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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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1
corelib/include/rtabmap/core/Statistics.h
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@@ -173,6 +173,7 @@ class RTABMAP_EXP Statistics
RTABMAP_STATS(Timing, Joining_trash, ms); RTABMAP_STATS(Timing, Joining_trash, ms);
RTABMAP_STATS(Timing, Emptying_trash, ms); RTABMAP_STATS(Timing, Emptying_trash, ms);
RTABMAP_STATS(Timing, Finalizing_statistics, ms); RTABMAP_STATS(Timing, Finalizing_statistics, ms);
RTABMAP_STATS(Timing, RAM_estimation, ms);
RTABMAP_STATS(TimingMem, Pre_update, ms); RTABMAP_STATS(TimingMem, Pre_update, ms);
RTABMAP_STATS(TimingMem, Signature_creation, ms); RTABMAP_STATS(TimingMem, Signature_creation, ms);

2
corelib/include/rtabmap/core/VWDictionary.h
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@@ -101,7 +101,7 @@ public:
int getTotalActiveReferences() const {return _totalActiveReferences;} int getTotalActiveReferences() const {return _totalActiveReferences;}
unsigned int getIndexedWordsCount() const; unsigned int getIndexedWordsCount() const;
unsigned int getIndexMemoryUsed() const; // KB unsigned int getIndexMemoryUsed() const; // KB
unsigned long getMemoryUsed(bool estimate = true) const; //Bytes unsigned long getMemoryUsed() const; //Bytes
bool setNNStrategy(NNStrategy strategy); // Return true if the search tree has been re-initialized bool setNNStrategy(NNStrategy strategy); // Return true if the search tree has been re-initialized
bool isIncremental() const {return _incrementalDictionary;} bool isIncremental() const {return _incrementalDictionary;}
bool isIncrementalFlann() const {return _incrementalFlann;} bool isIncrementalFlann() const {return _incrementalFlann;}

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); statistics_.addStatistic(Statistics::kMemoryFast_movement(), tooFastMovement?1.0f:0);
if(_publishRAMUsage) if(_publishRAMUsage)
{ {
UTimer ramTimer;
statistics_.addStatistic(Statistics::kMemoryRAM_usage(), UProcessInfo::getMemoryUsage()/(1024*1024)); statistics_.addStatistic(Statistics::kMemoryRAM_usage(), UProcessInfo::getMemoryUsage()/(1024*1024));
long estimatedMemoryUsage = sizeof(Rtabmap); 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>); 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 += _bayesFilter->getMemoryUsed();
estimatedMemoryUsage += _parameters.size()*(sizeof(std::string)*2+sizeof(std::_Rb_tree_node_base)) + sizeof(ParametersMap); 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::kMemoryRAM_estimated(), (float)(estimatedMemoryUsage/(1024*1024)));//MB
statistics_.addStatistic(Statistics::kTimingRAM_estimation(), ramTimer.ticks()*1000);
} }
if(_publishLikelihood || _publishPdf) if(_publishLikelihood || _publishPdf)

20
corelib/src/VWDictionary.cpp
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@@ -366,26 +366,22 @@ unsigned int VWDictionary::getIndexMemoryUsed() const
return _flannIndex->memoryUsed(); return _flannIndex->memoryUsed();
} }
unsigned long VWDictionary::getMemoryUsed(bool estimate) const unsigned long VWDictionary::getMemoryUsed() const
{ {
long memoryUsage = sizeof(VWDictionary); long memoryUsage = sizeof(VWDictionary);
memoryUsage += getIndexMemoryUsed(); memoryUsage += getIndexMemoryUsed();
memoryUsage += _dataTree.total()*_dataTree.elemSize(); 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()) if(!_unusedWords.empty())
{ {
// they are the same words than in _visualWords, so just add the pointer size // they are the same words than in _visualWords, so just add the pointer size