Adding Tracy profiler

CMakeLists.txt

@@ -26,7 +26,10 @@ set_property(CACHE HD_CPU_OPTIMIZATION PROPERTY STRINGS AUTO INTEL AMD ARM GENER
 option(BUILD_WITH_CLI_TOOLS "Build with command line tools" ON)
 option(BUILD_WITH_HD_MAPPER_APPLICATION "Build with hd_mapper tool" OFF)
 option(BUILD_WITH_QUICK_START_DEMO "Build with quick_start_demo" OFF)
-option(BUILD_WITH_UTL_PROFILER_DISABLED "Disable UTL profiler (zero overhead when ON)" ON)
+
+# Three-way profiler backend: NONE (zero overhead) | UTL (lightweight) | TRACY (full profiler)
+set(HDMAPPING_PROFILER "NONE" CACHE STRING "Profiler backend: NONE | UTL | TRACY")
+set_property(CACHE HDMAPPING_PROFILER PROPERTY STRINGS NONE UTL TRACY)
 option(BUILD_WITH_BUNDLED_FREEGLUT "Build with bundled FreeGlut" ON)
 option(BUILD_WITH_BUNDLED_GLEW "Build with bundled GLEW" ON)
 option(BUILD_WITH_BUNDLED_LIBLASZIP "Build with bundled Lib LASZIP" ON)
@@ -182,6 +185,24 @@ MESSAGE(STATUS "Using bundled spdlog from: ${THIRDPARTY_DIRECTORY}/spdlog")
 add_subdirectory(${THIRDPARTY_DIRECTORY}/UTL)
 MESSAGE(STATUS "Using bundled UTL from: ${THIRDPARTY_DIRECTORY}/UTL")
 
+# ---- Profiler backend ----
+if(HDMAPPING_PROFILER STREQUAL "TRACY")
+    include(FetchContent)
+    FetchContent_Declare(tracy
+        GIT_REPOSITORY https://github.com/wolfpld/tracy.git
+        GIT_TAG        v0.13.1
+        GIT_SHALLOW    TRUE
+    )
+    set(TRACY_ENABLE    ON CACHE BOOL "" FORCE)
+    set(TRACY_ON_DEMAND ON CACHE BOOL "" FORCE)
+    FetchContent_MakeAvailable(tracy)
+    message(STATUS "HDMapping profiler: Tracy v0.13.1 (on-demand)")
+elseif(HDMAPPING_PROFILER STREQUAL "UTL")
+    message(STATUS "HDMapping profiler: UTL")
+else()
+    message(STATUS "HDMapping profiler: NONE (disabled)")
+endif()
+
 if(BUILD_WITH_PYBIND)
     message(STATUS "BUILD_WITH_PYBIND is enabled: fetching pybind.")
     include(FetchContent)

README.md

@@ -535,6 +535,15 @@ For example on WSL2 Ubuntu-24.04 following package is required to run GUI applic
 ```bash
 sudo apt install zenity
 ```
+# Profiling
+
+You can use multiple backends to profile the code (UTL, Tracy-Profiler)
+
+- Using Tracy-Profiler requires to install / build from source Tracy-Profiler from https://github.com/wolfpld/tracy/releases/tag/v0.13.1.
+- Build and run the project with `cmake .. -DCMAKE_BUILD_TYPE=ReleaseWithDebInfo -DHDMAPPING_PROFILER=TRACY`
+- Open Tracy Profiler and run e.g. `lidar_odometry_step_1`. Tracy-Profiler should recongnize the code and show the results.
+- 
+To use UTL profiler build and run the project with `cmake .. -DCMAKE_BUILD_TYPE=ReleaseWithDebInfo -DHDMAPPING_PROFILER=UTL`
 
