add gperftools for performance profiling

CMakeLists.txt

@@ -3,17 +3,19 @@ project(feh)
 
 option(BUILD_ROSNODE "wrap the system in a rosnode" OFF)
 option(BUILD_G2O "build with g2o support" OFF)
+option(USE_GPERFTOOLS "use gperf for performance profiling" OFF)
+
+if (USE_GPERFTOOLS)
+  add_definitions(-DUSE_GPERFTOOLS)
+endif (USE_GPERFTOOLS)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -std=c++17 -Wno-narrowing -Wno-register -fPIC -g")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mtune=native -march=native")
-# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -funroll-loops")
-# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
-# add_definitions(-DOMP_NUM_THREADS=4)
 
-# set(CMAKE_BUILD_TYPE "RelWithDebInfo")
-set(CMAKE_BUILD_TYPE "Release")
+set(CMAKE_BUILD_TYPE "RelWithDebInfo")
+# set(CMAKE_BUILD_TYPE "Release")
 add_definitions(-DNDEBUG)
 
 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin)
@@ -23,11 +25,9 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/lib)
 # disable logging whose severity level is below the given integer
 # add_definitions(-DGOOGLE_STRIP_LOG=1)
 
-
 # add_definitions(-DEIGEN_DEFAULT_TO_ROW_MAJOR)
 add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_ZERO)
 
-# comment out the following line to disable NaN checks on Jacobians
 find_package(OpenCV REQUIRED)
 
 link_directories(
@@ -36,11 +36,11 @@ link_directories(
         ${PROJECT_SOURCE_DIR}/thirdparty/glog/lib
         ${PROJECT_SOURCE_DIR}/thirdparty/Pangolin/lib
         ${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/lib
-        # ${PROJECT_SOURCE_DIR}/thirdparty/gperftools/lib
-        # /usr/local/lib
+        ${PROJECT_SOURCE_DIR}/thirdparty/gperftools/lib
         /usr/lib/x86_64-linux-gnu
 )
 
+
 include_directories(
         ${PROJECT_SOURCE_DIR}/common
         ${PROJECT_SOURCE_DIR}/src
@@ -49,14 +49,14 @@ include_directories(
         ${PROJECT_SOURCE_DIR}/thirdparty/Pangolin/include
         ${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/include
         ${PROJECT_SOURCE_DIR}/thirdparty/eigen-3.3.7/include/eigen3
+        ${PROJECT_SOURCE_DIR}/thirdparty/gperftools/include
 
         ${PROJECT_SOURCE_DIR}/thirdparty/pybind11/include
         ${JSONCPP_INCLUDE_DIRS}
-        # /usr/local/include/opencv2
         /usr/include/opencv2
         /usr/include/suitesparse
+        /usr/include
         # ${PROJECT_SOURCE_DIR}/thirdparty/libigl/include
-        # ${PROJECT_SOURCE_DIR}/thirdparty/gperftools/include
 )
 
 

build.sh

@@ -1,28 +1,47 @@
 #!/bin/bash
+# Build script of XIVO software.
+# Author: Xiaohan Fei ([email protected])
+# Basic usage: execute the script in terminal
+# ./build.sh
+# Options:
+# 1) ros: build with ROS support
+# 2) g2o: build with pose graph optimization from g2o library
+# 3) gperf: use google performance profiling tools
+# Example:
+# ./build.sh ros g2o gperf
 
 # parsing options
 BUILD_ROSNODE=false
 BUILD_G2O=false
+USE_GPERFTOOLS=false
 
 for arg in "$@"
 do
-  if [ "$arg" == "ros" ]; then
+  if [ $arg == "ros" ]; then
     BUILD_ROSNODE=true
   fi
 
-  if [ "$arg" == "g2o" ]; then
+  if [ $arg == "g2o" ]; then
     BUILD_G2O=true
   fi
+
+  if [ $arg == "gperf" ]; then
+    USE_GPERFTOOLS=true
+  fi
 done
 
-if [ "$BUILD_ROSNODE" = true ]; then
+if [ $BUILD_ROSNODE = true ]; then
   echo "BUILD WITH ROS SUPPORT"
 fi
 
