From 3de00b4e4a2fd6fe90b0db7c931acb21079fddc4 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 16 Jan 2025 16:01:09 +0100
Subject: [PATCH] adding profiling in processorTracker
---
include/core/processor/processor_base.h | 2 +-
include/core/processor/processor_tracker.h | 57 +++++++++++++++++++++-
src/processor/processor_tracker.cpp | 42 +++++++++++-----
3 files changed, 85 insertions(+), 16 deletions(-)
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 305db223a..9677cd2da 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -139,7 +139,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
void stopCaptureProfiling();
void startKFProfiling();
void stopKFProfiling();
- void printProfiling(std::ostream& stream = std::cout) const;
+ virtual void printProfiling(std::ostream& stream = std::cout) const;
/** \brief constructor
*
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index c1deeb1bd..4a90afe40 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -107,6 +107,10 @@ class ProcessorTracker : public ProcessorBase
int max_new_features_; ///< maximum nbr. of new features to be processed when adding a keyframe (-1: unlimited. 0:
///< none.)
+ // profiling
+ ProfilingUnit preprocess_profiling_, process_known_profiling_, process_new_profiling_,
+ establish_factors_profiling_, postprocess_profiling_;
+
public:
ProcessorTracker(const std::string& _type, const StateKeys& _structure, int _dim, const YAML::Node& _params);
~ProcessorTracker() override;
@@ -122,6 +126,8 @@ class ProcessorTracker : public ProcessorBase
virtual CaptureBaseConstPtr getIncoming() const;
virtual CaptureBasePtr getIncoming();
+ void printProfiling(std::ostream& stream = std::cout) const override;
+
protected:
/** \brief process an incoming capture
*
@@ -183,7 +189,7 @@ class ProcessorTracker : public ProcessorBase
* - initializing counters, flags, or any derived variables
* - initializing algorithms needed for processing the derived data
*/
- virtual void preProcess(){};
+ virtual void preProcess() {};
/** Post-process
*
@@ -195,7 +201,7 @@ class ProcessorTracker : public ProcessorBase
* - resetting and/or clearing variables and/or algorithms at the end of processing
* - drawing / printing / logging the results of the processing
*/
- virtual void postProcess(){};
+ virtual void postProcess() {};
/** \brief Tracker function
* \return The number of successful tracks.
@@ -271,6 +277,14 @@ class ProcessorTracker : public ProcessorBase
FeatureBasePtrList& getNewFeaturesListIncoming();
void addNewFeatureIncoming(FeatureBasePtr _feature_ptr);
+
+ private:
+ // call to derivate methods with profiling
+ void preProcessProfiling();
+ void postProcessProfiling();
+ unsigned int processKnownProfiling();
+ unsigned int processNewProfiling(const int& _max_features);
+ void establishFactorsProfiling();
};
inline FeatureBaseConstPtrList ProcessorTracker::getNewFeaturesListLast() const
@@ -345,4 +359,43 @@ inline CaptureBasePtr ProcessorTracker::getIncoming()
return incoming_ptr_;
}
+inline void ProcessorTracker::preProcessProfiling()
+{
+ preprocess_profiling_.startProfiling();
+ preProcess();
+ preprocess_profiling_.stopProfiling();
+}
+
+inline void ProcessorTracker::postProcessProfiling()
+{
+ postprocess_profiling_.startProfiling();
+ postProcess();
+ postprocess_profiling_.stopProfiling();
+}
+
+inline unsigned int ProcessorTracker::processKnownProfiling()
+{
+ process_known_profiling_.startProfiling();
+ auto result = processKnown();
+ process_known_profiling_.stopProfiling();
+
+ return result;
+}
+
+inline unsigned int ProcessorTracker::processNewProfiling(const int& _max_features)
+{
+ process_new_profiling_.startProfiling();
+ auto result = processNew(_max_features);
+ process_new_profiling_.stopProfiling();
+
+ return result;
+}
+
+inline void ProcessorTracker::establishFactorsProfiling()
+{
+ establish_factors_profiling_.startProfiling();
+ establishFactors();
+ establish_factors_profiling_.stopProfiling();
+}
+
} // namespace wolf
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 358827931..0c834fccb 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -60,7 +60,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
incoming_ptr_ = _incoming_ptr;
- preProcess(); // Derived class operations
+ preProcessProfiling(); // Including profiling and derived class operations
computeProcessingStep();
@@ -98,7 +98,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// TrackerFeature: We only process new features in Last, here last = nullptr, so we do not have anything
// to do. TrackerLandmark: If we have been given a map, all landmarks in the map are known. Process them.
