Merge pull request #83 from ethz-asl/feature/report_resource_usage

Report resource usage
ethz-asl · Nov 20, 2024 · fa4b8e2 · fa4b8e2
2 parents d0d64d8 + f8cfa96
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diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
@@ -1,50 +1,99 @@
 # Description
 
-Thank you for opening a PR. Please summarize the changes in 1 or 2 sentences.
+Thank you for opening a PR! Please summarize the changes in 1–2 sentences.
 
 ## Type of change
 
-Delete options that are not relevant.
-
 - [ ] Bug fix (non-breaking change which fixes an issue)
 - [ ] New feature (non-breaking change which adds functionality)
-- [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
+- [ ] Breaking change (fix or feature that causes existing functionality to not work as expected)
+- [ ] Other (please describe):
+
+## Detailed Summary
+
+Provide the motivation, context, and links to any related issues, PRs, or documentation:
+
+- Motivation: Why is this change necessary?
+- Context: How does it fit into wavemap's functionality?
+- Related issues/PRs: Fixes # (issue) / Links to other PRs
+
+## API Changes
+
+List any changes to wavemap's APIs to help users update their code. Write "None" if there are no changes.
+
+### C++ API:
+
+*
+
+### Python API:
+
+*
 
-## Detailed summary
+### ROS1 Interface:
 
-Please describe the motivation, context and a link to related issues (if appropriate). List any dependencies that are required for this change.
+*
 
-Feel free to summarize the changes as a list of bullet points.
+## Review Notes
 
-Fixes # (issue)
+Is there anything specific the reviewers should focus on, or are there unresolved questions? Mention them here.
 
 # Testing
 
-If possible, verify that the changes produce the desired results by extending the unit tests. If you would like us to help you with this, feel free to open the pull request already and let us know.
+### Automated Tests
 
-If manual tests were performed to verify these changes, please describe them here and provide instructions to reproduce them. Please also list any relevant details for your test configuration below.
+Have you added or modified unit tests to verify these changes? If not, let us know if you'd like assistance.
 
-If the changes are performance related, this is a good place to list the metrics that were used and the improvements that have been achieved.
+### Manual Tests
 
-**System information (please complete if relevant):**
-- CPU: [e.g. Intel i9-9900K]
-- GPU: [e.g. Nvidia RTX 2080Ti]  # Only for visualization-related issues
-- RAM: [e.g. 32GB]
-- OS: [e.g. Ubuntu 20.04]
-- Installation: [e.g., Native (ROS with catkin); or Docker]
+If manual tests were performed to verify these changes, describe them here and include instructions to reproduce them.
+Describe test configurations where applicable.
 
-**Runtime information (please complete if relevant):**
-- Launch file: [e.g. Link to the launch file you used]
-- Config file: [e.g. Link to the config file you used]
-- Dataset name [e.g. Newer College Cloister sequence]  # For public datasets
-- Custom setup:                                        # For online use or personal datasets
-    - Depth sensor: [e.g. Livox MID360 LiDAR]
-    - Pose source: [e.g. Odometry from FastLIO2]
+**System information (optional):**
 
-# Checklist:
+- CPU: [e.g., Intel i9-9900K]
+- GPU: [e.g., Nvidia RTX 2080Ti]
+- RAM: [e.g., 32GB]
+- OS: [e.g., Ubuntu 20.04]
+- API: [e.g., C++, Python, ROS1]
+- Installation: [e.g., pre-built Docker, local CMake, Pip, catkin]
+
+**Runtime information (optional):**
+
+- Launch file: [e.g., Link or GitHub Gist]
+- Config file: [e.g., Link or GitHub Gist]
+- Dataset name (if public): [e.g., Newer College Cloister]
+- Custom setup (for private datasets, or live usage):
+    - Depth sensor: [e.g., Livox MID360 LiDAR]
+    - Pose source: [e.g., Odometry from FastLIO2]
+
+For performance or accuracy-related changes, include the above system and runtime information and describe:
+
+- **Performance (optional)**
+    - Measured operation: [e.g. serializing the map, performing 1M queries, processing dataset X]
+    - Metrics [e.g., CPU time, wall time, total RAM usage]
+- **Accuracy (optional)**
+    - Metrics: [e.g., AUC, accuracy, recall]
+- **Summary of changes**
+    - What metrics improved and by how much?
+    - Did any metrics worsen?
+
+### Benchmarks (To be completed by maintainers)
+
+We will rerun wavemap's benchmarks and report the results here to validate there are no general performance/accuracy regressions.
+
+# Checklist
+
+General
 