-if [ "$BUILD_G2O" = true ]; then
+if [ $BUILD_G2O = true ]; then
   echo "BUILD WITH G2O SUPPORT"
 fi
 
+if [ $USE_GPERFTOOLS = true ]; then
+  echo "USE GOOGLE PERFORMANCE TOOLS (GPERFTOOLS) FOR PROFILING"
+fi
+
 
 # build dependencies
 PROJECT_DIR=$(pwd)
@@ -65,13 +84,15 @@ cmake .. -DCMAKE_INSTALL_PREFIX=.. -DBUILD_SHARED_LIBS=TRUE
 make install -j
 
 # to build gperftools, need to install autoconf and libtool first
-# sudo apt-get install autoconf libtool
-# cd $PROJECT_DIR/thirdparty/gperftools
-# ./autogen.sh
-# ./configure --prefix=$PROJECT_DIR/thirdparty/gperftools
-# make install
+if [ $USE_GPERFTOOLS = true ]; then
+  sudo apt-get install autoconf libtool
+  cd $PROJECT_DIR/thirdparty/gperftools
+  ./autogen.sh
+  ./configure --prefix=$PROJECT_DIR/thirdparty/gperftools
+  make install
+fi
 
-if [ "$BUILD_G2O" = true ]; then
+if [ $BUILD_G2O = true ]; then
   cd $PROJECT_DIR/thirdparty/g2o
   mkdir build
   cd build
@@ -84,13 +105,6 @@ fi
 mkdir ${PROJECT_DIR}/build
 cd ${PROJECT_DIR}/build
 
-if [ "$BUILD_G2O" = true ] && [ "$BUILD_ROSNODE" = true ]; then
-  cmake .. -DBUILD_G2O=TRUE -DBUILD_ROSNODE=TRUE
-elif [ "$BUILD_G2O" = true ]; then
-  cmake .. -DBUILD_G2O=TRUE
-elif [ "$BUILD_ROSNODE" = true ]; then
-  cmake .. -DBUILD_ROSNODE=TRUE
-else
-  cmake ..
-fi
+cmake .. -DBUILD_G2O=$BUILD_G2O -DBUILD_ROSNODE=$BUILD_ROSNODE -DUSE_GPERFTOOLS=$USE_GPERFTOOLS
+
 make -j

src/CMakeLists.txt

@@ -41,6 +41,10 @@ list(APPEND deps
         common
         )
 
+if (USE_GPERFTOOLS)
+  list(APPEND deps profiler)
+endif (USE_GPERFTOOLS)
+
 add_library(xapp SHARED
         estimator_process.cpp
         loader.cpp
@@ -68,7 +72,7 @@ add_library(xest SHARED
         mm.cpp
         camera_manager.cpp
         imu.cpp)
-target_link_libraries(xest ${deps}) # profiler)
+target_link_libraries(xest ${deps})
 
 set(libxivo xest xapp)
 
@@ -83,9 +87,6 @@ endif(BUILD_G2O)
 add_executable(vio app/vio.cpp)
 target_link_libraries(vio ${libxivo} gflags::gflags)
 
-# add_executable(double_vio app/double_vio.cpp)
-# target_link_libraries(double_vio ${libxivo} gflags::gflags)
-
 ################################################################################
 # TOOLING
 ################################################################################

src/update.cpp

@@ -8,6 +8,10 @@
 #include "absl/strings/str_format.h"
 #include "glog/logging.h"
 
+#ifdef USE_GPERFTOOLS
+#include "gperftools/profiler.h"
+#endif
+
 #include "estimator.h"
 #include "feature.h"
 #include "geometry.h"
@@ -17,6 +21,11 @@
 namespace xivo {
 
 void Estimator::Update() {
+
+#ifdef USE_GPERFTOOLS
+  ProfilerStart();
+#endif
+
   if (instate_features_.empty() && oos_features_.empty())
     return;
 
@@ -149,6 +158,10 @@ void Estimator::Update() {
   timer_.Tock("update");
 
   LOG(INFO) << "Error state absorbed";
+
+#ifdef USE_GPERFTOOLS
+  ProfilerStop();
+#endif
 }
 
 std::vector<FeaturePtr>