 # Building Debian package.
 
@@ -561,6 +570,7 @@ To install package :
 sudo dpkg -i hd_mapping-0.*.*-Linux.deb
 ```
 
+
 ![mandeye](images/softwareX1.png)
 
 Mobile mapping systems is based on LiVOX MID360 - laser scanner with non repetetive scanning pattern.

apps/lidar_odometry_step_1/CMakeLists.txt

@@ -2,6 +2,20 @@ cmake_minimum_required(VERSION 4.0.0)
 
 project(lidar_odometry_step_1)
 
+# Apply the chosen profiler backend to a target.
+function(target_apply_hdmapping_profiler TARGET)
+    if(HDMAPPING_PROFILER STREQUAL "TRACY")
+        target_compile_definitions(${TARGET} PRIVATE
+            HDMAPPING_PROFILER_TRACY TRACY_ENABLE TRACY_ON_DEMAND
+            UTL_PROFILER_DISABLE)   # silence any remaining UTL_PROFILER_* calls
+        target_link_libraries(${TARGET} PRIVATE TracyClient)
+    elseif(HDMAPPING_PROFILER STREQUAL "UTL")
+        target_compile_definitions(${TARGET} PRIVATE HDMAPPING_PROFILER_UTL)
+    else()
+        target_compile_definitions(${TARGET} PRIVATE UTL_PROFILER_DISABLE)
+    endif()
+endfunction()
+
 # Source files
 set(SOURCES
   lidar_odometry_utils.h lidar_odometry_utils.cpp
@@ -20,9 +34,8 @@ add_executable(
   lidar_odometry_step_1 lidar_odometry_gui.cpp ${SOURCES}
   )
 
-target_compile_definitions(lidar_odometry_step_1 PRIVATE
-    WITH_GUI=1
-    $<$<BOOL:${BUILD_WITH_UTL_PROFILER_DISABLED}>:BUILD_WITH_UTL_PROFILER_DISABLED>)
+target_compile_definitions(lidar_odometry_step_1 PRIVATE WITH_GUI=1)
+target_apply_hdmapping_profiler(lidar_odometry_step_1)
 
 target_include_directories(
   lidar_odometry_step_1
@@ -79,9 +92,8 @@ add_executable(
   drag_folder_with_mandeye_data_and_drop_here-precision_forestry drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp ${SOURCES}
   )
 
-target_compile_definitions(drag_folder_with_mandeye_data_and_drop_here-precision_forestry PRIVATE
-    WITH_GUI=1
-    $<$<BOOL:${BUILD_WITH_UTL_PROFILER_DISABLED}>:BUILD_WITH_UTL_PROFILER_DISABLED>)
+target_compile_definitions(drag_folder_with_mandeye_data_and_drop_here-precision_forestry PRIVATE WITH_GUI=1)
+target_apply_hdmapping_profiler(drag_folder_with_mandeye_data_and_drop_here-precision_forestry)
 
 target_include_directories(
   drag_folder_with_mandeye_data_and_drop_here-precision_forestry

apps/lidar_odometry_step_1/hdmapping_profiler.hpp

@@ -0,0 +1,46 @@
+#pragma once
+
+// HDMapping profiler backend — chosen at CMake configure time via HDMAPPING_PROFILER=NONE|UTL|TRACY
+//
+// Usage in source files:
+//   HDMAP_ZONE_SCOPE("label")          — scoped zone, ends when enclosing scope exits
+//   HDMAP_ZONE_BEGIN(id, "label")      — manual zone begin  (id must be unique in scope)
+//   HDMAP_ZONE_END(id)                 — manual zone end
+
+#if defined(HDMAPPING_PROFILER_TRACY)
+
+#pragma message("HDMapping profiler: Tracy enabled")
+#include <tracy/Tracy.hpp>
+#include <tracy/TracyC.h>
+// ZoneNamedN lets us embed __LINE__ in the variable name, avoiding clashes
+// when multiple HDMAP_ZONE_SCOPE appear in the same function scope.
