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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>6.2. 性能基准测试使用 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
<link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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@@ -16,9 +16,9 @@
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@@ -132,7 +132,7 @@
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
@@ -402,10 +402,10 @@
<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><span class="section-number">6.2. </span>性能基准测试使用<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">6.2. </span>性能基准测试使用<a class="headerlink" href="#id1" title="链接到此标题。"></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><span class="section-number">6.2.1. </span>使用通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<h2><span class="section-number">6.2.1. </span>使用通用基准测试节点<a class="headerlink" href="#id2" title="链接到此标题。"></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>
@@ -421,9 +421,9 @@
</ul>
</section>
<section id="id3">
<h2><span class="section-number">6.2.2. </span>使用服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<h2><span class="section-number">6.2.2. </span>使用服务基准测试节点<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
<section id="ros2-c">
<h3><span class="section-number">6.2.2.1. </span>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.2.2.1. </span>ROS2 C++<a class="headerlink" href="#ros2-c" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong>单个服务基准测试</strong></p></li>
</ul>
@@ -444,7 +444,7 @@
</div>
</section>
<section id="ros2-python">
<h3><span class="section-number">6.2.2.2. </span>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.2.2.2. </span>ROS2 Python<a class="headerlink" href="#ros2-python" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong>单个服务基准测试</strong></p></li>
</ul>
@@ -459,7 +459,7 @@
</div>
</section>
<section id="yaml">
<h3><span class="section-number">6.2.2.3. </span><strong>示例 YAML 配置</strong><a class="headerlink" href="#yaml" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.2.2.3. </span><strong>示例 YAML 配置</strong><a class="headerlink" href="#yaml" title="链接到此标题。"></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>
@@ -536,7 +536,7 @@
<div role="contentinfo">
<p>&#169; 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07日 06:53:11.
<span class="lastupdated">最后更新于 2026年01月13日 02:41:42.
</span></p>
</div>