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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>6.4. 其他工具 &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 @@
<script src="../../../_static/jquery.js?v=5d32c60e"></script>
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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>
@@ -402,15 +402,15 @@
<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">6.4. </span>其他工具<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
<h1><span class="section-number">6.4. </span>其他工具<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<section id="ob-benchmark">
<h2><span class="section-number">6.4.1. </span>Ob_benchmark 工具<a class="headerlink" href="#ob-benchmark" title="Link to this heading"></a></h2>
<h2><span class="section-number">6.4.1. </span>Ob_benchmark 工具<a class="headerlink" href="#ob-benchmark" title="链接到此标题。"></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><span class="section-number">6.4.1.1. </span>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>
<h3><span class="section-number">6.4.1.1. </span>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="链接到此标题。"></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>
@@ -436,11 +436,11 @@
</ul>
</section>
<section id="id2">
<h3><span class="section-number">6.4.1.2. </span>相机配置（启动文件）<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.4.1.2. </span>相机配置（启动文件）<a class="headerlink" href="#id2" title="链接到此标题。"></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><span class="section-number">6.4.1.3. </span>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.4.1.3. </span>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="链接到此标题。"></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
@@ -448,7 +448,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
</div>
</section>
<section id="id4">
<h3><span class="section-number">6.4.1.4. </span>输出数据文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
<h3><span class="section-number">6.4.1.4. </span>输出数据文件<a class="headerlink" href="#id4" title="链接到此标题。"></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>
@@ -470,7 +470,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=
<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>
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