Add profiling for keyFrame & capture callbacks

CMakeLists.txt

@@ -76,6 +76,10 @@ IF(NOT BUILD_DOC)
   OPTION(BUILD_DOC "Build Documentation" OFF)
 ENDIF(NOT BUILD_DOC)
 
+IF(PROFILING)
+  add_definitions(-DPROFILING)
+  message("Compiling with profiling options...")
+ENDIF(PROFILING)
 #############
 ## Testing ##
 #############

src/problem/problem.cpp

@@ -464,7 +464,23 @@ void Problem::keyFrameCallback(FrameBasePtr _keyframe_ptr, ProcessorBasePtr _pro
     for (auto sensor : hardware_ptr_->getSensorList())
         for (auto processor : sensor->getProcessorList())
             if (processor && (processor != _processor_ptr) )
+            {
+#ifdef PROFILING
+                auto start = std::chrono::high_resolution_clock::now();
+#endif
                 processor->keyFrameCallback(_keyframe_ptr, _time_tolerance);
+#ifdef PROFILING
+                auto stop     = std::chrono::high_resolution_clock::now();
+                auto duration = std::chrono::duration_cast<std::chrono::microseconds>(stop - start);
+                WOLF_INFO("keyFrameCallback Prc_id: ", processor->id(),
+                          " Prc_type: ", processor->getType(),
+                          " Prc_name: ", processor->getName(),
+                          " keyframe_id: ", _keyframe_ptr->id(),
+                          " keyframe_type: ", _keyframe_ptr->getType(),
+                          " timestamp: ", _keyframe_ptr->getTimeStamp(),
+                          " microseconds: ", duration.count());
+#endif
+            }
 }
 
 bool Problem::permitAuxFrame(ProcessorBasePtr _processor_ptr) const

src/sensor/sensor_base.cpp

@@ -350,7 +350,22 @@ bool SensorBase::process(const CaptureBasePtr capture_ptr)
 
     for (const auto processor : processor_list_)
     {
+
+#ifdef PROFILING
+        auto start = std::chrono::high_resolution_clock::now();
+#endif
         processor->captureCallback(capture_ptr);
+#ifdef PROFILING
+        auto stop     = std::chrono::high_resolution_clock::now();
+        auto duration = std::chrono::duration_cast<std::chrono::microseconds>(stop - start);
+        WOLF_INFO("captureCallback Prc_id: ", processor->id(),
+                  " Prc_type: ", processor->getType(),
+                  " Prc_name: ", processor->getName(),
+                  " Cptr_id: ", capture_ptr->id(),
+                  " Cptr_type: ", capture_ptr->getType(),
+                  " timestamp: ", capture_ptr->getTimeStamp(),
+                  " microseconds: ", duration.count());
+#endif
     }
 
     return true;