cars 1.0.0rc1__cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl

cars/orchestrator/cluster/log_wrapper.py

@@ -0,0 +1,1075 @@
+#!/usr/bin/env python
+# coding: utf8
+#
+# Copyright (c) 2020 Centre National d'Etudes Spatiales (CNES).
+#
+# This file is part of CARS
+# (see https://github.com/CNES/cars).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+"""
+Contains functions for wrapper logs
+"""
+# pylint: disable=C0302
+
+import copy
+import cProfile
+import datetime
+import functools
+import gc
+import io
+import logging
+import os
+import pstats
+import shutil
+import time
+import uuid
+from abc import ABCMeta, abstractmethod
+from importlib import import_module
+from multiprocessing import Pipe
+from threading import Thread
+
+import matplotlib.pyplot as plt
+import numpy as np
+import pandas as pd
+import psutil
+from json_checker import Checker
+from matplotlib.backends.backend_pdf import PdfPages
+from PIL import Image
+
+from cars.core import cars_logging
+from cars.core.utils import safe_makedirs
+
+THREAD_TIMEOUT = 2
+
+
+# pylint: disable=too-few-public-methods
+class AbstractLogWrapper(metaclass=ABCMeta):
+    """
+    AbstractLogWrapper
+    """
+
+    available_modes = {}
+
+    def __new__(cls, conf_profiling, out_dir):  # pylint: disable=W0613
+        """
+        Return Log wrapper
+        """
+        profiling_mode = "cars_profiling"
+
+        if "mode" not in conf_profiling:
+            logging.debug("Profiling mode not defined, default is used")
+        else:
+            profiling_mode = conf_profiling["mode"]
+
+        return super(AbstractLogWrapper, cls).__new__(
+            cls.available_modes[profiling_mode]
+        )
+
+    def __init__(self, conf_profiling, out_dir):
+        # Check conf
+        self.checked_conf_profiling = self.check_conf(conf_profiling)
+        self.out_dir = out_dir
+
+    @classmethod
+    def register_subclass(cls, short_name: str):
+        """
+        Allows to register the subclass with its short name
+        :param short_name: the subclass to be registered
+        :type short_name: string
+        """
+
+        def decorator(subclass):
+            """
+            Registers the subclass in the available methods
+            :param subclass: the subclass to be registered
+            :type subclass: object
+            """
+            cls.available_modes[short_name] = subclass
+            return subclass
+
+        return decorator
+
+    @abstractmethod
+    def check_conf(self, conf):
+        """
+        Check configuration
+
+        :param conf: configuration to check
+        :type conf: dict
+
+        :return: overloaded configuration
+        :rtype: dict
+
+        """
+
+    @abstractmethod
+    def get_func_args_plus(self, func):
+        """
+        getter for the args of the future function
+
+        :param: function to apply
+
+        :return: function to apply, overloaded key arguments
+        """
+
+
+@AbstractLogWrapper.register_subclass("cars_profiling")
+class LogWrapper(AbstractLogWrapper):
+    """
+    LogWrapper
+
+    simple log wrapper doing nothing
+    """
+
+    def __init__(self, conf_profiling, out_dir):
+        self.out_dir = out_dir
+        # call parent init
+        super().__init__(conf_profiling, out_dir)
+        self.loop_testing = self.checked_conf_profiling["loop_testing"]
+
+    def check_conf(self, conf):
+        """
+        Check configuration
+
+        :param conf: configuration to check
+        :type conf: dict
+
+        :return: overloaded configuration
+        :rtype: dict
+
+        """
+
+        # init conf
+        if conf is not None:
+            overloaded_conf = conf.copy()
+        else:
+            conf = {}
+            overloaded_conf = {}
+
+        # Overload conf
+        overloaded_conf["mode"] = conf.get("mode", "cars_profiling")
+        overloaded_conf["loop_testing"] = conf.get("loop_testing", False)
+
+        cluster_schema = {"mode": str, "loop_testing": bool}
+
+        # Check conf
+        checker = Checker(cluster_schema)
+        checker.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    def get_func_args_plus(self, func):
+        fun = log_function
+        new_kwarg = {
+            "fun_log_wrapper": func,
+            "loop_testing": self.loop_testing,
+        }
+
+        return fun, new_kwarg
+
+
+@AbstractLogWrapper.register_subclass("cprofile")
+class CProfileWrapper(AbstractLogWrapper):
+    """
+    CProfileWrapper
+
+    log wrapper to analyze the internal time consuming of the function.
