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Updated README for benchmark example

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jj
2025-02-26 17:45:41 +08:00
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orbbec_camera/examples/benchmark/README.MD
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## Usage Instructions
### Tool Configuration (start_benchmark_params.json)
### Tool Configuration ([start_benchmark_params.json](../../config/tools/startbenchmark/start_benchmark_params.json))
```json
{
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```
* `camera_name`: Names of the cameras to be configured. Example: `"camera_01"`, `"camera_02"`, etc.
* `process_name`: The name of the process to be monitored. For example, `"component_conta"` will monitor the data of the container process.
* `switch_cycle`: The cycle time for switching configurations, in seconds. For example, setting it to `300` means the configuration will switch every 300 seconds.
* `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.
* `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.
### Camera configuration (launch files)
orbbec_camera/examples/multi_camera_synced_verification_tool/README.MD
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### multicamera_sync
* `gemini_330_series_synced_verify.launch.py` : Single camera runs launch, which provides the camera running node for multi_camera_synced_verify.launch.py.
* `multi_camera_synced_verify.launch.py` : Multi camer synced + launch of save_rgbir tool.
#### output
> The ouput folder is the folder where the camera pictures are output
> The `ouput` folder is the folder where the camera pictures are output
In the output example provided
* `20250218102900` : Represents the camera image information collected at 10:29:00 on February 18, 2025.
* `TotalModeFrames` : Camera image information storage directory.
* `results-2025-02-25_163648` : The result after analyzing and matching the image information of TotalModeFrames.
* `DevicesInfo.txt` : Camera equipment basic information (need to be modified).
* `StreamProfileInfo.txt` : Camera video stream information (no need to modify).
#### Python
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Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](./multicamera_sync/output/20250218102900).
* `primarySerialNumber` : The SN serial number of the primary camera
* `index` : Camera index
* `serialNumber` : The SN serial number of the camera
### Config.ini
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#### Camera pictures naming format
Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](./multicamera_sync/./output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example
Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](./multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example
* `color` : This image is a snapshot of the color stream.
* `SNCP1E5420006D` : The camera's SN serial number is CP1E5420006D.
* `Index0` : Camera 0 (usually referred to primary camera).
* `g1739874543227` : “g” represents the global timestamp, which means the global timestamp of this frame is 1739874543227.
* `f0` : The 0th picture of the color stream acquisition of this camera.
* `s1739874543327` : "s" represents the timestamp of the current system, which means the current system timestamp of this frame is 1739874543327.
* `e50` : The exposure of this frame is 50.
* `d16` : The gain of this frame is 16.
### Analyzing camera image data
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### Analysis tools
* [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json)
* [DevicesInfo.txt ](./multicamera_sync/output/20250218102900/DevicesInfo.txt)
* [Config.ini](./multicamera_sync/Python/Config.ini)
### Camera Configuration