 - [ ] My code follows the style guidelines of this project
 - [ ] I have performed a self-review of my code
 - [ ] I have commented my code, particularly in hard-to-understand areas
-- [ ] I have made corresponding changes to the documentation
+- [ ] I have added or updated tests as required
 - [ ] Any required changes in dependencies have been committed and pushed
+
+Documentation (where applicable)
+
+- [ ] I have updated the installation instructions (in docs/pages/installation)
+- [ ] I have updated the code's inline API documentation (e.g., docstrings)
+- [ ] I have updated the parameter documentation (in docs/pages/parameters)
+- [ ] I have updated/extended the tutorials (in docs/pages/tutorials)
diff --git a/examples/cpp/CHANGELOG.rst b/examples/cpp/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package wavemap_examples_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+
 2.1.1 (2024-10-24)
 ------------------
 

diff --git a/examples/cpp/CMakeLists.txt b/examples/cpp/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(wavemap_examples_cpp VERSION 2.1.1 LANGUAGES CXX)
+project(wavemap_examples_cpp VERSION 2.1.2 LANGUAGES CXX)
 
 # Load the wavemap library
 # First, try to load it from sources

diff --git a/examples/python/CHANGELOG.rst b/examples/python/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package wavemap_examples_python
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+
 2.1.1 (2024-10-24)
 ------------------
 

diff --git a/examples/ros1/CHANGELOG.rst b/examples/ros1/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package wavemap_examples_ros1
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+
 2.1.1 (2024-10-24)
 ------------------
 * Address warnings from new cpplint version (v2.0)

diff --git a/examples/ros1/package.xml b/examples/ros1/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="2">
   <name>wavemap_examples_ros1</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Usages examples for wavemap's ROS1 interface.</description>
 
   <maintainer email="[email protected]">Victor Reijgwart</maintainer>

diff --git a/interfaces/ros1/wavemap/CHANGELOG.rst b/interfaces/ros1/wavemap/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package wavemap
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+
 2.1.1 (2024-10-24)
 ------------------
 

diff --git a/interfaces/ros1/wavemap/package.xml b/interfaces/ros1/wavemap/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="2">
   <name>wavemap</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Base library for wavemap.</description>
 
   <maintainer email="[email protected]">Victor Reijgwart</maintainer>

diff --git a/interfaces/ros1/wavemap_all/CHANGELOG.rst b/interfaces/ros1/wavemap_all/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package wavemap_all
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+
 2.1.1 (2024-10-24)
 ------------------
 

diff --git a/interfaces/ros1/wavemap_all/package.xml b/interfaces/ros1/wavemap_all/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="2">
   <name>wavemap_all</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Metapackage that builds all wavemap packages.</description>
 
   <maintainer email="[email protected]">Victor Reijgwart</maintainer>

diff --git a/interfaces/ros1/wavemap_msgs/CHANGELOG.rst b/interfaces/ros1/wavemap_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package wavemap_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+
 2.1.1 (2024-10-24)
 ------------------
 

diff --git a/interfaces/ros1/wavemap_msgs/package.xml b/interfaces/ros1/wavemap_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="2">
   <name>wavemap_msgs</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Message definitions for wavemap's ROS interfaces.</description>
 
