used vtune to measure time taken to process a frame

Arun-Prasad-V · Jan 31, 2024 · de4459c · de4459c
1 parent 4943275
commit de4459c
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Showing 4 changed files with 22 additions and 6 deletions.
diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
@@ -220,6 +220,8 @@ else()
   set(link_libraries ${realsense2_LIBRARY})
 endif()
 
+list(APPEND link_libraries /opt/intel/oneapi/vtune/2024.0/sdk/lib64/libittnotify.a)
+
 target_link_libraries(${PROJECT_NAME}
     ${link_libraries}
 )

diff --git a/realsense2_camera/include/named_filter.h b/realsense2_camera/include/named_filter.h
@@ -26,7 +26,7 @@ namespace realsense2_camera
     class NamedFilter
     {
         public:
-            NamedFilter(std::shared_ptr<rs2::filter> filter, std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, bool is_enabled=false, bool is_set_parameters=true);
+            NamedFilter(std::shared_ptr<rs2::filter> filter, std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, std::string name="Filter", bool is_enabled=false, bool is_set_parameters=true);
             bool is_enabled() {return _is_enabled;};
             rs2::frameset Process(rs2::frameset frameset);
             rs2::frame Process(rs2::frame frame);
@@ -39,6 +39,7 @@ namespace realsense2_camera
 
         public:
             std::shared_ptr<rs2::filter> _filter;
+            std::string _name;
 
         protected:
             bool _is_enabled;

diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -23,6 +23,7 @@
 // Header files for disabling intra-process comms for static broadcaster.
 #include <rclcpp/publisher_options.hpp>
 #include <tf2_ros/qos.hpp>
+#include "/opt/intel/oneapi/vtune/2024.0/sdk/include/ittnotify.h"
 
 using namespace realsense2_camera;
 
@@ -247,7 +248,7 @@ void BaseRealSenseNode::setupFilters()
     _filters.push_back(_colorizer_filter);
     _filters.push_back(_pc_filter);
 
-    _align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
+    _align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::gl::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
     _filters.push_back(_align_depth_filter);
 }
 
@@ -549,9 +550,19 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
         rs2::video_frame original_color_frame = frameset.get_color_frame();
 
         ROS_DEBUG("num_filters: %d", static_cast<int>(_filters.size()));
+        __itt_domain* domain = __itt_domain_create("MyDomain");
+
         for (auto filter_it : _filters)
         {
+            char temp_name[15];
+            std::strcpy(temp_name, filter_it->_name.c_str()); 
+            //ROS_INFO_STREAM("filter naem: " << temp_name);
+            __itt_string_handle* task = __itt_string_handle_create(temp_name);
+            __itt_task_begin(domain, __itt_null, __itt_null, task);
+
             frameset = filter_it->Process(frameset);
+
+            __itt_task_end(domain);
         }
 
         ROS_DEBUG("List of frameset after applying filters: size: %d", static_cast<int>(frameset.size()));

diff --git a/realsense2_camera/src/named_filter.cpp b/realsense2_camera/src/named_filter.cpp
@@ -19,8 +19,8 @@
 
 using namespace realsense2_camera;
 
-NamedFilter::NamedFilter(std::shared_ptr<rs2::filter> filter, std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, bool is_enabled, bool is_set_parameters):
-    _filter(filter), _is_enabled(is_enabled), _params(parameters, logger), _logger(logger)
+NamedFilter::NamedFilter(std::shared_ptr<rs2::filter> filter, std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, std::string name, bool is_enabled, bool is_set_parameters):
+    _filter(filter), _name(name), _is_enabled(is_enabled), _params(parameters, logger), _logger(logger)
 {
     if (is_set_parameters)
         setParameters();
@@ -74,11 +74,12 @@ rs2::frame NamedFilter::Process(rs2::frame frame)
 
 
 PointcloudFilter::PointcloudFilter(std::shared_ptr<rs2::filter> filter, rclcpp::Node& node, std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, bool is_enabled):
-    NamedFilter(filter, parameters, logger, is_enabled, false),
+    NamedFilter(filter, parameters, logger, "pointcloud", is_enabled, false),
     _node(node),
     _allow_no_texture_points(ALLOW_NO_TEXTURE_POINTS),
     _ordered_pc(ORDERED_PC)
     {
+        //_name = "pointcloud";
         setParameters();
     }
 
@@ -292,8 +293,9 @@ void PointcloudFilter::Publish(rs2::points pc, const rclcpp::Time& t, const rs2:
 AlignDepthFilter::AlignDepthFilter(std::shared_ptr<rs2::filter> filter,
     std::function<void(const rclcpp::Parameter&)> update_align_depth_func,
     std::shared_ptr<Parameters> parameters, rclcpp::Logger logger, bool is_enabled):
-    NamedFilter(filter, parameters, logger, is_enabled, false)
+    NamedFilter(filter, parameters, logger, "align_depth", is_enabled, false)
 {
+     //_name = "align_depth";
     _params.registerDynamicOptions(*(_filter.get()), "align_depth");
     _params.getParameters()->setParamT("align_depth.enable", _is_enabled, update_align_depth_func);
     _parameters_names.push_back("align_depth.enable");