12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Rename metrics since slashes are not allowed in Prometheus (#1115)

master
Christoph Schütte 2018-04-25 17:34:30 +02:00 committed by Wally B. Feed
parent 41f17e57cd
commit 5356bdf9a8
5 changed files with 17 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
View File

@ -316,24 +316,24 @@ void LocalTrajectoryBuilder2D::InitializeExtrapolator(const common::Time time) {
void LocalTrajectoryBuilder2D::RegisterMetrics( void LocalTrajectoryBuilder2D::RegisterMetrics(
metrics::FamilyFactory* family_factory) { metrics::FamilyFactory* family_factory) {
auto* latency = family_factory->NewGaugeFamily( auto* latency = family_factory->NewGaugeFamily(
"/mapping/internal/2d/local_trajectory_builder/latency", "mapping_internal_2d_local_trajectory_builder_latency",
"Duration from first incoming point cloud in accumulation to local slam " "Duration from first incoming point cloud in accumulation to local slam "
"result"); "result");
kLocalSlamLatencyMetric = latency->Add({}); kLocalSlamLatencyMetric = latency->Add({});
auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20);
auto* scores = family_factory->NewHistogramFamily( auto* scores = family_factory->NewHistogramFamily(
"/mapping/internal/2d/local_trajectory_builder/scores", "mapping_internal_2d_local_trajectory_builder_scores",
"Local scan matcher scores", score_boundaries); "Local scan matcher scores", score_boundaries);
kFastCorrelativeScanMatcherScoreMetric = kFastCorrelativeScanMatcherScoreMetric =
scores->Add({{"scan_matcher", "fast_correlative"}}); scores->Add({{"scan_matcher", "fast_correlative"}});
auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100); auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100);
auto* costs = family_factory->NewHistogramFamily( auto* costs = family_factory->NewHistogramFamily(
"/mapping/internal/2d/local_trajectory_builder/costs", "mapping_internal_2d_local_trajectory_builder_costs",
"Local scan matcher costs", cost_boundaries); "Local scan matcher costs", cost_boundaries);
kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}}); kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}});
auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10); auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10);
auto* residuals = family_factory->NewHistogramFamily( auto* residuals = family_factory->NewHistogramFamily(
"/mapping/internal/2d/local_trajectory_builder/residuals", "mapping_internal_2d_local_trajectory_builder_residuals",
"Local scan matcher residuals", distance_boundaries); "Local scan matcher residuals", distance_boundaries);
kScanMatcherResidualDistanceMetric = kScanMatcherResidualDistanceMetric =
residuals->Add({{"component", "distance"}}); residuals->Add({{"component", "distance"}});

8
cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
View File

@ -300,24 +300,24 @@ LocalTrajectoryBuilder3D::InsertIntoSubmap(
void LocalTrajectoryBuilder3D::RegisterMetrics( void LocalTrajectoryBuilder3D::RegisterMetrics(
metrics::FamilyFactory* family_factory) { metrics::FamilyFactory* family_factory) {
auto* latency = family_factory->NewGaugeFamily( auto* latency = family_factory->NewGaugeFamily(
"/mapping/internal/3d/local_trajectory_builder/latency", "mapping_internal_3d_local_trajectory_builder_latency",
"Duration from first incoming point cloud in accumulation to local slam " "Duration from first incoming point cloud in accumulation to local slam "
"result"); "result");
kLocalSlamLatencyMetric = latency->Add({}); kLocalSlamLatencyMetric = latency->Add({});
auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20);
auto* scores = family_factory->NewHistogramFamily( auto* scores = family_factory->NewHistogramFamily(
"/mapping/internal/3d/local_trajectory_builder/scores", "mapping_internal_3d_local_trajectory_builder_scores",
"Local scan matcher scores", score_boundaries); "Local scan matcher scores", score_boundaries);
kRealTimeCorrelativeScanMatcherScoreMetric = kRealTimeCorrelativeScanMatcherScoreMetric =
scores->Add({{"scan_matcher", "real_time_correlative"}}); scores->Add({{"scan_matcher", "real_time_correlative"}});
auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100); auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100);
auto* costs = family_factory->NewHistogramFamily( auto* costs = family_factory->NewHistogramFamily(
"/mapping/internal/3d/local_trajectory_builder/costs", "mapping_internal_3d_local_trajectory_builder_costs",
"Local scan matcher costs", cost_boundaries); "Local scan matcher costs", cost_boundaries);
kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}}); kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}});
auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10); auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10);
auto* residuals = family_factory->NewHistogramFamily( auto* residuals = family_factory->NewHistogramFamily(
"/mapping/internal/3d/local_trajectory_builder/residuals", "mapping_internal_3d_local_trajectory_builder_residuals",
"Local scan matcher residuals", distance_boundaries); "Local scan matcher residuals", distance_boundaries);
kScanMatcherResidualDistanceMetric = kScanMatcherResidualDistanceMetric =
residuals->Add({{"component", "distance"}}); residuals->Add({{"component", "distance"}});

