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<meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>6.4. Other Tools &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
<title>6.3. Other Tools &mdash; OrbbecSDK V2 ROS2 Wrapper documentation</title>
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<link rel="index" title="Index" href="../../../genindex.html" />
<link rel="search" title="Search" href="../../../search.html" />
<link rel="next" title="7. Developer Guide" href="../7_developer_guide/developer_guide.html" />
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</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">6.4. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="#output-data-files">6.4.1.4. Output Data Files</a></li>
<li class="toctree-l3 current"><a class="current reference internal" href="#">6.3. Other Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#ob-benchmark-tool">6.3.1. Ob_benchmark tool</a><ul>
<li class="toctree-l5"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">6.3.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="#camera-configuration-launch-files">6.3.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l5"><a class="reference internal" href="#running-the-ob-benchmark-tool">6.3.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l5"><a class="reference internal" href="#output-data-files">6.3.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
@@ -403,7 +398,7 @@
<li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
<li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
<li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
<li class="breadcrumb-item active"><span class="section-number">6.4. </span>Other Tools</li>
<li class="breadcrumb-item active"><span class="section-number">6.3. </span>Other Tools</li>
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@@ -414,15 +409,15 @@
<div itemprop="articleBody">
<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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="other-tools">
<h1><span class="section-number">6.4. </span>Other Tools<a class="headerlink" href="#other-tools" title="Link to this heading"></a></h1>
<h1><span class="section-number">6.3. </span>Other Tools<a class="headerlink" href="#other-tools" title="Link to this heading"></a></h1>
<section id="ob-benchmark-tool">
<h2><span class="section-number">6.4.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h2>
<h2><span class="section-number">6.3.1. </span>Ob_benchmark tool<a class="headerlink" href="#ob-benchmark-tool" title="Link to this heading"></a></h2>
<blockquote>
<div><p>The 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)</p>
</div></blockquote>
<p>You can find example usage code in the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a>.</p>
<section id="tool-configuration-start-benchmark-params-json">
<h3><span class="section-number">6.4.1.1. </span>Tool Configuration (<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="#tool-configuration-start-benchmark-params-json" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.3.1.1. </span>Tool Configuration (<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="#tool-configuration-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>
@@ -448,11 +443,11 @@
</ul>
</section>
<section id="camera-configuration-launch-files">
<h3><span class="section-number">6.4.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.3.1.2. </span>Camera configuration (launch files)<a class="headerlink" href="#camera-configuration-launch-files" title="Link to this heading"></a></h3>
<p>In the launch folder, there are multiple.launch.py files (<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>). Each file corresponds to a different camera configuration.</p>
</section>
<section id="running-the-ob-benchmark-tool">
<h3><span class="section-number">6.4.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.3.1.3. </span>Running the ob_benchmark tool<a class="headerlink" href="#running-the-ob-benchmark-tool" title="Link to this heading"></a></h3>
<p>To run the tool, use the following commands:</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
@@ -460,7 +455,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
</div>
</section>
<section id="output-data-files">
<h3><span class="section-number">6.4.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.3.1.4. </span>Output Data Files<a class="headerlink" href="#output-data-files" title="Link to this heading"></a></h3>
<p>The output data files will be stored in the ob_benchmark folder with filenames like <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. For example:</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> contains data from the <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> configuration.</p></li>
@@ -474,7 +469,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
</div>
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<span class="lastupdated">Last updated on 2026-02-05 09:12:31.
<span class="lastupdated">Last updated on 2026-03-24 07:49:09.
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