmark folder with filenames like 0.csv, 1.csv, ..., 19.csv. For example:”h]”(hŒ.The output data files will be stored in the ob”…”�”}”(hj½hhhNhNubhŒ
_”…”�”}”(hj½hhhNhNubhŒ%benchmark folder with filenames like ”…”�”}”(hj½hhhNhNubhã)�”}”(hŒ0.csv”h]”hŒ0.csv”…”�”}”(hjÍhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj½hhhh+hKubhŒ, ”…”�”}”(hj½hhhNhNubhã)�”}”(hŒ1.csv”h]”hŒ1.csv”…”�”}”(hjßhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj½hhhh+hKubhŒ, …, 19.csv. For example:”…”�”}”(hj½hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhK1hj¬hhhh+ubhÕ)�”}”(hhh]”(hÚ)�”}”(hhh]”hK)�”}”(hŒD0.csv contains data from the ob_benchmark_0.launch.py configuration.”h]”(hã)�”}”(hŒ0.csv”h]”hŒ0.csv”…”�”}”(hj
hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhjýhhhh+hKubhŒ contains data from the ”…”�”}”(hjýhhhNhNubhã)�”}”(hŒob_benchmark_0.launch.py”h]”hŒob_benchmark_0.launch.py”…”�”}”(hjhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhjýhhhh+hKubhŒ configuration.”…”�”}”(hjýhhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhK3hjúhhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÙhK3hj÷hhhh+ubhÚ)�”}”(hhh]”hK)�”}”(hŒD1.csv contains data from the ob_benchmark_1.launch.py configuration.”h]”(hã)�”}”(hŒ1.csv”h]”hŒ1.csv”…”�”}”(hj8hhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj4hhhh+hKubhŒ contains data from the ”…”�”}”(hj4hhhNhNubhã)�”}”(hŒob_benchmark_1.launch.py”h]”hŒob_benchmark_1.launch.py”…”�”}”(hjJhhhNhNubah}”(h ]”h"]”h$]”h&]”h(]”uh*hâhj4hhhh+hKubhŒ configuration.”…”�”}”(hj4hhhNhNubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hJhK4hj1hhhh+ubah}”(h ]”h"]”h$]”h&]”h(]”uh*hÙhK4hj÷hhhh+ubeh}”(h ]”h"]”h$]”h&]”h(]”uh*hÔhK3hj¬hhhh+ubeh}”(h ]”Œoutput-data-files”ah"]”h$]”Œoutput data files”ah&]”h(]”uh*h	hK/hh,hhhh+ubeh}”(h ]”Œob-benchmark-tool”ah"]”h$]”Œob_benchmark tool”ah&]”h(]”uh*h	hKhhhhhh+ubeh}”(h ]”Œother-tools”ah"]”h$]”Œother tools”ah&]”h(]”uh*h	hK
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