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<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例:</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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<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>性能基准测试使用<a class="headerlink" href="#id1" title="Link to this heading"></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>使用通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></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>
</pre></div>
</div>
<ul class="simple">
<li><p><strong>参数</strong></p>
<ul>
<li><p><strong>--run_time</strong>:监控持续时间,指定为时间字符串,如 <code class="docutils literal notranslate"><span class="pre">&quot;10s&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;5m&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;1h&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;2d&quot;</span></code>。默认为 10 秒。</p></li>
<li><p><strong>--csv_file</strong>: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 &quot;camera_monitor_log.csv&quot;。</p></li>
</ul>
</li>
</ul>
</section>
<section id="id3">
<h2>使用服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
<section id="ros2-c">
<h3>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong>单个服务基准测试</strong></p></li>
</ul>
<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">service_benchmark_node</span> \
<span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
<span class="o">-</span><span class="n">p</span> <span class="n">service_name</span><span class="o">:=/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> \
<span class="o">-</span><span class="n">p</span> <span class="n">service_type</span><span class="o">:=</span><span class="n">orbbec_camera_msgs</span><span class="o">/</span><span class="n">srv</span><span class="o">/</span><span class="n">GetInt32</span> \
<span class="o">-</span><span class="n">p</span> <span class="n">count</span><span class="o">:=</span><span class="mi">10</span>
</pre></div>
</div>
<ul class="simple">
<li><p><strong>多个服务基准测试(YAML 配置)</strong></p></li>
</ul>
<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">service_benchmark_node</span> \
<span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
<span class="o">-</span><span class="n">p</span> <span class="n">yaml_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">default_service_cpp</span><span class="o">.</span><span class="n">yaml</span>
</pre></div>
</div>
</section>
<section id="ros2-python">
<h3>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong>单个服务基准测试</strong></p></li>
</ul>
<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">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">service</span> <span class="o">/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> <span class="o">--</span><span class="n">count</span> <span class="mi">10</span>
</pre></div>
</div>
<ul class="simple">
<li><p><strong>多个服务基准测试(YAML 配置)</strong></p></li>
</ul>
<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">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">yaml_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">default_service</span><span class="o">.</span><span class="n">yaml</span>
</pre></div>
</div>
</section>
<section id="yaml">
<h3><strong>示例 YAML 配置</strong><a class="headerlink" href="#yaml" title="Link to this heading"></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>
<span class="nt">services</span><span class="p">:</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_auto_white_balance</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_exposure</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_gain</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_exposure</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_gain</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_device_info</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetDeviceInfo</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/send_software_trigger</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_auto_white_balance</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_ae_roi</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_auto_exposure</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_exposure</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">30</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_flip</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_gain</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">20</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_mirror</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_rotation</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">90</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_ae_roi</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_auto_exposure</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_exposure</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">3000</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_flip</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_gain</span>
<span class="w"> </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
<span class="w"> </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">200</span><span class="p p-Indicator">}</span>
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<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04日 01:19:55.
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