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142 lines
14 KiB
Plaintext
142 lines
14 KiB
Plaintext
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€•ç6 Œdocutils.nodes”Œdocument”“”)�”}”(Œ rawsource”Œ ”Œchildren”]”h Œsection”“”)�”}”(hhh]”(h Œtitle”“”)�”}”(hŒæ€§èƒ½åŸºå‡†æµ‹è¯•ä½¿ç”¨”h]”h ŒText”“”Œæ€§èƒ½åŸºå‡†æµ‹è¯•ä½¿ç”¨”…”�”}”(Œparent”hŒ _document”hŒsource”Œ]/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/zh/source/6_benchmark/benchmark_usage.md”Œline”K ubaŒ
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attributes”}”(Œids”]”Œclasses”]”Œnames”]”Œdupnames”]”Œbackrefs”]”uŒtagname”hh Khh h h ubh Œ paragraph”“”)�”}”(hŒm本节介ç»�如何在 C++ å’Œ Python ä¸ä½¿ç”¨æ€§èƒ½åŸºå‡†æµ‹è¯•å·¥å…·ï¼Œå¹¶æ��供示例 YAML é…�置文件。”h]”hŒm本节介ç»�如何在 C++ å’Œ Python ä¸ä½¿ç”¨æ€§èƒ½åŸºå‡†æµ‹è¯•å·¥å…·ï¼Œå¹¶æ��供示例 YAML é…�置文件。”…”�”}”(hh.hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h Khh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒ 使用通用基准测试节点”h]”hŒ 使用通用基准测试节点”…”�”}”(hh?hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh Khh<h h ubh Œ
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literal_block”“”)�”}”(hŒfros2 run orbbec_camera common_benchmark_node.py \
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--run_time 2h \
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--csv_file /path/to/log.csv”h]”hŒfros2 run orbbec_camera common_benchmark_node.py \
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--run_time 2h \
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--csv_file /path/to/log.csv”…”�”}”hhOsbah }”(h!]”h#]”h%]”h']”h)]”Œ xml:space”Œpreserve”uh+hMhh<hhh h h K ubh Œ bullet_list”“”)�”}”(hhh]”h Œ list_item”“”)�”}”(hhh]”(h-)�”}”(hŒå�‚æ•°”h]”h Œstrong”“”)�”}”(hŒå�‚æ•°”h]”hŒå�‚æ•°”…”�”}”(hhohhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hmhhihhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h K
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hhfhhh h ubh`)�”}”(hhh]”(he)�”}”(hhh]”h-)�”}”(hŒq--run_time：监控æŒ�ç»æ—¶é—´ï¼ŒæŒ‡å®šä¸ºæ—¶é—´å—符串，如 "10s"ã€�"5m"ã€�"1h"ã€�"2d"。默认为 10 秒。”h]”(hn)�”}”(hŒ
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--run_time”h]”(hŒ--run”…”�”}”(hh�hhh h h K ubhŒ_”…”�”}”(hh�hhh h h K ubhŒtime”…”�”}”(hh�hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hmhh‰hhh h h K ubhŒ7：监控æŒ�ç»æ—¶é—´ï¼ŒæŒ‡å®šä¸ºæ—¶é—´å—符串，如 ”…”�”}”(hh‰hhh h h K ubh Œliteral”“”)�”}”(hŒ"10s"”h]”hŒ"10s"”…”�”}”hh©sbah }”(h!]”h#]”h%]”h']”h)]”uh+h§hh‰hhh h h K ubhŒã€�”…”�”}”(hh‰hhh h h K ubh¨)�”}”(hŒ"5m"”h]”hŒ"5m"”…”�”}”hh»sbah }”(h!]”h#]”h%]”h']”h)]”uh+h§hh‰hhh h h K ubhŒã€�”…”�”}”(hh‰hhh h h K ubh¨)�”}”(hŒ"1h"”h]”hŒ"1h"”…”�”}”hhÍsbah }”(h!]”h#]”h%]”h']”h)]”uh+h§hh‰hhh h h K ubhŒã€�”…”�”}”(hh‰hhh h h K ubh¨)�”}”(hŒ"2d"”h]”hŒ"2d"”…”�”}”hhßsbah }”(h!]”h#]”h%]”h']”h)]”uh+h§hh‰hhh h h K ubhŒã€‚默认为 10 秒。”…”�”}”(hh‰hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h,h Khh†hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hdh Khhƒhhh h ubhe)�”}”(hhh]”h-)�”}”(hŒ…--csv_file：输出 CSV 文件的路径。默认情况下，它ä¿�å˜åœ¨å·¥ä½œç©ºé—´ç›®å½•ä¸ï¼Œå��称为 "camera_monitor_log.csv"。”h]”(hn)�”}”(hŒ
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--csv_file”h]”(hŒ--csv”…”�”}”(hj hhh h h K ubhŒ_”…”�”}”(hj hhh h h K ubhŒfile”…”�”}”(hj hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hmhj hhh h h K ubhŒ`：输出 CSV 文件的路径。默认情况下，它ä¿�å˜åœ¨å·¥ä½œç©ºé—´ç›®å½•ä¸ï¼Œå��称为 ”…”�”}”(hj hhh h h K ubhŒ"”…”�”}”(hj hhh h h K ubhŒcamera”…”�”}”(hj hhh h h K ubhŒ_”…”�”}”(hj hhh h h K ubhŒmonitor”…”�”}”(hj hhh h h K ubhŒ_”…”�”}”(hj hhh h h K ubhŒlog.csv”…”�”}”(hj hhh h h K ubhŒ"”…”�”}”(hj hhh h h K ubhŒã€‚”…”�”}”(hj hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h,h Khhýhhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hdh Khhƒhhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h_h Khhfhhh h ubeh }”(h!]”h#]”h%]”h']”h)]”uh+hdh K
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hhahhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+h_h K
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hh<hhh h ubeh }”(h!]”Œid2”ah#]”h%]”Œ 使用通用基准测试节点”ah']”h)]”uh+h h Khh hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒ 使用æœ�务基准测试节点”h]”hŒ 使用æœ�务基准测试节点”…”�”}”(hjg hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh Khjd h h ubh
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)�”}”(hhh]”(h)�”}”(hŒROS2 C++”h]”hŒROS2 C++”…”�”}”(hjx hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh Khju h h ubh`)�”}”(hhh]”he)�”}”(hhh]”h-)�”}”(hŒå�•ä¸ªæœ�务基准测试”h]”hn)�”}”(hŒå�•ä¸ªæœ�务基准测试”h]”hŒå�•ä¸ªæœ�务基准测试”…”�”}”(hj� hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hmhjŒ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h Khj‰ hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hdh Khj† hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+h_h Khju hhh h ubhN)�”}”(hŒ¶ros2 run orbbec_camera service_benchmark_node \