7
cartographer/mapping/internal/constraints/constraint_builder_2d.cc
View File

@ -307,7 +307,7 @@ void ConstraintBuilder2D::DeleteScanMatcher(const SubmapId& submap_id) {
void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) { void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
auto* counts = factory->NewCounterFamily( auto* counts = factory->NewCounterFamily(
"/mapping/2d/pose_graph/constraint_builder/constraints", "mapping_internal_constraints_constraint_builder_2d_constraints",
"Constraints computed"); "Constraints computed");
kConstraintsSearchedMetric = kConstraintsSearchedMetric =
counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
@ -318,11 +318,12 @@ void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
kGlobalConstraintsFoundMetric = kGlobalConstraintsFoundMetric =
counts->Add({{"search_region", "global"}, {"matcher", "found"}}); counts->Add({{"search_region", "global"}, {"matcher", "found"}});
auto* queue_length = factory->NewGaugeFamily( auto* queue_length = factory->NewGaugeFamily(
"/mapping/2d/pose_graph/constraint_builder/queue_length", "Queue length"); "mapping_internal_constraints_constraint_builder_2d_queue_length",
"Queue length");
kQueueLengthMetric = queue_length->Add({}); kQueueLengthMetric = queue_length->Add({});
auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
auto* scores = factory->NewHistogramFamily( auto* scores = factory->NewHistogramFamily(
"/mapping/2d/pose_graph/constraint_builder/scores", "mapping_internal_constraints_constraint_builder_2d_scores",
"Constraint scores built", boundaries); "Constraint scores built", boundaries);
kConstraintScoresMetric = scores->Add({{"search_region", "local"}}); kConstraintScoresMetric = scores->Add({{"search_region", "local"}});
kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}}); kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}});

7
cartographer/mapping/internal/constraints/constraint_builder_3d.cc
View File

@ -340,7 +340,7 @@ void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) {
void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) { void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
auto* counts = factory->NewCounterFamily( auto* counts = factory->NewCounterFamily(
"/mapping/3d/pose_graph/constraint_builder/constraints", "mapping_internal_constraints_constraint_builder_3d_constraints",
"Constraints computed"); "Constraints computed");
kConstraintsSearchedMetric = kConstraintsSearchedMetric =
counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
@ -351,11 +351,12 @@ void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
kGlobalConstraintsFoundMetric = kGlobalConstraintsFoundMetric =
counts->Add({{"search_region", "global"}, {"matcher", "found"}}); counts->Add({{"search_region", "global"}, {"matcher", "found"}});
auto* queue_length = factory->NewGaugeFamily( auto* queue_length = factory->NewGaugeFamily(
"/mapping/3d/pose_graph/constraint_builder/queue_length", "Queue length"); "mapping_internal_constraints_constraint_builder_3d_queue_length",
"Queue length");
kQueueLengthMetric = queue_length->Add({}); kQueueLengthMetric = queue_length->Add({});
auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
auto* scores = factory->NewHistogramFamily( auto* scores = factory->NewHistogramFamily(
"/mapping/3d/pose_graph/constraint_builder/scores", "mapping_internal_constraints_constraint_builder_3d_scores",
"Constraint scores built", boundaries); "Constraint scores built", boundaries);
kConstraintScoresMetric = kConstraintScoresMetric =
scores->Add({{"search_region", "local"}, {"kind", "score"}}); scores->Add({{"search_region", "local"}, {"kind", "score"}});

2
cartographer/mapping/internal/global_trajectory_builder.cc
View File

@ -155,7 +155,7 @@ std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder3D(
void GlobalTrajectoryBuilderRegisterMetrics(metrics::FamilyFactory* factory) { void GlobalTrajectoryBuilderRegisterMetrics(metrics::FamilyFactory* factory) {
auto* results = factory->NewCounterFamily( auto* results = factory->NewCounterFamily(
"/mapping/internal/global_trajectory_builder/local_slam_results", "mapping_internal_global_trajectory_builder_local_slam_results",
"Local SLAM results"); "Local SLAM results");
kLocalSlamMatchingResults = results->Add({{"type", "MatchingResult"}}); kLocalSlamMatchingResults = results->Add({{"type", "MatchingResult"}});
kLocalSlamInsertionResults = results->Add({{"type", "InsertionResult"}}); kLocalSlamInsertionResults = results->Add({{"type", "InsertionResult"}});