mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 20:17:47 +08:00
deploy: fd13aba31f
This commit is contained in:
@@ -0,0 +1,130 @@
|
||||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>性能基准测试 — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
|
||||
|
||||
|
||||
<link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
|
||||
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
|
||||
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
|
||||
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
|
||||
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
|
||||
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
||||
<script src="../../../_static/translations.js?v=beaddf03"></script>
|
||||
<script src="../../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="索引" href="../../../genindex.html" />
|
||||
<link rel="search" title="搜索" href="../../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../../index.html" class="icon icon-home">
|
||||
OrbbecSDK V2 ROS2 封装
|
||||
</a>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||
<!-- Local TOC -->
|
||||
<div class="local-toc"><ul>
|
||||
<li><a class="reference internal" href="#">性能基准测试</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="页面导航">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">性能基准测试</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/camera_devices/6_benchmark/benchmark.rst.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<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>性能基准测试<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>本章介绍如何使用性能基准测试工具,并提供不同相机的测试结果。</p>
|
||||
<div class="toctree-wrapper compound">
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="introduction.html">介绍</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html#id2">通用基准测试节点</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="introduction.html#id3">服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="benchmark_usage.html">性能基准测试使用</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html#id2">使用通用基准测试节点</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html#id3">使用服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="benchmark_data.html">性能基准测试数据</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#id2">通用基准测试数据</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#id3">服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="othertools.html">其他工具</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark">Ob_benchmark 工具</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,126 @@
|
||||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>性能基准测试数据 — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
|
||||
|
||||
|
||||
<link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
|
||||
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
|
||||
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
|
||||
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
|
||||
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
|
||||
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
||||
<script src="../../../_static/translations.js?v=beaddf03"></script>
|
||||
<script src="../../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="索引" href="../../../genindex.html" />
|
||||
<link rel="search" title="搜索" href="../../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../../index.html" class="icon icon-home">
|
||||
OrbbecSDK V2 ROS2 封装
|
||||
</a>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||
<!-- Local TOC -->
|
||||
<div class="local-toc"><ul>
|
||||
<li><a class="reference internal" href="#">性能基准测试数据</a><ul>
|
||||
<li><a class="reference internal" href="#id2">通用基准测试数据</a></li>
|
||||
<li><a class="reference internal" href="#id3">服务基准测试数据</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="页面导航">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">性能基准测试数据</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<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>性能基准测试数据<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>本节记录了使用性能基准测试工具测试不同相机的数据。点击链接下载 xlsx 数据。</p>
|
||||
<section id="id2">
|
||||
<h2>通用基准测试数据<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<p>使用默认启动文件运行 <code class="docutils literal notranslate"><span class="pre">common_benchmark_node</span></code> 并测试 1 小时的数据。</p>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="../../_static/ros2_common_benchmark_data.xlsx">通用基准测试数据</a></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>服务基准测试数据<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<p>使用默认启动文件分别运行 <code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> 和 <code class="docutils literal notranslate"><span class="pre">service_benchmark_node.py</span></code>。每个服务调用 10 次,并记录数据。</p>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_cpp.xlsx">服务基准测试数据 C++</a></p></li>
|
||||
<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_python.xlsx">服务基准测试数据 Python</a></p></li>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,234 @@
|
||||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>性能基准测试使用 — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
|
||||
|
||||
|
||||
<link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
|
||||
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
|
||||
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
|
||||
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
|
||||
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
|
||||
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
||||
<script src="../../../_static/translations.js?v=beaddf03"></script>
|
||||
<script src="../../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="索引" href="../../../genindex.html" />
|
||||
