add timer for perception,and modify hdmap_roi_config file path (#385)

* add timer for perception

* merge conflict

modules/perception/conf/BUILD

@@ -12,6 +12,5 @@ filegroup(
     srcs = [
         "config_manager.config",
         "perception.conf",
-        "hdmap_roi_filter.conf",
     ],
 )

modules/perception/conf/config_manager.config

 model_config_path: "model/tracker.config"
 model_config_path: "model/cnn_segmentation.config"
-#model_config_path: "conf/hdmap_roi_filter.conf"
+model_config_path: "model/hdmap_roi_filter.config"

modules/perception/conf/hdmap_roi_filter.conf

-model_configs {
-    # HdmapROIFilter model.
-    name: "HdmapROIFilter"
-    version: "1.0.0"
-
-    # @name: range
-    # @brief: create a bitmap mask which represents [-range, range]*[-range, range] 
-    # square area around the car.
-    # @required: range > 0.0 && range - (-range) > cell_size
-    double_params {
-        name: "range"
-        value: 70.0
-    }
-
-    # @name: cell_size
-    # @brief: discretize the area using small cells.
-    # @required: cell_size > 0.0
-    double_params {
-        name: "cell_size"
-        value: 0.25
-    }
-
-    # @name: extend_dist
-    # @brief: extend the intervals returned by polygon scans conversion algorithm
-    # @required: none
-    double_params {
-        name: "extend_dist"
-        value: 0.0
-    }
-}

modules/perception/lib/base/BUILD

@@ -7,11 +7,13 @@ cc_library(
     srcs = [
         "file_util.cc",
         "registerer.cc",
+        "timer.cc",
     ],
     hdrs = [
         "file_util.h",
         "registerer.h",
         "singleton.h",
+        "timer.h",
     ],
     linkopts = [
         "-lboost_filesystem",

modules/perception/lib/base/timer.cc

+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "modules/perception/lib/base/timer.h"
+#include <sys/time.h>
+
+#include "modules/common/log.h"
+
+namespace apollo {
+namespace perception {
+
+using std::string;
+using std::chrono::duration_cast;
+using std::chrono::milliseconds;
+
+void Timer::start() {
+  _start_time = std::chrono::system_clock::now();
+}
+
+uint64_t Timer::end(const string& msg) {
+  _end_time = std::chrono::system_clock::now();
+  uint64_t elapsed_time =
+      duration_cast<milliseconds>(_end_time - _start_time).count();
+
+  AINFO << "TIMER " << msg << " elapsed_time: " << elapsed_time << " ms";
+
+  // start new timer.
+  _start_time = _end_time;
+  return elapsed_time;
+}
+
+}  // namespace perception
+}  // namespace apollo

modules/perception/lib/base/timer.h

+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#ifndef MODULES_PERCEPTION_LIB_BASE_TIMER_H_
+#define MODULES_PERCEPTION_LIB_BASE_TIMER_H_
+
+#include <stdint.h>
+#include <chrono>
+#include <string>
+
+#include "modules/common/macro.h"
+
+namespace apollo {
+namespace perception {
+
+using TimePoint = std::chrono::system_clock::time_point;
+
+class Timer {
+ public:
+  Timer() = default;
+
+  // no-thread safe.
+  void start();
+
+  // return the elapsed time,
+  // also output msg and time in glog.
+  // automatically start a new timer.
+  // no-thread safe.
+  uint64_t end(const std::string& msg);
+
+ private:
+  DISALLOW_COPY_AND_ASSIGN(Timer);
+  // in ms.
+  TimePoint _start_time;
+  TimePoint _end_time;
+};
+
+class TimerWrapper {
+ public:
+  explicit TimerWrapper(const std::string& msg) : _msg(msg) {
+    _timer.start();
+  }
+
+  ~TimerWrapper() {
+    _timer.end(_msg);
+  }
+
+ private:
+  DISALLOW_COPY_AND_ASSIGN(TimerWrapper);
+
+  Timer _timer;
+  std::string _msg;
+};
+
+}  // namespace perception
+}  // namespace apollo
+
+#define PERF_FUNCTION(function_name) \
+  apollo::perception::TimerWrapper _timer_wrapper_(function_name)
+
+#define PERF_BLOCK_START()              \
+  apollo::perception::Timer _timer_; \
+  _timer_.start()
+
+#define PERF_BLOCK_END(msg) _timer_.end(msg)
+
+#endif  // MODULES_PERCEPTION_LIB_BASE_TIMER_H_

modules/perception/lib/config_manager/config_manager_test.cc

@@ -40,7 +40,7 @@ class ConfigManagerTest : public testing::Test {
 
 TEST_F(ConfigManagerTest, test_Init) {
   EXPECT_TRUE(config_manager_->Init());
-  EXPECT_EQ(config_manager_->NumModels(), 2u);
+  EXPECT_EQ(config_manager_->NumModels(), 3u);
 }
 