   <maintainer email="[email protected]">Victor Reijgwart</maintainer>

diff --git a/interfaces/ros1/wavemap_ros/CHANGELOG.rst b/interfaces/ros1/wavemap_ros/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package wavemap_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+* Report CPU, wall time and RAM usage when rosbag_processor completes
+* Adjust wavemap config schemas to resolve false positive validation warnings caused by CLion bug IJPL-63581
+* Contributors: Victor Reijgwart
+
 2.1.1 (2024-10-24)
 ------------------
 * Address warnings from new cpplint version (v2.0)

diff --git a/interfaces/ros1/wavemap_ros/app/rosbag_processor.cc b/interfaces/ros1/wavemap_ros/app/rosbag_processor.cc
@@ -5,6 +5,7 @@
 #include <glog/logging.h>
 #include <rosgraph_msgs/Clock.h>
 #include <tf/tfMessage.h>
+#include <wavemap/core/utils/profile/resource_monitor.h>
 #include <wavemap_ros_conversions/config_conversions.h>
 
 #include "wavemap_ros/inputs/depth_image_topic_input.h"
@@ -75,13 +76,25 @@ int main(int argc, char** argv) {
     rosbag_processor.enableSimulatedClock(nh);
   }
 
+  // Start measuring resource usage
+  ResourceMonitor resource_monitor;
+  resource_monitor.start();
+
   // Process the rosbag
   if (!rosbag_processor.processAll()) {
     return -1;
   }
 
-  wavemap_server.getMap()->prune();
+  // Finish processing the map
   wavemap_server.getPipeline().runOperations(/*force_run_all*/ true);
+  wavemap_server.getMap()->prune();
+
+  // Report the resource usage
+  resource_monitor.stop();
+  LOG(INFO) << "Processing complete.\nResource usage:\n"
+            << resource_monitor.getLastEpisodeResourceUsageStats()
+            << "\n* Map size: "
+            << wavemap_server.getMap()->getMemoryUsage() / 1024 << " kB\n";
 
   if (nh_private.param("keep_alive", false)) {
     ros::spin();

diff --git a/interfaces/ros1/wavemap_ros/config/wavemap_ouster_os0.yaml b/interfaces/ros1/wavemap_ros/config/wavemap_ouster_os0.yaml
@@ -50,5 +50,3 @@ inputs:
     undistort_motion: true
     topic_queue_length: 10
     max_wait_for_pose: { seconds: 1.0 }
-    # reprojected_pointcloud_topic_name: "/wavemap/reprojected_pointcloud"
-    # projected_range_image_topic_name: "/wavemap/projected_range_image"
diff --git a/...aces/ros1/wavemap_ros/include/wavemap_ros/map_operations/impl/publish_map_operation_inl.h b/...aces/ros1/wavemap_ros/include/wavemap_ros/map_operations/impl/publish_map_operation_inl.h
@@ -4,7 +4,7 @@
 #include <unordered_set>
 
 #include <wavemap/core/indexing/index_hashes.h>
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 #include <wavemap_msgs/Map.h>
 #include <wavemap_ros_conversions/map_msg_conversions.h>
 

diff --git a/interfaces/ros1/wavemap_ros/package.xml b/interfaces/ros1/wavemap_ros/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="2">
   <name>wavemap_ros</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>ROS interface for wavemap.</description>
 
   <maintainer email="[email protected]">Victor Reijgwart</maintainer>

diff --git a/interfaces/ros1/wavemap_ros/src/inputs/depth_image_topic_input.cc b/interfaces/ros1/wavemap_ros/src/inputs/depth_image_topic_input.cc
@@ -13,7 +13,7 @@
 #include <wavemap/core/integrator/projective/projective_integrator.h>
 #include <wavemap/core/utils/iterate/grid_iterator.h>
 #include <wavemap/core/utils/print/eigen.h>
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 
 namespace wavemap {
 DECLARE_CONFIG_MEMBERS(DepthImageTopicInputConfig,

