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116 lines
3.2 KiB
Plaintext
116 lines
3.2 KiB
Plaintext
# 性能基准测试使用
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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。
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## 使用通用基准测试节点
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```
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ros2 run orbbec_camera common_benchmark_node.py \
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--run_time 2h \
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--csv_file /path/to/log.csv
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```
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* **参数**
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* **--run_time**：监控持续时间，指定为时间字符串，如 `"10s"`、`"5m"`、`"1h"`、`"2d"`。默认为 10 秒。
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* **--csv_file**：输出 CSV 文件的路径。默认情况下，它保存在工作空间目录中，名称为 "camera_monitor_log.csv"。
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## 使用服务基准测试节点
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### ROS2 C++
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* **单个服务基准测试**
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```
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ros2 run orbbec_camera service_benchmark_node \
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--ros-args \
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-p service_name:=/camera/get_depth_gain \
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-p service_type:=orbbec_camera_msgs/srv/GetInt32 \
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-p count:=10
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```
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* **多个服务基准测试（YAML 配置）**
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```
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ros2 run orbbec_camera service_benchmark_node \
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--ros-args \
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-p yaml_file:=/path/to/default_service_cpp.yaml
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```
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### ROS2 Python
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* **单个服务基准测试**
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```
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ros2 run orbbec_camera service_benchmark_node.py --service /camera/get_depth_gain --count 10
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```
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* **多个服务基准测试（YAML 配置）**
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```
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ros2 run orbbec_camera service_benchmark_node.py --yaml_file /path/to/default_service.yaml
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```
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### **示例 YAML 配置**
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我们提供了一个示例 YAML 配置，位于 `scripts` 目录中，名为 `service_default.yaml`。
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```yaml
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default_count: 50
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services:
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- name: /camera/get_auto_white_balance
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_color_exposure
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_color_gain
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_depth_exposure
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_depth_gain
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type: orbbec_camera_msgs/srv/GetInt32
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- name: /camera/get_device_info
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type: orbbec_camera_msgs/srv/GetDeviceInfo
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- name: /camera/send_software_trigger
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_auto_white_balance
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_ae_roi
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type: orbbec_camera_msgs/srv/SetArrays
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request: {data_param: [0,1279,0,719]}
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- name: /camera/set_color_auto_exposure
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_exposure
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 30}
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- name: /camera/set_color_flip
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_gain
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 20}
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- name: /camera/set_color_mirror
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_color_rotation
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 90}
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- name: /camera/set_depth_ae_roi
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type: orbbec_camera_msgs/srv/SetArrays
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request: {data_param: [0,1279,0,719]}
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- name: /camera/set_depth_auto_exposure
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_depth_exposure
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 3000}
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- name: /camera/set_depth_flip
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type: std_srvs/srv/SetBool
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request: {data: false}
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- name: /camera/set_depth_gain
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type: orbbec_camera_msgs/srv/SetInt32
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request: {data: 200}
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```
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