<link rel="search" title="搜索" href="../../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../../index.html" class="icon icon-home">
|
||||
OrbbecSDK V2 ROS2 封装
|
||||
</a>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||
<!-- Local TOC -->
|
||||
<div class="local-toc"><ul>
|
||||
<li><a class="reference internal" href="#">性能基准测试使用</a><ul>
|
||||
<li><a class="reference internal" href="#id2">使用通用基准测试节点</a></li>
|
||||
<li><a class="reference internal" href="#id3">使用服务基准测试节点</a><ul>
|
||||
<li><a class="reference internal" href="#ros2-c">ROS2 C++</a></li>
|
||||
<li><a class="reference internal" href="#ros2-python">ROS2 Python</a></li>
|
||||
<li><a class="reference internal" href="#yaml"><strong>示例 YAML 配置</strong></a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="页面导航">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">性能基准测试使用</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/camera_devices/6_benchmark/benchmark_usage.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<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>性能基准测试使用<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
|
||||
<p>本节介绍如何在 C++ 和 Python 中使用性能基准测试工具,并提供示例 YAML 配置文件。</p>
|
||||
<section id="id2">
|
||||
<h2>使用通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">common_benchmark_node</span><span class="o">.</span><span class="n">py</span> \
|
||||
<span class="o">--</span><span class="n">run_time</span> <span class="mi">2</span><span class="n">h</span> \
|
||||
<span class="o">--</span><span class="n">csv_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">log</span><span class="o">.</span><span class="n">csv</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong>参数</strong></p>
|
||||
<ul>
|
||||
<li><p><strong>--run_time</strong>:监控持续时间,指定为时间字符串,如 <code class="docutils literal notranslate"><span class="pre">"10s"</span></code>、<code class="docutils literal notranslate"><span class="pre">"5m"</span></code>、<code class="docutils literal notranslate"><span class="pre">"1h"</span></code>、<code class="docutils literal notranslate"><span class="pre">"2d"</span></code>。默认为 10 秒。</p></li>
|
||||
<li><p><strong>--csv_file</strong>:输出 CSV 文件的路径。默认情况下,它保存在工作空间目录中,名称为 "camera_monitor_log.csv"。</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</section>
|
||||
<section id="id3">
|
||||
<h2>使用服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
|
||||
<section id="ros2-c">
|
||||
<h3>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p><strong>单个服务基准测试</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
|
||||
<span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">service_name</span><span class="o">:=/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">service_type</span><span class="o">:=</span><span class="n">orbbec_camera_msgs</span><span class="o">/</span><span class="n">srv</span><span class="o">/</span><span class="n">GetInt32</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">count</span><span class="o">:=</span><span class="mi">10</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong>多个服务基准测试(YAML 配置)</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
|
||||
<span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
|
||||
<span class="o">-</span><span class="n">p</span> <span class="n">yaml_file</span><span class="o">:=/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service_cpp</span><span class="o">.</span><span class="n">yaml</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="ros2-python">
|
||||
<h3>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
|
||||
<ul class="simple">
|
||||
<li><p><strong>单个服务基准测试</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">service</span> <span class="o">/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> <span class="o">--</span><span class="n">count</span> <span class="mi">10</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
<ul class="simple">
|
||||
<li><p><strong>多个服务基准测试(YAML 配置)</strong></p></li>
|
||||
</ul>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">yaml_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service</span><span class="o">.</span><span class="n">yaml</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
<section id="yaml">
|
||||
<h3><strong>示例 YAML 配置</strong><a class="headerlink" href="#yaml" title="Link to this heading"></a></h3>
|
||||
<p>我们提供了一个示例 YAML 配置,位于 <code class="docutils literal notranslate"><span class="pre">scripts</span></code> 目录中,名为 <code class="docutils literal notranslate"><span class="pre">service_default.yaml</span></code>。</p>
|
||||
<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">default_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">50</span>
|
||||
|
||||
<span class="nt">services</span><span class="p">:</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_auto_white_balance</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_device_info</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetDeviceInfo</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/send_software_trigger</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_auto_white_balance</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_ae_roi</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_auto_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">30</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_flip</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">20</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_mirror</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_rotation</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">90</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_ae_roi</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_auto_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_exposure</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">3000</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_flip</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