+#define HDMAP_ZONE_SCOPE(name) ZoneNamedN(TracyConcat(hdmap_zone_, __LINE__), name, true)
+#define HDMAP_ZONE_BEGIN(id, name) TracyCZoneN(hdmap_ctx_##id, name, true)
+#define HDMAP_ZONE_END(id) TracyCZoneEnd(hdmap_ctx_##id)
+#define HDMAP_FRAME_MARK FrameMark
+#define HDMAP_MESSAGE(msg) TracyMessageL(msg)
+#define HDMAP_MESSAGE_STR(str) TracyMessage((str).c_str(), (str).size())
+#define HDMAP_PLOT(name, val) TracyPlot(name, static_cast<int64_t>(val))
+
+#elif defined(HDMAPPING_PROFILER_UTL)
+
+#include <UTL/profiler.hpp>
+#define HDMAP_ZONE_SCOPE(name) UTL_PROFILER_SCOPE(name)
+#define HDMAP_ZONE_BEGIN(id, name) UTL_PROFILER_BEGIN(id, name)
+#define HDMAP_ZONE_END(id) UTL_PROFILER_END(id)
+#define HDMAP_FRAME_MARK
+#define HDMAP_MESSAGE(msg)
+#define HDMAP_MESSAGE_STR(str)
+#define HDMAP_PLOT(name, val)
+
+#else
+
+#define HDMAP_ZONE_SCOPE(name)
+#define HDMAP_ZONE_BEGIN(id, name)
+#define HDMAP_ZONE_END(id)
+#define HDMAP_FRAME_MARK
+#define HDMAP_MESSAGE(msg)
+#define HDMAP_MESSAGE_STR(str)
+#define HDMAP_PLOT(name, val)
+
+#endif

apps/lidar_odometry_step_1/lidar_odometry.cpp

@@ -1,6 +1,6 @@
 #include "lidar_odometry.h"
+#include "hdmapping_profiler.hpp"
 #include "tbb/tbb.h"
-#include <UTL/profiler.hpp>
 #include <mutex>
 
 #include <Core/system_info.hpp>
@@ -15,7 +15,7 @@ bool load_data(
     Imu& imu_data,
     bool debugMsg)
 {
-    UTL_PROFILER_SCOPE("load_data");
+    HDMAP_ZONE_SCOPE("load_data");
     std::sort(input_file_names.begin(), input_file_names.end());
     std::vector<std::string> csv_files, laz_files;
     std::string sn_file;
@@ -304,7 +304,7 @@ bool load_data(
 
 void calculate_trajectory(Trajectory& trajectory, Imu& imu_data, LidarOdometryParams& params, bool debugMsg)
 {
-    UTL_PROFILER_SCOPE("calculate_trajectory");
+    HDMAP_ZONE_SCOPE("calculate_trajectory");
 
     const float RAD_TO_DEG = 180.0f / static_cast<float>(M_PI);
     int counter = 1;
@@ -462,7 +462,7 @@ bool compute_step_1(
     std::vector<WorkerData>& worker_data,
     const std::atomic<bool>& pause)
 {
-    UTL_PROFILER_SCOPE("compute_step_1");
+    HDMAP_ZONE_SCOPE("compute_step_1");
     int number_of_initial_points = 0;
     double timestamp_begin = 0.0;
 
@@ -697,7 +697,7 @@ void run_consistency(std::vector<WorkerData>& worker_data, const LidarOdometryPa
 
 void save_result(std::vector<WorkerData>& worker_data, LidarOdometryParams& params, fs::path outwd, double elapsed_time_s)
 {
-    UTL_PROFILER_SCOPE("save_result");
+    HDMAP_ZONE_SCOPE("save_result");
     std::filesystem::create_directory(outwd);
     // concatenate data
     std::vector<WorkerData> worker_data_concatenated;
@@ -1066,7 +1066,7 @@ std::string save_results_automatic(
 
 std::vector<WorkerData> run_lidar_odometry(const std::string& input_dir, LidarOdometryParams& params)
 {
-    UTL_PROFILER_SCOPE("run_lidar_odometry");
+    HDMAP_ZONE_SCOPE("run_lidar_odometry");
     Session session;
     std::vector<WorkerData> worker_data;
     std::vector<std::string> input_file_names;