+    The wrapper use cprofile API.
+    """
+
+    def __init__(self, conf_profiling, out_dir):
+        self.out_dir = out_dir
+        # call parent init
+        super().__init__(conf_profiling, out_dir)
+
+    def check_conf(self, conf):
+        """
+        Check configuration
+
+        :param conf: configuration to check
+        :type conf: dict
+
+        :return: overloaded configuration
+        :rtype: dict
+
+        """
+
+        # init conf
+        if conf is not None:
+            overloaded_conf = conf.copy()
+        else:
+            conf = {}
+            overloaded_conf = {}
+
+        # Overload conf
+        overloaded_conf["mode"] = conf.get("mode", "cars_profiling")
+        cluster_schema = {"mode": str}
+
+        # Check conf
+        checker = Checker(cluster_schema)
+        checker.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    def get_func_args_plus(self, func):
+        fun = time_profiling_function
+        new_kwarg = {"fun_log_wrapper": func}
+
+        return fun, new_kwarg
+
+
+@AbstractLogWrapper.register_subclass("memray")
+class MemrayWrapper(AbstractLogWrapper):
+    """
+    MemrayWrapper
+
+    log wrapper to analyze the internal allocation
+    memory consuming of the function.
+    The wrapper use cprofile API.
+    """
+
+    def __init__(self, conf_profiling, out_dir):
+        self.out_dir = out_dir
+        profiling_memory_dir = os.path.join(
+            out_dir, "logs", "profiling", "memray"
+        )
+        safe_makedirs(profiling_memory_dir, cleanup=True)
+        # call parent init
+        super().__init__(conf_profiling, out_dir)
+        self.loop_testing = self.checked_conf_profiling["loop_testing"]
+
+    def check_conf(self, conf):
+        """
+        Check configuration
+
+        :param conf: configuration to check
+        :type conf: dict
+
+        :return: overloaded configuration
+        :rtype: dict
+
+        """
+
+        # init conf
+        if conf is not None:
+            overloaded_conf = conf.copy()
+        else:
+            conf = {}
+            overloaded_conf = {}
+
+        # Overload conf
+        overloaded_conf["mode"] = conf.get("mode", "cars_profiling")
+        overloaded_conf["loop_testing"] = conf.get("loop_testing", False)
+
+        cluster_schema = {"mode": str, "loop_testing": bool}
+
+        # Check conf
+        checker = Checker(cluster_schema)
+        checker.validate(overloaded_conf)
+
+        return overloaded_conf
+
+    def get_func_args_plus(self, func):
+        fun = memory_profiling_function
+        new_kwarg = {
+            "fun_log_wrapper": func,
+            "loop_testing": self.loop_testing,
+            "out_dir": self.out_dir,
+        }
+
+        return fun, new_kwarg
+
+
+def log_function(*argv, **kwargs):
+    """
+    Create a wrapper for function running it
+
+    :param argv: args of func
+    :param kwargs: kwargs of func
+
+    :return: path to results
+    """
+    func = kwargs["fun_log_wrapper"]
+    loop_testing = kwargs["loop_testing"]
+    kwargs.pop("fun_log_wrapper")
+    kwargs.pop("loop_testing")
+
+    if loop_testing:
+        # Profile
+        res = cars_profile(name=func.__name__ + "_looped", interval=0.2)(
+            loop_function
+        )(argv, kwargs, func)
+    else:
+        res = cars_profile(interval=0.2)(func)(*argv, **kwargs)
+
+    return res
+
+
+def time_profiling_function(*argv, **kwargs):
+    """
+    Create a wrapper to profile the function elapse time
+
+    :param argv: args of func
+    :param kwargs: kwargs of func
+
+    :return: path to results
+    """
+    func = kwargs["fun_log_wrapper"]
+    kwargs.pop("fun_log_wrapper")
+    # Monitor time
+    start_time = time.time()
+    # Profile time
+    profiler = cProfile.Profile()
+    profiler.enable()
+    res = func(*argv, **kwargs)
+    profiler.disable()
+    total_time = time.time() - start_time
+
+    switch_messages(func, total_time)
+    print("## PROF STATs")
+
+    stream_cumtime = io.StringIO()
+    stream_calls = io.StringIO()
+    pstats.Stats(profiler, stream=stream_cumtime).sort_stats(
+        "tottime"
+    ).print_stats(5)
