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Add performance info to the offline node. (#420) 

Outputs elapsed wall clock time and process CPU usage when the
node finishes.
master
Wolfgang Hess 2017-07-11 14:57:30 +02:00 committed by GitHub
parent 6f171dc5a7
commit 5417a4ab9d
1 changed files with 19 additions and 0 deletions
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19
cartographer_ros/cartographer_ros/offline_node_main.cc
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@ -14,6 +14,8 @@
* limitations under the License. * limitations under the License.
*/ */
#include <time.h>
#include <chrono>
#include <csignal> #include <csignal>
#include <sstream> #include <sstream>
#include <string> #include <string>
@ -81,6 +83,8 @@ std::tuple<NodeOptions, TrajectoryOptions> LoadOptions() {
} }
void Run(const std::vector<string>& bag_filenames) { void Run(const std::vector<string>& bag_filenames) {
const std::chrono::time_point<std::chrono::steady_clock> start_time =
std::chrono::steady_clock::now();
NodeOptions node_options; NodeOptions node_options;
TrajectoryOptions trajectory_options; TrajectoryOptions trajectory_options;
std::tie(node_options, trajectory_options) = LoadOptions(); std::tie(node_options, trajectory_options) = LoadOptions();
@ -260,6 +264,21 @@ void Run(const std::vector<string>& bag_filenames) {
node.map_builder_bridge()->FinishTrajectory(trajectory_id); node.map_builder_bridge()->FinishTrajectory(trajectory_id);
} }
const std::chrono::time_point<std::chrono::steady_clock> end_time =
std::chrono::steady_clock::now();
const double wall_clock_seconds =
std::chrono::duration_cast<std::chrono::duration<double>>(end_time -
start_time)
.count();
LOG(INFO) << "Elapsed wall clock time: " << wall_clock_seconds << " s";
#ifdef __linux__
timespec cpu_timespec = {};
clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &cpu_timespec);
LOG(INFO) << "Elapsed CPU time: "
<< (cpu_timespec.tv_sec + 1e-9 * cpu_timespec.tv_nsec) << " s";
#endif
node.map_builder_bridge()->SerializeState(bag_filenames.front()); node.map_builder_bridge()->SerializeState(bag_filenames.front());
node.map_builder_bridge()->WriteAssets(bag_filenames.front()); node.map_builder_bridge()->WriteAssets(bag_filenames.front());
} }