diff --git a/interfaces/ros1/wavemap_ros/src/inputs/pointcloud_topic_input.cc b/interfaces/ros1/wavemap_ros/src/inputs/pointcloud_topic_input.cc
@@ -12,7 +12,7 @@
 #include <sensor_msgs/point_cloud_conversion.h>
 #include <wavemap/core/data_structure/image.h>
 #include <wavemap/core/integrator/projective/projective_integrator.h>
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 #include <wavemap_ros_conversions/time_conversions.h>
 
 namespace wavemap {

diff --git a/interfaces/ros1/wavemap_ros/src/map_operations/publish_map_operation.cc b/interfaces/ros1/wavemap_ros/src/map_operations/publish_map_operation.cc
@@ -5,7 +5,7 @@
 #include <utility>
 
 #include <std_srvs/Empty.h>
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 #include <wavemap_msgs/Map.h>
 #include <wavemap_ros_conversions/map_msg_conversions.h>
 

diff --git a/interfaces/ros1/wavemap_ros/src/map_operations/publish_pointcloud_operation.cc b/interfaces/ros1/wavemap_ros/src/map_operations/publish_pointcloud_operation.cc
@@ -10,7 +10,7 @@
 #include <wavemap/core/map/hashed_chunked_wavelet_octree.h>
 #include <wavemap/core/map/hashed_wavelet_octree.h>
 #include <wavemap/core/utils/iterate/grid_iterator.h>
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 #include <wavemap_ros_conversions/geometry_msg_conversions.h>
 
 namespace wavemap {

diff --git a/interfaces/ros1/wavemap_ros/src/utils/pointcloud_undistorter.cc b/interfaces/ros1/wavemap_ros/src/utils/pointcloud_undistorter.cc
@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 #include <wavemap/core/utils/undistortion/pointcloud_undistortion.h>
 #include <wavemap_ros_conversions/time_conversions.h>
 

diff --git a/interfaces/ros1/wavemap_ros/src/utils/rosbag_processor.cc b/interfaces/ros1/wavemap_ros/src/utils/rosbag_processor.cc
@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 
 namespace wavemap {
 RosbagProcessor::~RosbagProcessor() {

diff --git a/interfaces/ros1/wavemap_ros_conversions/CHANGELOG.rst b/interfaces/ros1/wavemap_ros_conversions/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package wavemap_ros_conversions
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+* Update include path for profiler_interface.h
+* Contributors: Victor Reijgwart
+
 2.1.1 (2024-10-24)
 ------------------
 * Address warnings from new cpplint version (v2.0)

diff --git a/interfaces/ros1/wavemap_ros_conversions/package.xml b/interfaces/ros1/wavemap_ros_conversions/package.xml
@@ -1,7 +1,7 @@
 <?xml version='1.0' encoding='utf-8'?>
 <package format="2">
   <name>wavemap_ros_conversions</name>
-  <version>2.1.1</version>
+  <version>2.1.2</version>
   <description>Conversions between wavemap and ROS types.</description>
 
   <maintainer email="[email protected]">Victor Reijgwart</maintainer>

diff --git a/interfaces/ros1/wavemap_ros_conversions/src/map_msg_conversions.cc b/interfaces/ros1/wavemap_ros_conversions/src/map_msg_conversions.cc
@@ -7,7 +7,7 @@
 #include <unordered_set>
 
 #include <ros/console.h>
-#include <wavemap/core/utils/profiler_interface.h>
+#include <wavemap/core/utils/profile/profiler_interface.h>
 
 namespace wavemap::convert {
 bool mapToRosMsg(const MapBase& map, const std::string& frame_id,

diff --git a/interfaces/ros1/wavemap_rviz_plugin/CHANGELOG.rst b/interfaces/ros1/wavemap_rviz_plugin/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package wavemap_rviz_plugin
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.2 (2024-11-20)
+------------------
+* Report CPU, wall time and RAM usage when rosbag_processor completes
+* Contributors: Victor Reijgwart
+
 2.1.1 (2024-10-24)
 ------------------
 * Address warnings from new cpplint version (v2.0)