+    pstats.Stats(profiler, stream=stream_calls).sort_stats("calls").print_stats(
+        5
+    )
+    logging.info(stream_cumtime.getvalue())
+    print(stream_cumtime.getvalue())
+    logging.info(stream_calls.getvalue())
+    print(stream_calls.getvalue())
+    print("----------")
+    return res
+
+
+def memory_profiling_function(*argv, **kwargs):
+    """
+    Create a wrapper to profile the function occupation memory
+
+    :param argv: args of func
+    :param kwargs: kwargs of func
+
+    :return: path to results
+    """
+    func = kwargs["fun_log_wrapper"]
+    loop_testing = kwargs["loop_testing"]
+    outputdir = kwargs["out_dir"]
+
+    kwargs.pop("fun_log_wrapper")
+    kwargs.pop("loop_testing")
+    kwargs.pop("out_dir")
+
+    # Monitor time
+    memray = import_module("memray")
+    start_time = time.time()
+    unique_filename = str(uuid.uuid4())
+    # Profile memory
+    with memray.Tracker(
+        os.path.join(
+            outputdir,
+            "profiling",
+            "memray",
+            func.__name__ + "-" + unique_filename + ".bin",
+        )
+    ):
+        if loop_testing:
+            res = loop_function(argv, kwargs, func)
+        else:
+            res = func(*argv, **kwargs)
+    total_time = time.time() - start_time
+
+    switch_messages(func, total_time)
+    print("----------")
+    return res
+
+
+def switch_messages(func, total_time, max_memory=None):
+    """
+    create profile message with specific message
+    depends on elapsed time (LONG, FAST...).
+
+
+    :param func : profiled function
+    :param total_time : elapsed time of the function
+    """
+    message = "Clock# %{}%: %{:.4f}% s Max ram : {} MiB".format(
+        func.__name__.capitalize(), total_time, max_memory
+    )
+
+    if total_time >= 1:
+        message += " LONG"
+    elif 1 > total_time >= 0.001:
+        message += " FAST"
+    elif 0.001 > total_time >= 0.000001:
+        message += " VERY FAST"
+    else:
+        message += " TOO FAST"
+
+    log_message(func, message)
+
+
+def log_message(func, message):
+    """
+    log profiling message
+
+    :param func : logged function
+    :param message : log message
+    """
+    cars_logging.add_profiling_message(message)
+    cars_logging.add_profiling_message(func.__module__)
+
+
+def loop_function(argv, kwargs, func, nb_iteration=5):
+    """
+    generate a loop on each cluster function to eval possible leak
+
+    :param argv : input argv
+    :param kwargs : input kwargs
+    :param func : function to evaluation
+    :param nb_iteration (int, optional): number of the iteration loop.
+    :param Defaults to 5.
+
+    Returns:
+        _type_: result of the function
+    """
+    logging.info("{} {}".format(func.__module__, func.__name__.capitalize()))
+    argv_temp = copy.copy(argv)
+    kwargs_temp = copy.deepcopy(kwargs)
+    # execute sevral time the function to observe possible leaks
+    for k in range(1, nb_iteration):
+        logging.info("loop iteration {}".format(k))
+        func(*argv, **kwargs)
+        del argv
+        del kwargs
+        gc.collect()
+        argv = copy.deepcopy(argv_temp)
+        kwargs = copy.deepcopy(kwargs_temp)
+    return func(*argv, **kwargs)
+
+
+def get_current_memory():
+    """
+    Get current memory of process
+
+    :return: memory
+    :rtype: float
+
+    """
+
+    # Use psutil to capture python process memory as well
+    process = psutil.Process(os.getpid())
+    process_memory = process.memory_info().rss
+
+    # Convert nbytes size for logger
+    process_memory = float(process_memory) / 1000000
+
+    return process_memory
+
+
+def log_delta_memory(func, memory_start, memory_end):
+    """
+    Log memory infos
+
+    :param func: profiled function
+    :param memory_start: memory before the run of function
+    :type memory_start: float
+    :param memory_end: memory after the run of function
+    :type memory_end: float
+
+    """
+
+    message = "Memory before run: {}Mb, Memory after run: {}Mb".format(
+        str(memory_start), str(memory_end)
+    )
+
+    log_message(func, message)
+
+
+def exception_safe(func):
+    """
