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perf(lidar_centerpoint): add cyclic and processing time #1482

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Aug 1, 2022
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perf(lidar_centerpoint): add cyclic and processing time #1482

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c47a9dc
perf(lidar_centerpoint): add cyclic and processing time
Aug 1, 2022
3d7a0ce
docs: update README
Aug 1, 2022
7ea8f87
Merge branch 'main' into centerpoint-debug-tool
yukke42 Aug 1, 2022
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8 changes: 5 additions & 3 deletions perception/lidar_centerpoint/README.md
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Expand Up @@ -20,9 +20,11 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.

### Output

| Name | Type | Description |
| ------------------ | ----------------------------------------------------- | ---------------- |
| `~/output/objects` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects |
| Name | Type | Description |
| -------------------------- | ----------------------------------------------------- | -------------------- |
| `~/output/objects` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects |
| `debug/cyclic_time_ms` | `tier4_debug_msgs::msg::Float64Stamped` | cyclic time (msg) |
| `debug/processing_time_ms` | `tier4_debug_msgs::msg::Float64Stamped` | processing time (ms) |

## Parameters

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7 changes: 7 additions & 0 deletions perception/lidar_centerpoint/include/lidar_centerpoint/node.hpp
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Expand Up @@ -17,6 +17,8 @@

#include <lidar_centerpoint/centerpoint_trt.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tier4_autoware_utils/ros/debug_publisher.hpp>
#include <tier4_autoware_utils/system/stop_watch.hpp>

#include <autoware_auto_perception_msgs/msg/detected_object_kinematics.hpp>
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
Expand Down Expand Up @@ -51,6 +53,11 @@ class LidarCenterPointNode : public rclcpp::Node
bool has_twist_{false};

std::unique_ptr<CenterPointTRT> detector_ptr_{nullptr};

// debugger
std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_{
nullptr};
std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_ptr_{nullptr};
};

} // namespace centerpoint
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24 changes: 24 additions & 0 deletions perception/lidar_centerpoint/src/node.cpp
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Expand Up @@ -89,6 +89,16 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
std::bind(&LidarCenterPointNode::pointCloudCallback, this, std::placeholders::_1));
objects_pub_ = this->create_publisher<autoware_auto_perception_msgs::msg::DetectedObjects>(
"~/output/objects", rclcpp::QoS{1});

// initialize debug tool
{
using tier4_autoware_utils::DebugPublisher;
using tier4_autoware_utils::StopWatch;
stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
debug_publisher_ptr_ = std::make_unique<DebugPublisher>(this, "lidar_centerpoint");
stop_watch_ptr_->tic("cyclic_time");
stop_watch_ptr_->tic("processing_time");
}
}

void LidarCenterPointNode::pointCloudCallback(
Expand All @@ -100,6 +110,10 @@ void LidarCenterPointNode::pointCloudCallback(
return;
}

if (stop_watch_ptr_) {
stop_watch_ptr_->toc("processing_time", true);
}

std::vector<Box3D> det_boxes3d;
bool is_success = detector_ptr_->detect(*input_pointcloud_msg, tf_buffer_, det_boxes3d);
if (!is_success) {
Expand All @@ -117,6 +131,16 @@ void LidarCenterPointNode::pointCloudCallback(
if (objects_sub_count > 0) {
objects_pub_->publish(output_msg);
}

// add processing time for debug
if (debug_publisher_ptr_ && stop_watch_ptr_) {
const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
debug_publisher_ptr_->publish<tier4_debug_msgs::msg::Float64Stamped>(
"debug/cyclic_time_ms", cyclic_time_ms);
debug_publisher_ptr_->publish<tier4_debug_msgs::msg::Float64Stamped>(
"debug/processing_time_ms", processing_time_ms);
}
}

} // namespace centerpoint
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