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Added statitic Timing/RAM_estimation/. Updated VWDictionary::getMemoryUsed().

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matlabbe
2020-10-05 22:11:28 -04:00
parent a80e062bef
commit 168c87b5ba
4 changed files with 12 additions and 13 deletions
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2
corelib/src/Rtabmap.cpp
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@@ -3287,6 +3287,7 @@ bool Rtabmap::process(
statistics_.addStatistic(Statistics::kMemoryFast_movement(), tooFastMovement?1.0f:0);
if(_publishRAMUsage)
{
UTimer ramTimer;
statistics_.addStatistic(Statistics::kMemoryRAM_usage(), UProcessInfo::getMemoryUsage()/(1024*1024));
long estimatedMemoryUsage = sizeof(Rtabmap);
estimatedMemoryUsage += _optimizedPoses.size() * (sizeof(int) + sizeof(Transform) + 12 * sizeof(float) + sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, Transform>);
@@ -3295,6 +3296,7 @@ bool Rtabmap::process(
estimatedMemoryUsage += _bayesFilter->getMemoryUsed();
estimatedMemoryUsage += _parameters.size()*(sizeof(std::string)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(ParametersMap);
statistics_.addStatistic(Statistics::kMemoryRAM_estimated(), (float)(estimatedMemoryUsage/(1024*1024)));//MB
statistics_.addStatistic(Statistics::kTimingRAM_estimation(), ramTimer.ticks()*1000);
}
if(_publishLikelihood || _publishPdf)

20
corelib/src/VWDictionary.cpp
View File

@@ -366,26 +366,22 @@ unsigned int VWDictionary::getIndexMemoryUsed() const
return _flannIndex->memoryUsed();
}
unsigned long VWDictionary::getMemoryUsed(bool estimate) const
unsigned long VWDictionary::getMemoryUsed() const
{
long memoryUsage = sizeof(VWDictionary);
memoryUsage += getIndexMemoryUsed();
memoryUsage += _dataTree.total()*_dataTree.elemSize();
if(estimate)
if(!_visualWords.empty())
{
if(!_visualWords.empty())
memoryUsage += _visualWords.size()*(sizeof(int) + _visualWords.rbegin()->second->getMemoryUsed() + sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
if(_dataTree.empty() &&
_visualWords.begin()->second->getDescriptor().type() == CV_8U &&
_strategy == kNNFlannKdTree)
{
memoryUsage += _visualWords.size()*(sizeof(int) + _visualWords.begin()->second->getMemoryUsed()+sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
// Binary descriptors were converted to float, and not included in _dataTree
memoryUsage += _visualWords.size() * _visualWords.begin()->second->getDescriptor().total() * sizeof(float) * (_byteToFloat?1:8);
}
}
else
{
for(std::map<int, VisualWord *>::const_iterator iter=_visualWords.begin(); iter!=_visualWords.end(); ++iter)
{
memoryUsage += sizeof(int) + iter->second->getMemoryUsed();
}
memoryUsage += _visualWords.size()*(sizeof(std::_Rb_tree_node_base)) + sizeof(std::map<int, VisualWord *>);
}
if(!_unusedWords.empty())
{
// they are the same words than in _visualWords, so just add the pointer size