+    Decorator for consistent exception handling in profiling functions
+
+    :param func: function to wrap
+    :return: wrapped function
+    """
+
+    @functools.wraps(func)
+    def wrapper(*args, **kwargs):
+        """
+        Catch error
+        """
+        try:
+            return func(*args, **kwargs)
+        except Exception as exc:
+            error_msg = (
+                f"Error in {func.__name__}: {type(exc).__name__}: {str(exc)}"
+            )
+            logging.error(error_msg)
+            cars_logging.add_profiling_message(f"ERROR - {error_msg}")
+            return None
+
+    return wrapper
+
+
+@exception_safe
+def generate_summary(out_dir, used_conf, clean_worker_logs=False):
+    """
+    Generate Profiling summary
+    """
+    nb_workers = 1
+    if "orchestrator" not in used_conf:
+        first_key = next(iter(used_conf))
+        if "nb_workers" in used_conf[first_key]["orchestrator"]:
+            nb_workers = used_conf[first_key]["orchestrator"]["nb_workers"]
+    else:
+        if "nb_workers" in used_conf["orchestrator"]:
+            nb_workers = used_conf["orchestrator"]["nb_workers"]
+
+    workers_log_dir = os.path.join(out_dir, "workers_log")
+    os.makedirs(workers_log_dir, exist_ok=True)
+
+    log_file_main = os.path.join(
+        workers_log_dir,
+        "profiling.log",
+    )
+
+    out_profiling_main = os.path.join(out_dir, "profiling", "profiling.log")
+
+    log_files = [log_file_main, out_profiling_main]
+
+    names = []
+    times = []
+    max_ram = []
+    start_ram = []
+    end_ram = []
+    max_cpu = []
+
+    for log_file in log_files:
+        if not os.path.exists(log_file):
+            logging.debug("{} log file does not exist".format(log_file))
+            return
+
+        with open(log_file, encoding="UTF-8") as file_desc:
+            for item in file_desc:
+                if "CarsProfiling" in item:
+                    splited_items = item.split("%")
+                    names.append(splited_items[1])
+                    times.append(float(splited_items[3]))
+                    max_ram.append(float(splited_items[5]))
+                    start_ram.append(float(splited_items[7]))
+                    end_ram.append(float(splited_items[9]))
+                    max_cpu.append(float(splited_items[11]))
+
+    times_df = pd.DataFrame(
+        {
+            "name": names,
+            "time": times,
+            "max_ram": max_ram,
+            "start_ram": start_ram,
+            "end_ram": end_ram,
+            "max_cpu": max_cpu,
+        }
+    )
+
+    # Generate summary message
+    cars_logging.add_profiling_message(
+        "\n \n \n "
+        "----------------------------------------"
+        " SUMMARY PROFILLING  "
+        "----------------------------------------"
+        " \n \n \n"
+    )
+
+    summary_names = []
+    summary_max_ram = []
+    summary_max_ram_err_min = []
+    summary_max_ram_err_max = []
+    summary_max_ram_relative = []
+    summary_mean_time_per_task = []
+    summary_mean_time_per_task_err_min = []
+    summary_mean_time_per_task_err_max = []
+    summary_total_time = []
+    summary_max_cpu = []
+    summary_nb_calls = []
+    full_max_ram = []
+    full_added_ram = []
+    full_time = []
+    full_max_cpu = []
+
+    for name in pd.unique(times_df["name"]):
+        current_df = times_df.loc[times_df["name"] == name]
+
+        current_med_time = current_df["time"].mean()
+        current_med_time_err_min = current_med_time - current_df["time"].min()
+        current_med_time_err_max = current_df["time"].max() - current_med_time
+        total_time = current_df["time"].sum()
+        max_ram = current_df["max_ram"].mean()
+        max_ram_err_min = max_ram - current_df["max_ram"].min()
+        max_ram_err_max = current_df["max_ram"].max() - max_ram
+        max_cpu = current_df["max_cpu"].max()
+        max_ram_without_start = (
+            current_df["max_ram"] - current_df["start_ram"]
+        ).max()
+        diff_end_start = (current_df["end_ram"] - current_df["start_ram"]).max()
+        nb_values = len(current_df)
+
+        # Fill lists with all data
