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chore(tensorrt_yolox): add processing time and cyclic time debug topic #7126

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May 27, 2024
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chore(tensorrt_yolox): add processing time and cyclic time debug topic #7126

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4 changes: 4 additions & 0 deletions perception/tensorrt_yolox/include/tensorrt_yolox/tensorrt_yolox_node.hpp
View file
Original file line number Diff line number Diff line change
@@ -19,6 +19,8 @@
#include <opencv2/opencv.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tensorrt_yolox/tensorrt_yolox.hpp>
#include <tier4_autoware_utils/ros/debug_publisher.hpp>
#include <tier4_autoware_utils/system/stop_watch.hpp>

#include <sensor_msgs/msg/image.hpp>
#include <std_msgs/msg/header.hpp>
@@ -61,6 +63,8 @@ class TrtYoloXNode : public rclcpp::Node

LabelMap label_map_;
std::unique_ptr<tensorrt_yolox::TrtYoloX> trt_yolox_;
std::unique_ptr<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>> stop_watch_ptr_;
std::unique_ptr<tier4_autoware_utils::DebugPublisher> debug_publisher_;
};

} // namespace tensorrt_yolox
25 changes: 25 additions & 0 deletions perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp
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Original file line number Diff line number Diff line change
@@ -29,6 +29,14 @@
TrtYoloXNode::TrtYoloXNode(const rclcpp::NodeOptions & node_options)
: Node("tensorrt_yolox", node_options)
{
{
stop_watch_ptr_ =
std::make_unique<tier4_autoware_utils::StopWatch<std::chrono::milliseconds>>();
debug_publisher_ =
std::make_unique<tier4_autoware_utils::DebugPublisher>(this, "tensorrt_yolox");
stop_watch_ptr_->tic("cyclic_time");
stop_watch_ptr_->tic("processing_time");
}

Check warning on line 39 in perception/tensorrt_yolox/src/tensorrt_yolox_node.cpp

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Large Method 

TrtYoloXNode::TrtYoloXNode increases from 80 to 88 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.
Comment on lines +32 to +39
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@badai-nguyen
Sorry for the delay in my review. Let me confirm one point: Do you intend to enable this debug_publisher_ at all times? In my opinion, I would like to put a condition to enable/disable this kind of debug feature on actual deployment.

using std::placeholders::_1;
using std::chrono_literals::operator""ms;

@@ -132,6 +140,7 @@

void TrtYoloXNode::onImage(const sensor_msgs::msg::Image::ConstSharedPtr msg)
{
stop_watch_ptr_->toc("processing_time", true);
tier4_perception_msgs::msg::DetectedObjectsWithFeature out_objects;

cv_bridge::CvImagePtr in_image_ptr;
@@ -173,6 +182,22 @@

out_objects.header = msg->header;
objects_pub_->publish(out_objects);

if (debug_publisher_) {
const double processing_time_ms = stop_watch_ptr_->toc("processing_time", true);
const double cyclic_time_ms = stop_watch_ptr_->toc("cyclic_time", true);
const double pipeline_latency_ms =
std::chrono::duration<double, std::milli>(
std::chrono::nanoseconds(
(this->get_clock()->now() - out_objects.header.stamp).nanoseconds()))
.count();
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
"debug/cyclic_time_ms", cyclic_time_ms);
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
"debug/processing_time_ms", processing_time_ms);
debug_publisher_->publish<tier4_debug_msgs::msg::Float64Stamped>(
"debug/pipeline_latency_ms", pipeline_latency_ms);
}
}

bool TrtYoloXNode::readLabelFile(const std::string & label_path)

Unchanged files with check annotations Beta

View file
planning/behavior_velocity_blind_spot_module/src/scene.cpp
constexpr double min_dist = 0.001;
if (tier4_autoware_utils::calcDistance2d(p, point) < min_dist) {
return i;

Check warning on line 308 in planning/behavior_velocity_blind_spot_module/src/scene.cpp

GitHub Actions / spell-check-partial 

Unknown word (optionallly)
}
}
inout_path->points, in_pose, ego_nearest_dist_threshold, ego_nearest_yaw_threshold);
// vector.insert(i) inserts element on the left side of v[i]
// the velocity need to be zero order hold(from prior point)
int insert_idx = closest_idx;

Check warning on line 329 in planning/behavior_velocity_blind_spot_module/src/scene.cpp

GitHub Actions / spell-check-partial 

Unknown word (optionallly)
autoware_auto_planning_msgs::msg::PathPointWithLaneId inserted_point =
inout_path->points.at(closest_idx);
if (planning_utils::isAheadOf(in_pose, inout_path->points.at(closest_idx).point.pose)) {
View file
planning/behavior_velocity_blind_spot_module/src/scene.hpp
*/
bool checkObstacleInBlindSpot(
lanelet::LaneletMapConstPtr lanelet_map_ptr,
lanelet::routing::RoutingGraphPtr routing_graph_ptr,

Check warning on line 146 in planning/behavior_velocity_blind_spot_module/src/scene.hpp

GitHub Actions / spell-check-partial 

Unknown word (Dafe)
const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr,
const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose);