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OrbbecSDK V2 ROS2 封装
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<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>
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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">&quot;start_benchmark_params&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="nt">&quot;camera_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
<span class="w"> </span><span class="s2">&quot;camera_01&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="s2">&quot;camera_02&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="s2">&quot;camera_03&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="s2">&quot;camera_04&quot;</span>
<span class="w"> </span><span class="p">],</span>
<span class="w"> </span><span class="nt">&quot;process_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;component_conta&quot;</span><span class="p">,</span>
<span class="w"> </span><span class="nt">&quot;switch_cycle&quot;</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">&quot;test_cycle&quot;</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">&quot;skip_number&quot;</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">&quot;camera_01&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;camera_02&quot;</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">&quot;component_conta&quot;</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>
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</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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<span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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