+        full_max_ram.append(list(current_df["max_ram"]))
+        full_added_ram.append(
+            list(current_df["max_ram"] - current_df["start_ram"])
+        )
+        full_time.append(list(current_df["time"]))
+        full_max_cpu.append(list(current_df["max_cpu"]))
+
+        # fill lists for figures
+        summary_names.append(name)
+        summary_max_ram.append(max_ram)
+        summary_max_ram_err_min.append(max_ram_err_min)
+        summary_max_ram_err_max.append(max_ram_err_max)
+        summary_max_ram_relative.append(max_ram_without_start)
+        summary_mean_time_per_task.append(current_med_time)
+        summary_mean_time_per_task_err_min.append(current_med_time_err_min)
+        summary_mean_time_per_task_err_max.append(current_med_time_err_max)
+        summary_total_time.append(total_time)
+        summary_max_cpu.append(max_cpu)
+        summary_nb_calls.append(nb_values)
+
+        message = (
+            "Task {} ran {} times, with mean time {} sec, "
+            "total time: {} sec, Max cpu: {} %"
+            " max ram in process during task: {} MiB, "
+            "max ram - start ram: {},  "
+            " end - start ram : {}".format(
+                name,
+                nb_values,
+                current_med_time,
+                total_time,
+                max_cpu,
+                max_ram,
+                max_ram_without_start,
+                diff_end_start,
+            )
+        )
+
+        cars_logging.add_profiling_message(message)
+
+    # Generate png
+    _, axs = plt.subplots(3, 2, figsize=(20, 20), layout="tight")
+    # Fill
+
+    generate_boxplot(
+        axs.flat[0], summary_names, full_max_cpu, "Max CPU usage", "%"
+    )
+    generate_histo(
+        axs.flat[1], summary_names, summary_total_time, "Total Time", "s"
+    )
+
+    (
+        summary_names_without_pipeline,
+        total_full_time_without_pipeline,
+    ) = filter_lists(
+        summary_names,
+        full_time,
+        lambda name: "pipeline" not in name,
+    )
+    generate_boxplot(
+        axs.flat[2],
+        summary_names_without_pipeline,
+        total_full_time_without_pipeline,
+        "Time per task",
+        "s",
+    )
+
+    generate_boxplot(
+        axs.flat[3],
+        summary_names,
+        full_max_ram,
+        "Max RAM used",
+        "MiB",
+    )
+
+    generate_boxplot(
+        axs.flat[4],
+        summary_names,
+        full_added_ram,
+        "Max RAM added",
+        "MiB",
+    )
+    generate_histo(
+        axs.flat[5],
+        summary_names,
+        summary_nb_calls,
+        "NB calls",
+        "calls",
+    )
+
+    # file_name
+    profiling_plot = os.path.join(
+        out_dir,
+        "profiling",
+        "profiling_plots_histograms.png",
+    )
+    plt.savefig(profiling_plot)
+
+    # Pie chart
+
+    (name_task_workers, summary_workers) = filter_lists(
+        summary_names, summary_total_time, lambda name: "wrapper" in name
+    )
+
+    (name_task_main, summary_main) = filter_lists(
+        summary_names,
+        summary_total_time,
+        lambda name: "wrapper" not in name
+        and "pipeline" not in name
+        and "Compute futures" not in name,
+    )
+
+    (_, [pipeline_time]) = filter_lists(
+        summary_names, summary_total_time, lambda name: "unit_pipeline" in name
+    )
+
+    (_, [multiprocessing_time]) = filter_lists(
+        summary_names,
+        summary_total_time,
+        lambda name: "Compute futures" in name,
+    )
+
+    sequential_time = pipeline_time - multiprocessing_time
+
+    total_time_workers = nb_workers * multiprocessing_time
+
+    _, axs2 = plt.subplots(2, 1, figsize=(40, 40), layout="tight")
+
+    generate_pie_chart(
+        axs2.flat[0],
+        name_task_workers,
+        100 * np.array(summary_workers) / total_time_workers,
+        "Total time in parallel tasks ({} workers) : {}".format(
+            nb_workers,
+            str(datetime.timedelta(seconds=int(multiprocessing_time))),
+        ),
+    )
+
+    generate_pie_chart(
+        axs2.flat[1],
+        name_task_main,
+        100 * np.array(summary_main) / sequential_time,
+        "Total time in sequential tasks : {}".format(