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--ros-args \
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-p service_name:=/camera/get_depth_gain \
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-p service_type:=orbbec_camera_msgs/srv/GetInt32 \
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-p count:=10”h]”hŒ¶ros2 run orbbec_camera service_benchmark_node \
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--ros-args \
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-p service_name:=/camera/get_depth_gain \
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-p service_type:=orbbec_camera_msgs/srv/GetInt32 \
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-p count:=10”…”�”}”hj° sbah }”(h!]”h#]”h%]”h']”h)]”h]h^uh+hMhju hhh h h K ubh`)�”}”(hhh]”he)�”}”(hhh]”h-)�”}”(hŒ)多个æœ�务基准测试（YAML é…�置）”h]”hn)�”}”(hŒ)多个æœ�务基准测试（YAML é…�置）”h]”hŒ)多个æœ�务基准测试（YAML é…�置）”…”�”}”(hjÈ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hmhjÄ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h K hjÁ hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hdh K hj¾ hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+h_h K hju hhh h ubhN)�”}”(hŒtros2 run orbbec_camera service_benchmark_node \
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--ros-args \
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-p yaml_file:=/path/to/default_service_cpp.yaml”h]”hŒtros2 run orbbec_camera service_benchmark_node \
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--ros-args \
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-p yaml_file:=/path/to/default_service_cpp.yaml”…”�”}”hjè sbah }”(h!]”h#]”h%]”h']”h)]”h]h^uh+hMhju hhh h h K ubeh }”(h!]”Œros2-c”ah#]”h%]”Œros2 c++”ah']”h)]”uh+h h Khjd hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒ ROS2 Python”h]”hŒ ROS2 Python”…”�”}”(hj hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh K'hjþ h h ubh`)�”}”(hhh]”he)�”}”(hhh]”h-)�”}”(hŒå�•ä¸ªæœ�务基准测试”h]”hn)�”}”(hŒå�•ä¸ªæœ�务基准测试”h]”hŒå�•ä¸ªæœ�务基准测试”…”�”}”(hj hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hmhj hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h K)hj hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hdh K)hj hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+h_h K)hjþ hhh h ubhN)�”}”(hŒ\ros2 run orbbec_camera service_benchmark_node.py --service /camera/get_depth_gain --count 10”h]”hŒ\ros2 run orbbec_camera service_benchmark_node.py --service /camera/get_depth_gain --count 10”…”�”}”hj9 sbah }”(h!]”h#]”h%]”h']”h)]”h]h^uh+hMhjþ hhh h h K ubh`)�”}”(hhh]”he)�”}”(hhh]”h-)�”}”(hŒ)多个æœ�务基准测试（YAML é…�置）”h]”hn)�”}”(hŒ)多个æœ�务基准测试（YAML é…�置）”h]”hŒ)多个æœ�务基准测试（YAML é…�置）”…”�”}”(hjQ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hmhjM hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+h,h K/hjJ hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+hdh K/hjG hhh h ubah }”(h!]”h#]”h%]”h']”h)]”uh+h_h K/hjþ hhh h ubhN)�”}”(hŒZros2 run orbbec_camera service_benchmark_node.py --yaml_file /path/to/default_service.yaml”h]”hŒZros2 run orbbec_camera service_benchmark_node.py --yaml_file /path/to/default_service.yaml”…”�”}”hjq sbah }”(h!]”h#]”h%]”h']”h)]”h]h^uh+hMhjþ hhh h h K ubeh }”(h!]”Œ ros2-python”ah#]”h%]”Œ ros2 python”ah']”h)]”uh+h h K'hjd hhh h ubh
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)�”}”(hhh]”(h)�”}”(hŒç¤ºä¾‹ YAML é…�ç½®”h]”hn)�”}”(hŒç¤ºä¾‹ YAML é…�ç½®”h]”hŒç¤ºä¾‹ YAML é…�ç½®”…”�”}”(hjŽ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hmhjŠ hhh h h K ubah }”(h!]”h#]”h%]”h']”h)]”uh+hh K5hj‡ h h ubh-)�”}”(hŒc我们æ��供了一个示例 YAML é…�置，ä½�于 scripts 目录ä¸ï¼Œå��为 service_default.yaml。”h]”(hŒ1我们æ��供了一个示例 YAML é…�置，ä½�于 ”…”�”}”(hj¢ hhh h h K ubh¨)�”}”(hŒscripts”h]”hŒscripts”…”�”}”hjª sbah }”(h!]”h#]”h%]”h']”h)]”uh+h§hj¢ hhh h h K ubhŒ 目录ä¸ï¼Œå��为 ”…”�”}”(hj¢ hhh h h K ubh¨)�”}”(hŒservice_default.yaml”h]”hŒservice_default.yaml”…”�”}”hj¼ sbah }”(h!]”h#]”h%]”h']”h)]”uh+h§hj¢ hhh h h K ubhŒã€‚”…”�”}”(hj¢ hhh h h K ubeh }”(h!]”h#]”h%]”h']”h)]”uh+h,h K7hj‡ hhh h ubhN)�”}”(hX default_count: 50
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services:
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- name: /camera/get_auto_white_balance
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_color_exposure
