cartographer-project/cartographer

Instrument metrics in optimization and collator

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#1,010 opened on Mar 20, 2018

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enhancementhelp wanted

Description

Measure time delay metrics to estimate possible drift components of (pure) localization.

  • time delay between node creation and a constraint between the current trajectory and the frozen map was optimized
  • time when such node was created
  • time delay between range data enters and leaves Collator
  • time delay between range data enters LocalTrajectoryBuilder and LocalSlamResult is returned
  • time when oldest such range data entered latest LocalSlamResult

Contributor guide

Tech stack
cpp
Domain
performanceobservability
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
mostly clear
Prerequisites
C++ experienceFamiliarity with Cartographer
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
60
Research direction
The issue requires adding timing instrumentation to the optimization and collator components. Relevant files likely include those in the `cartographer/mapping/internal/optimization/` and `cartographer/sensor/collator.cc` directories. The contributor should identify key functions where delays occur and use the existing metric recording infrastructure, if any, or add new metrics. Start by examining the current code to understand the flow and then add timing calls.