+            str(datetime.timedelta(seconds=int(sequential_time)))
+        ),
+    )
+
+    profiling_plot2 = os.path.join(
+        out_dir,
+        "profiling",
+        "profiling_plots_pie_chart.png",
+    )
+    plt.savefig(profiling_plot2)
+
+    if clean_worker_logs and os.path.exists(workers_log_dir):
+        shutil.rmtree(workers_log_dir)
+
+
+def generate_pdf_profiling(log_dir):
+    """
+    Generate PDF profiling summary for all res
+    """
+
+    pages_data = {}
+    resolutions = []
+
+    for item in os.listdir(log_dir):
+        item_path = os.path.join(log_dir, item)
+        if os.path.isdir(item_path) and item.startswith("res"):
+            # Get resolution
+            res = int(item[4:])
+            resolutions.append(res)
+
+            # Add paths
+            pages_data[res] = {
+                "function_profiling_histo": os.path.join(
+                    item_path, "profiling", "profiling_plots_histo.png"
+                ),
+                "function_profiling_pie_chart": os.path.join(
+                    item_path, "profiling", "profiling_plots_pie_chart.png"
+                ),
+                "global_profiling": os.path.join(
+                    item_path, "profiling", "memory_profiling.png"
+                ),
+            }
+
+    # ordered resolutions
+    resolutions.sort(reverse=True)
+
+    # Build pdf
+    pdf_path = os.path.join(log_dir, "profiling_summary.pdf")
+
+    with PdfPages(pdf_path) as pdf:
+        for res in resolutions:
+            # function_profiling
+            if os.path.exists(pages_data[res]["function_profiling_histo"]):
+                img = Image.open(pages_data[res]["function_profiling_histo"])
+                fig, axis = plt.subplots(1, 1, figsize=(11.69, 8.27), dpi=300)
+                axis.imshow(img, interpolation="none")
+                axis.set_title(
+                    f"Function Profiling Histograms - "
+                    f"Epipolar Resolution {res}",
+                    fontsize=16,
+                    fontweight="bold",
+                )
+                axis.axis("off")
+                plt.subplots_adjust(left=0, right=1, top=0.95, bottom=0)
+                pdf.savefig(fig, bbox_inches="tight", dpi=300)
+                plt.close(fig)
+
+            if os.path.exists(pages_data[res]["function_profiling_pie_chart"]):
+                img = Image.open(
+                    pages_data[res]["function_profiling_pie_chart"]
+                )
+                fig, axis = plt.subplots(1, 1, figsize=(11.69, 8.27), dpi=300)
+                axis.imshow(img, interpolation="none")
+                axis.set_title(
+                    f"Function Profiling Pie Chart - Epipolar Resolution {res}",
+                    fontsize=16,
+                    fontweight="bold",
+                )
+                axis.axis("off")
+                plt.subplots_adjust(left=0, right=1, top=0.95, bottom=0)
+                pdf.savefig(fig, bbox_inches="tight", dpi=300)
+                plt.close(fig)
+
+            # global_profiling
+            if os.path.exists(pages_data[res]["global_profiling"]):
+                img = Image.open(pages_data[res]["global_profiling"])
+                fig, axis = plt.subplots(1, 1, figsize=(11.69, 8.27), dpi=300)
+                axis.imshow(img, interpolation="none")
+                axis.set_title(
+                    f"Global Profiling - Epipolar Resolution {res}",
+                    fontsize=16,
+                    fontweight="bold",
+                )
+                axis.axis("off")
+                plt.subplots_adjust(left=0, right=1, top=0.95, bottom=0)
+                pdf.savefig(fig, bbox_inches="tight", dpi=300)
+                plt.close(fig)
+
+    logging.info("PDF profiling summary generated: {}".format(pdf_path))
+
+
+def filter_lists(names, data, cond):
+    """
+    Filter lists with condition on name
+    """
+
+    filtered_names = []
+    filtered_data = []
+
+    for name, dat in zip(names, data):  # noqa: B905
+        if cond(name):
+            filtered_names.append(name)
+            filtered_data.append(dat)
+
