Rename metrics since slashes are not allowed in Prometheus (#1115)
parent
41f17e57cd
commit
5356bdf9a8
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@ -316,24 +316,24 @@ void LocalTrajectoryBuilder2D::InitializeExtrapolator(const common::Time time) {
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void LocalTrajectoryBuilder2D::RegisterMetrics(
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metrics::FamilyFactory* family_factory) {
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auto* latency = family_factory->NewGaugeFamily(
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"/mapping/internal/2d/local_trajectory_builder/latency",
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"mapping_internal_2d_local_trajectory_builder_latency",
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"Duration from first incoming point cloud in accumulation to local slam "
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"result");
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kLocalSlamLatencyMetric = latency->Add({});
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auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20);
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auto* scores = family_factory->NewHistogramFamily(
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"/mapping/internal/2d/local_trajectory_builder/scores",
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"mapping_internal_2d_local_trajectory_builder_scores",
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"Local scan matcher scores", score_boundaries);
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kFastCorrelativeScanMatcherScoreMetric =
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scores->Add({{"scan_matcher", "fast_correlative"}});
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auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100);
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auto* costs = family_factory->NewHistogramFamily(
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"/mapping/internal/2d/local_trajectory_builder/costs",
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"mapping_internal_2d_local_trajectory_builder_costs",
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"Local scan matcher costs", cost_boundaries);
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kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}});
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auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10);
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auto* residuals = family_factory->NewHistogramFamily(
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"/mapping/internal/2d/local_trajectory_builder/residuals",
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"mapping_internal_2d_local_trajectory_builder_residuals",
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"Local scan matcher residuals", distance_boundaries);
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kScanMatcherResidualDistanceMetric =
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residuals->Add({{"component", "distance"}});
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@ -300,24 +300,24 @@ LocalTrajectoryBuilder3D::InsertIntoSubmap(
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void LocalTrajectoryBuilder3D::RegisterMetrics(
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metrics::FamilyFactory* family_factory) {
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auto* latency = family_factory->NewGaugeFamily(
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"/mapping/internal/3d/local_trajectory_builder/latency",
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"mapping_internal_3d_local_trajectory_builder_latency",
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"Duration from first incoming point cloud in accumulation to local slam "
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"result");
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kLocalSlamLatencyMetric = latency->Add({});
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auto score_boundaries = metrics::Histogram::FixedWidth(0.05, 20);
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auto* scores = family_factory->NewHistogramFamily(
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"/mapping/internal/3d/local_trajectory_builder/scores",
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"mapping_internal_3d_local_trajectory_builder_scores",
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"Local scan matcher scores", score_boundaries);
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kRealTimeCorrelativeScanMatcherScoreMetric =
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scores->Add({{"scan_matcher", "real_time_correlative"}});
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auto cost_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 100);
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auto* costs = family_factory->NewHistogramFamily(
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"/mapping/internal/3d/local_trajectory_builder/costs",
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"mapping_internal_3d_local_trajectory_builder_costs",
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"Local scan matcher costs", cost_boundaries);
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kCeresScanMatcherCostMetric = costs->Add({{"scan_matcher", "ceres"}});
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auto distance_boundaries = metrics::Histogram::ScaledPowersOf(2, 0.01, 10);
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auto* residuals = family_factory->NewHistogramFamily(
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"/mapping/internal/3d/local_trajectory_builder/residuals",
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"mapping_internal_3d_local_trajectory_builder_residuals",
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"Local scan matcher residuals", distance_boundaries);
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kScanMatcherResidualDistanceMetric =
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residuals->Add({{"component", "distance"}});
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@ -307,7 +307,7 @@ void ConstraintBuilder2D::DeleteScanMatcher(const SubmapId& submap_id) {
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void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
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auto* counts = factory->NewCounterFamily(
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"/mapping/2d/pose_graph/constraint_builder/constraints",
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"mapping_internal_constraints_constraint_builder_2d_constraints",
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"Constraints computed");
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kConstraintsSearchedMetric =
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counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
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@ -318,11 +318,12 @@ void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
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kGlobalConstraintsFoundMetric =
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counts->Add({{"search_region", "global"}, {"matcher", "found"}});
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auto* queue_length = factory->NewGaugeFamily(
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"/mapping/2d/pose_graph/constraint_builder/queue_length", "Queue length");
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"mapping_internal_constraints_constraint_builder_2d_queue_length",
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"Queue length");
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kQueueLengthMetric = queue_length->Add({});
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auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
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auto* scores = factory->NewHistogramFamily(
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"/mapping/2d/pose_graph/constraint_builder/scores",
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"mapping_internal_constraints_constraint_builder_2d_scores",
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"Constraint scores built", boundaries);
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kConstraintScoresMetric = scores->Add({{"search_region", "local"}});
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kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}});
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@ -340,7 +340,7 @@ void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) {
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void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
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auto* counts = factory->NewCounterFamily(
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"/mapping/3d/pose_graph/constraint_builder/constraints",
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"mapping_internal_constraints_constraint_builder_3d_constraints",
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"Constraints computed");
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kConstraintsSearchedMetric =
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counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
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@ -351,11 +351,12 @@ void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
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kGlobalConstraintsFoundMetric =
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counts->Add({{"search_region", "global"}, {"matcher", "found"}});
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auto* queue_length = factory->NewGaugeFamily(
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"/mapping/3d/pose_graph/constraint_builder/queue_length", "Queue length");
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"mapping_internal_constraints_constraint_builder_3d_queue_length",
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"Queue length");
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kQueueLengthMetric = queue_length->Add({});
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auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
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auto* scores = factory->NewHistogramFamily(
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"/mapping/3d/pose_graph/constraint_builder/scores",
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"mapping_internal_constraints_constraint_builder_3d_scores",
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"Constraint scores built", boundaries);
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kConstraintScoresMetric =
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scores->Add({{"search_region", "local"}, {"kind", "score"}});
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@ -155,7 +155,7 @@ std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder3D(
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void GlobalTrajectoryBuilderRegisterMetrics(metrics::FamilyFactory* factory) {
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auto* results = factory->NewCounterFamily(
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"/mapping/internal/global_trajectory_builder/local_slam_results",
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"mapping_internal_global_trajectory_builder_local_slam_results",
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"Local SLAM results");
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kLocalSlamMatchingResults = results->Add({{"type", "MatchingResult"}});
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kLocalSlamInsertionResults = results->Add({{"type", "InsertionResult"}});
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