- processKnown();
+ processKnownProfiling();
// Reset this
resetDerived();
@@ -130,7 +130,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Process info
// TrackerFeature: We only process new features in Last, here last = nullptr, so we do not have anything
// to do. TrackerLandmark: If we have been given a map, all landmarks in the map are known. Process them.
- processKnown();
+ processKnownProfiling();
// Issue KF callback with new KF
getProblem()->keyFrameCallback(keyframe, shared_from_this());
@@ -175,13 +175,13 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
getProblem()->getState(incoming_ptr_->getTimeStamp()));
// Process known information
- processKnown();
+ processKnownProfiling();
// Both Trackers: We have a last_ Capture with not enough features, so populate it.
- processNew(max_new_features_);
+ processNewProfiling(max_new_features_);
// Establish factors
- establishFactors();
+ establishFactorsProfiling();
// Reset this
resetDerived();
@@ -204,7 +204,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
" callback unpacked with ts= ",
keyframe_from_callback->getTimeStamp());
- processKnown();
+ processKnownProfiling();
// chack if the received KF has a capture of this sensor, and if it matches with last_ptr
if (last_ptr_ == keyframe_from_callback->getCaptureOf(this->getSensor()))
@@ -230,10 +230,10 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
incoming_ptr_->getTimeStamp(), getProblem()->getFrameTypes(state_keys_), getProblem()->getState());
// Detect new Features, initialize Landmarks, ...
- processNew(max_new_features_);
+ processNewProfiling(max_new_features_);
// Establish factors
- establishFactors();
+ establishFactorsProfiling();
// Reset this
resetDerived();
@@ -248,12 +248,12 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
case RUNNING_WITHOUT_KEYFRAME: {
WOLF_DEBUG("PT ", getName(), " RUNNING_WITHOUT_KEYFRAME");
- processKnown();
+ processKnownProfiling();
if (voteForKeyFrame() && permittedKeyFrame())
{
// process
- processNew(max_new_features_);
+ processNewProfiling(max_new_features_);
// We create a KF
// set KF on last
@@ -262,7 +262,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
last_ptr_->link(last_frame_ptr_);
// Establish factors
- establishFactors();
+ establishFactorsProfiling();
// Call the new keyframe callback in order to let the other processors to join
getProblem()->keyFrameCallback(last_frame_ptr_, shared_from_this());
@@ -304,7 +304,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
break;
}
- postProcess();
+ postProcessProfiling();
}
void ProcessorTracker::computeProcessingStep()
@@ -386,4 +386,20 @@ void ProcessorTracker::printHeader(int _depth,
<< "i: Cap" << getIncoming()->id() << std::endl;
}
+void ProcessorTracker::printProfiling(std::ostream& _stream) const
+{
+ ProcessorBase::printProfiling(_stream);
+ _stream << "\n\tpreProcess:";
+ preprocess_profiling_.printProfiling("\t\t", _stream);
+ _stream << "\n\tprocessKnown:";
+ process_known_profiling_.printProfiling("\t\t", _stream);
+ _stream << "\n\tprocessNew:";
+ process_new_profiling_.printProfiling("\t\t", _stream);
+ _stream << "\n\testablishFactors:";
+ establish_factors_profiling_.printProfiling("\t\t", _stream);
+ _stream << "\n\tpostProcess:";
+ postprocess_profiling_.printProfiling("\t\t", _stream);
+ _stream << std::endl;
+}
+
} // namespace wolf
--
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