|
||||
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_gain</span>
|
||||
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
|
||||
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">200</span><span class="p p-Indicator">}</span>
|
||||
</pre></div>
|
||||
</div>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,140 @@
|
||||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>介绍 — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
|
||||
|
||||
|
||||
<link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
|
||||
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
|
||||
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
|
||||
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
|
||||
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
|
||||
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
||||
<script src="../../../_static/translations.js?v=beaddf03"></script>
|
||||
<script src="../../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="索引" href="../../../genindex.html" />
|
||||
<link rel="search" title="搜索" href="../../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../../index.html" class="icon icon-home">
|
||||
OrbbecSDK V2 ROS2 封装
|
||||
</a>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||
<!-- Local TOC -->
|
||||
<div class="local-toc"><ul>
|
||||
<li><a class="reference internal" href="#">介绍</a><ul>
|
||||
<li><a class="reference internal" href="#id2">通用基准测试节点</a></li>
|
||||
<li><a class="reference internal" href="#id3">服务基准测试节点</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="页面导航">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">介绍</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/camera_devices/6_benchmark/introduction.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<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>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
@@ -0,0 +1,168 @@
|
||||
|
||||
|
||||
<!DOCTYPE html>
|
||||
<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
|
||||
<head>
|
||||
<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>其他工具 — OrbbecSDK V2 ROS2 封装 文档</title>
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
|
||||
<link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
|
||||
|
||||
|
||||
<link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
|
||||
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
|
||||
<script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
|
||||
<script src="../../../_static/documentation_options.js?v=7d86a446"></script>
|
||||
<script src="../../../_static/doctools.js?v=9bcbadda"></script>
|
||||
<script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
|
||||
<script src="../../../_static/translations.js?v=beaddf03"></script>
|
||||
<script src="../../../_static/js/theme.js"></script>
|
||||
<link rel="index" title="索引" href="../../../genindex.html" />
|
||||
<link rel="search" title="搜索" href="../../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
<div class="wy-grid-for-nav">
|
||||
<nav data-toggle="wy-nav-shift" class="wy-nav-side">
|
||||
<div class="wy-side-scroll">
|
||||
<div class="wy-side-nav-search" >
|
||||
|
||||
|
||||
|
||||
<a href="../../../index.html" class="icon icon-home">
|
||||
OrbbecSDK V2 ROS2 封装
|
||||
</a>
|
||||
<div role="search">
|
||||
<form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
|
||||
<input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
|
||||
<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
||||
</div>
|
||||
</div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
|
||||
<!-- Local TOC -->
|
||||
<div class="local-toc"><ul>
|
||||
<li><a class="reference internal" href="#">其他工具</a><ul>
|
||||
<li><a class="reference internal" href="#ob-benchmark">Ob_benchmark 工具</a><ul>
|
||||
<li><a class="reference internal" href="#start-benchmark-params-json">工具配置 (start_benchmark_params.json)</a></li>
|
||||
<li><a class="reference internal" href="#id2">相机配置(启动文件)</a></li>
|
||||
<li><a class="reference internal" href="#id3">运行 ob_benchmark 工具</a></li>
|
||||
<li><a class="reference internal" href="#id4">输出数据文件</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
||||
<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
|
||||
<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
|
||||
<a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
|
||||
</nav>
|
||||
|
||||
<div class="wy-nav-content">
|
||||
<div class="rst-content">
|
||||
<div role="navigation" aria-label="页面导航">
|
||||
<ul class="wy-breadcrumbs">
|
||||
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
|
||||
<li class="breadcrumb-item active">其他工具</li>
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
<a href="../../../_sources/source/camera_devices/6_benchmark/othertools.md.txt" rel="nofollow"> 查看页面源码</a>
|
||||
</li>
|
||||
</ul>
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<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>
|
||||
</ul>
|
||||
</section>
|
||||
</section>
|
||||
</section>
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<footer>
|
||||
|
||||
<hr/>
|
||||
|
||||
<div role="contentinfo">
|
||||
<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
|
||||
<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
|
||||
</span></p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
</footer>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
<script>
|
||||
jQuery(function () {
|
||||
SphinxRtdTheme.Navigation.enable(true);
|
||||
});
|
||||
</script>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
Reference in New Issue
Block a user