# Performance Benchmark Tools

This section introduces the performance benchmark tools, their purpose, and the metrics they help measure.

## common_benchmark_node.py

`common_benchmark_node.py` monitors Orbbec camera performance in a ROS environment. It collects and records key camera metrics such as frame rate, latency, system resource usage, and packet/drop rate to help evaluate camera node stability and performance. Statistics are updated once per second.

Features:

- Measures published image frame rate and latency (current, minimum, maximum, and average).
- Monitors camera node CPU/ARM usage (current, minimum, maximum, and average).
- Tracks frame drop rate (publisher) and packet loss rate (subscriber).
- Prints real-time statistics at 1 Hz and saves results to a CSV file.
- Supports configurable runtime and CSV output path.

In ROS 1, both frame drop rate and packet loss rate can be measured. In ROS 2, the header does not contain the `seq` field, so only publisher-side frame drop rate is calculated.

![common_benchmark_ros1](../image/benchmark_images/common_benchmark_ros1.png "ROS1")

![common_benchmark_ros2](../image/benchmark_images/common_benchmark_ros2.png "ROS2")

Run example:

```bash
ros2 run orbbec_camera common_benchmark_node.py \
    --run_time 2h  \
    --csv_file /path/to/log.csv
```

Parameters:

- `--run_time`: Monitoring duration, specified as a time string such as `"10s"`, `"5m"`, `"1h"`, or `"2d"`. The default is 10 seconds.
- `--csv_file`: Output CSV file path. By default, it is saved in the workspace directory as `camera_monitor_log.csv`.

Multi-camera monitoring example:

```bash
ros2 run orbbec_camera common_benchmark_node.py \
--run_time 1h \
--csv_file /tmp/cam_log.csv \
--camera_names camera_01,camera_02
```

## service_benchmark_node.py

`service_benchmark_node` monitors service call performance. It measures service call success rate and execution time.

Features:

- Benchmarks a single service call and measures latency and success rate.
- Benchmarks multiple services defined in a YAML configuration file.
- Can save benchmark results to a CSV file.

![service benchmark](../image/benchmark_images/service_benchmark.png)

When collecting data for multiple services, using a CSV file is recommended for analysis.

### ROS2 C++

Single service benchmark:

```bash
ros2 run orbbec_camera service_benchmark_node \
    --ros-args \
    -p service_name:=/camera/get_depth_gain \
    -p service_type:=orbbec_camera_msgs/srv/GetInt32 \
    -p count:=10
```

Multiple service benchmark (YAML configuration):

```bash
ros2 run orbbec_camera service_benchmark_node \
    --ros-args \
    -p yaml_file:=/path/to/default_service.yaml
```

### ROS2 Python

Single service benchmark:

```bash
ros2 run orbbec_camera service_benchmark_node.py --service /camera/get_depth_gain --count 10
```

Multiple service benchmark (YAML configuration):

```bash
ros2 run orbbec_camera service_benchmark_node.py --yaml_file /path/to/default_service.yaml
```

Example YAML configuration is available at `orbbec_camera/scripts/default_service.yaml`:

```yaml
default_count: 10

services:
- name: /camera/get_auto_white_balance
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_color_exposure
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_color_gain
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_depth_exposure
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_depth_gain
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_device_info
  type: orbbec_camera_msgs/srv/GetDeviceInfo
- name: /camera/send_software_trigger
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_auto_white_balance
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}
- name: /camera/set_color_auto_exposure
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 30}
- name: /camera/set_color_flip
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 20}
- name: /camera/set_color_mirror
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_rotation
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 90}
- name: /camera/set_depth_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}
- name: /camera/set_depth_auto_exposure
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_depth_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 3000}
- name: /camera/set_depth_flip
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_depth_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 200}
```

## ob_benchmark_node

> This tool benchmarks the performance of different OrbbecSDK_ROS2 camera configurations. Benchmark results depend on the camera and settings used. It currently only applies to ROS 2 Humble.

Example usage code is available in [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples).

### Tool Configuration

The configuration file is `orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json`.

```json
{
    "start_benchmark_params": {
        "camera_name": [
            "camera_01",
            "camera_02",
            "camera_03",
            "camera_04"
        ],
        "process_name": "component_conta",
        "switch_cycle": 300,
        "test_cycle": 1,
        "skip_number": 30
    }
}
```

- `camera_name`: Camera names to configure, such as `"camera_01"` or `"camera_02"`.
- `process_name`: Process name to monitor. For example, `"component_conta"` monitors the container process data.
- `switch_cycle`: Configuration switch interval in seconds. For example, `300` means the configuration switches every 300 seconds.
- `test_cycle`: Test interval in seconds. For example, `1` means the tool collects monitored process data every second.
- `skip_number`: Number of data points to skip. For example, `30` means the first 30 data points are ignored.

### Camera Configuration (Launch Files)

The launch folder contains multiple `.launch.py` files (`ob_benchmark_0.launch.py`, `ob_benchmark_1.launch.py`, ..., `ob_benchmark_19.launch.py`). Each file corresponds to a different camera configuration.

### Run ob_benchmark

```bash
source install/setup.bash
ros2 run orbbec_camera ob_benchmark_node
```

### Output Data Files

Output data files are stored in the `ob_benchmark` folder with names such as `0.csv`, `1.csv`, ..., `19.csv`.

- `0.csv` contains data from the `ob_benchmark_0.launch.py` configuration.
- `1.csv` contains data from the `ob_benchmark_1.launch.py` configuration.

## start_benchmark_node

`start_benchmark_node` is the subscriber used in the benchmark workflow. It subscribes to multi-camera color, depth, IR, and point cloud topics according to `camera_name` in `start_benchmark_params.json`. It is usually used together with benchmark launch files.

```bash
ros2 run orbbec_camera start_benchmark_node
```