提交nsight代码

BaseTracker/BaseTracker.h

@@ -17,6 +17,10 @@
 #include "kalman_update_batch_online.h"
 #endif
 
+#ifdef _USING_NSIGHT_
+#include <nvToolsExt.h>
+#endif
+
 template<class T>
 class BaseTracker
 {
@@ -56,6 +60,9 @@ template<class T>
 int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int _no/*观测数量*/, int _ns/*状态数量*/, std::vector<uint64_t>& detectionsId, std::map<uint64_t, int>& updateId, std::vector<uint64_t>& lostId)
 {
     /*** Predict internal tracks from previous frame ***/
+#ifdef _USING_NSIGHT_
+    nvtxRangePush("Run Predict");
+#endif
     for (auto& track : m_tracker)
     {
         track.second->Predict();
@@ -63,10 +70,16 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int
         //track.second->GetPredictData(predict);
         //SDK_LOG(SDK_INFO, "predict id = %d, data = [%f,%f,%f,%f,%f,%f,%f]",track.first,predict[0], predict[1], predict[2], predict[3], predict[4], predict[5], predict[6]);
     }
+#ifdef _USING_NSIGHT_
+    nvtxRangePop();
+#endif
     if (detections.empty())
     {
         return 0;
     }
+#ifdef _USING_NSIGHT_
+    nvtxRangePush("Run AssociateDetectionsToTrackers");
+#endif
     detectionsId.resize(detections.size());
     // Hash-map between track ID and associated detection bounding box
     std::map<uint64_t, int> matched;
@@ -75,8 +88,13 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int
 
     // return values - matched, unmatched_det
     AssociateDetectionsToTrackers(detections,_no,_ns, m_tracker, matched, unmatched_det);
-
+#ifdef _USING_NSIGHT_
+    nvtxRangePop();
+#endif
     /*** Update tracks with associated bbox ***/
+#ifdef _USING_NSIGHT_
+    nvtxRangePush("Run Update");
+#endif
     if (m_isGPU == 0)
     {
         for (const auto& match : matched)
@@ -137,7 +155,9 @@ int BaseTracker<T>::Run(const std::vector<std::vector<float> >& detections, int
             //SDK_LOG(SDK_INFO, "after P = [%s]", GetMatrixStr(P.get(), ns * ns, bs).c_str());
         }
     }
-
+#ifdef _USING_NSIGHT_
+    nvtxRangePop();
+#endif
     /*** Create new tracks for unmatched detections ***/
     for (const auto& det : unmatched_det)
     {

TrackingRos.cpp

@@ -6,6 +6,9 @@
 #include <yaml-cpp/yaml.h>
 #include "matrix.h"
 #include <eigen3/Eigen/Dense>
+#ifdef _USING_NSIGHT_
+#include <nvToolsExt.h>
+#endif
 
 
 float to360(float rot_y,float lidar_x_angle)
@@ -293,6 +296,9 @@ void TrackingRos::ThreadTrackingProcess()
         bool ret = m_objsQueue.timeout_pop(objsPtr, 2000);
         if (ret)
         {
+#ifdef _USING_NSIGHT_
+            nvtxRangePush("ThreadTrackingProcess");
+#endif
             m_frameNum++;
             //SDK_LOG(SDK_INFO, "get objs size = %d,m_frameNum = %d",objsPtr->array.size(), m_frameNum);
             std::vector< std::vector<float> > input;
@@ -315,7 +321,13 @@ void TrackingRos::ThreadTrackingProcess()
             std::vector<uint64_t> lostId;
 
             uint64_t begin = GetCurTime();
+#ifdef _USING_NSIGHT_
+            nvtxRangePush("m_tracker.Run");
+#endif
             m_tracker.Run(input,7,10, detectionsId, updateId, lostId);
+#ifdef _USING_NSIGHT_
+            nvtxRangePop();
+#endif
             uint64_t rTime = GetCurTime() - begin;
             //SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", rTime);
             std::map<uint64_t, std::shared_ptr<Track3D> >& trackers = m_tracker.GetStates();
@@ -464,6 +476,9 @@ void TrackingRos::ThreadTrackingProcess()
 
             m_pub.publish(sendObjs);
             m_pubBoundingBoxes.publish(sendBoxes);
+#ifdef _USING_NSIGHT_
+            nvtxRangePop();
+#endif
         }
 
     }