 TEST_F(ConfigManagerTest, test_GetModelConfig) {
@@ -59,7 +59,7 @@ TEST_F(ConfigManagerTest, test_GetModelConfig) {
 TEST_F(ConfigManagerTest, test_ModelConfig) {
   std::string model_name = "ROIFilterTest";
   ASSERT_TRUE(config_manager_->Init());
-  ASSERT_EQ(config_manager_->NumModels(), 2u);
+  ASSERT_EQ(config_manager_->NumModels(), 3u);
   const ModelConfig* model_config = NULL;
   ASSERT_TRUE(config_manager_->GetModelConfig(model_name, &model_config));
   ASSERT_EQ(model_config->name(), model_name);

modules/perception/model/hdmap_roi_filter.config

@@ -9,7 +9,7 @@ model_configs {
     # @required: range > 0.0 && range - (-range) > cell_size
     double_params {
         name: "range"
-        value: 120.0
+        value: 70.0
     }
 
     # @name: cell_size

modules/perception/obstacle/onboard/lidar_process.cc

@@ -27,6 +27,7 @@
 
 #include "modules/common/log.h"
 #include "modules/perception/common/perception_gflags.h"
+#include "modules/perception/lib/base/timer.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/obstacle/lidar/dummy/dummy_algorithms.h"
 #include "modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter.h"
@@ -69,6 +70,7 @@ bool LidarProcess::Init() {
 }
 
 bool LidarProcess::Process(const sensor_msgs::PointCloud2& message) {
+  PERF_FUNCTION("LidarProcess");
   objects_.clear();
   const double kTimeStamp = message.header.stamp.toSec();
   timestamp_ = kTimeStamp;
@@ -76,6 +78,7 @@ bool LidarProcess::Process(const sensor_msgs::PointCloud2& message) {
 
   AINFO << "process the " << seq_num_ << " frame. timestamp: " << timestamp_;
 
+  PERF_BLOCK_START();
   /// get velodyne2world transfrom
   std::shared_ptr<Matrix4d> velodyne_trans = std::make_shared<Matrix4d>();
   if (!GetVelodyneTrans(kTimeStamp, velodyne_trans.get())) {
@@ -84,11 +87,13 @@ bool LidarProcess::Process(const sensor_msgs::PointCloud2& message) {
     return false;
   }
   ADEBUG << "get trans pose succ.";
+  PERF_BLOCK_END("lidar_get_velodyne2world_transfrom");
 
   PointCloudPtr point_cloud(new PointCloud);
   TransPointCloudToPCL(message, &point_cloud);
   ADEBUG << "transform pointcloud success. points num is: "
          << point_cloud->points.size();
+  PERF_BLOCK_END("lidar_transform_poindcloud");
 
   if (!Process(timestamp_, point_cloud, velodyne_trans)) {
     AERROR << "faile to process msg at timestamp: " << kTimeStamp;
@@ -99,6 +104,7 @@ bool LidarProcess::Process(const sensor_msgs::PointCloud2& message) {
 
 bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
                            std::shared_ptr<Matrix4d> velodyne_trans) {
+  PERF_BLOCK_START();
   /// call hdmap to get ROI
   HdmapStructPtr hdmap = nullptr;
   if (hdmap_input_) {
@@ -107,6 +113,7 @@ bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
     PointD velodyne_pose_world = pcl::transformPoint(velodyne_pose, temp_trans);
     hdmap.reset(new HdmapStruct);
     hdmap_input_->GetROI(velodyne_pose_world, &hdmap);
+    PERF_BLOCK_END("lidar_get_roi_from_hdmap");
   }
 
   /// call roi_filter
@@ -125,9 +132,9 @@ bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
       return false;
     }
   }
-
   ADEBUG << "call roi_filter succ. The num of roi_cloud is: "
          << roi_cloud->points.size();
+  PERF_BLOCK_END("lidar_roi_filter");
 
   /// call segmentor
   std::vector<ObjectPtr> objects;
@@ -145,6 +152,7 @@ bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
     }
   }
   ADEBUG << "call segmentation succ. The num of objects is: " << objects.size();
+  PERF_BLOCK_END("lidar_segmentation");
 
   /// call object builder
   if (object_builder_ != nullptr) {
@@ -156,6 +164,7 @@ bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
     }
   }
   ADEBUG << "call object_builder succ.";
+  PERF_BLOCK_END("lidar_object_builder");
 
   /// call tracker
   if (tracker_ != nullptr) {
@@ -168,7 +177,8 @@ bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
       return false;
     }
   }
-  ADEBUG << "lidar process succ, there are " << objects_.size()
+  PERF_BLOCK_END("lidar_tracker");
+  AINFO << "lidar process succ, there are " << objects_.size()
          << " tracked objects.";
   return true;
 }