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_color_gain
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_depth_exposure
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_depth_gain
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_device_info
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type: orbbec_camera_msgs/srv/GetDeviceInfo
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- name: /camera/send_software_trigger
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_auto_white_balance
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_ae_roi
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type: orbbec_camera_msgs/srv/SetArrays
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request: {data_param: [0,1279,0,719]}
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- name: /camera/set_color_auto_exposure
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_exposure
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 30}
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- name: /camera/set_color_flip
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_gain
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 20}
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- name: /camera/set_color_mirror
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_rotation
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 90}
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- name: /camera/set_depth_ae_roi
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type: orbbec_camera_msgs/srv/SetArrays
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request: {data_param: [0,1279,0,719]}
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- name: /camera/set_depth_auto_exposure
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_depth_exposure
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 3000}
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- name: /camera/set_depth_flip
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_depth_gain
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 200}”h]”hX default_count: 50
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services:
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- name: /camera/get_auto_white_balance
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_color_exposure
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_color_gain
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_depth_exposure
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_depth_gain
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_device_info
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type: orbbec_camera_msgs/srv/GetDeviceInfo
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- name: /camera/send_software_trigger
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_auto_white_balance
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_ae_roi
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type: orbbec_camera_msgs/srv/SetArrays
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request: {data_param: [0,1279,0,719]}
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- name: /camera/set_color_auto_exposure
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_exposure
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 30}
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- name: /camera/set_color_flip
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_gain
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 20}
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- name: /camera/set_color_mirror
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_rotation
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 90}
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- name: /camera/set_depth_ae_roi
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type: orbbec_camera_msgs/srv/SetArrays
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request: {data_param: [0,1279,0,719]}
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- name: /camera/set_depth_auto_exposure
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_depth_exposure
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 3000}
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- name: /camera/set_depth_flip
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_depth_gain
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type: orbbec_camera_msgs/srv/SetInt32
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