+    return filtered_names, filtered_data
+
+
+def generate_boxplot(axis, names, data_full, title, data_type):
+    """
+    Generate boxplot
+    """
+
+    axis.boxplot(data_full, vert=False, showfliers=False, labels=names)
+    axis.invert_yaxis()
+    axis.set_xlabel(data_type)
+    axis.set_title(title)
+
+
+def generate_histo(  # pylint: disable=too-many-positional-arguments
+    axis, names, data, title, data_type, data_min_err=None, data_max_err=None
+):
+    """
+    Generate histogram
+    """
+    y_pos = np.arange(len(names))
+    if None not in (data_min_err, data_max_err):
+        data_min_err = np.array(data_min_err)
+        data_max_err = np.array(data_max_err)
+        xerr = np.empty((2, data_min_err.shape[0]))
+        xerr[0, :] = data_min_err
+        xerr[1, :] = data_max_err
+        axis.barh(y_pos, data, xerr=xerr, align="center")
+    else:
+        axis.barh(y_pos, data, align="center")
+    axis.set_yticks(y_pos, labels=names)
+    axis.invert_yaxis()
+    axis.set_xlabel(data_type)
+    axis.set_title(title)
+
+
+def generate_pie_chart(axis, names, data, title):
+    """
+    Generate pie chart, data in %
+    """
+    names = list(names)
+    data = list(data)
+
+    if np.sum(data) > 100:
+        cars_logging.add_profiling_message(
+            "Chart: sum of data {}> 100%".format(title)
+        )
+        title += " (with sum > 100%) "
+    else:
+        others = 100 - np.sum(data)
+        data.append(others)
+        names.append("other")
+
+    axis.pie(
+        data,
+        labels=names,
+        autopct="%1.1f%%",
+        labeldistance=1.1,
+        textprops={"fontsize": 30},
+    )
+    axis.set_title(title, fontsize=40)
+
+
+def cars_profile(name=None, interval=0.1):
+    """
+    CARS profiling decorator
+
+    :param: func: function to monitor
+
+    """
+
+    def decorator_generator(func):
+        """
+        Inner function
+        """
+
+        def wrapper_cars_profile(*args, **kwargs):
+            """
+            Profiling wrapper
+
+            Generate profiling logs of functio, run
+
+            :return: func(*args, **kwargs)
+
+            """
+            start_time = time.time()
+
+            memory_start = get_current_memory()
+
+            # Launch memory profiling thread
+            child_pipe, parent_pipe = Pipe()
+            thread_monitoring = CarsMemProf(
+                os.getpid(), child_pipe, interval=interval
+            )
+            thread_monitoring.start()
+            if parent_pipe.poll(THREAD_TIMEOUT):
+                parent_pipe.recv()
+
+            res = func(*args, **kwargs)
+            total_time = time.time() - start_time
+
+            # end memprofiling monitoring
+            parent_pipe.send(0)
+            max_memory = None
+            max_cpu = None
+            if parent_pipe.poll(THREAD_TIMEOUT):
+                max_memory = parent_pipe.recv()
+            if parent_pipe.poll(THREAD_TIMEOUT):
+                max_cpu = parent_pipe.recv()
+            memory_end = get_current_memory()
+
+            func_name = name
+            if name is None:
+                func_name = func.__name__.capitalize()
+
+            message = (
+                "CarsProfiling# %{}%: %{:.4f}% s Max ram : %{}% MiB"
+                " Start Ram: %{}% MiB, End Ram: %{}% MiB, "
+                " Max CPU usage: %{}%".format(
+                    func_name,
+                    total_time,
+                    max_memory,
+                    memory_start,
+                    memory_end,
+                    max_cpu,
+                )
+            )
+
+            cars_logging.add_profiling_message(message)
+
+            return res
+
+        return wrapper_cars_profile
+
+    return decorator_generator
+
+
+class CarsMemProf(Thread):
+    """
+    CarsMemProf
+
+    Profiling thread
+    """
+
+    def __init__(self, pid, pipe, interval=0.1):
+        """
+        Init function of CarsMemProf
+        """
+        super().__init__()
+        self.pipe = pipe
+        self.interval = interval
+        self.cpu_interval = 0.1
+        self.process = psutil.Process(pid)
+
+    def run(self):
+        """
+        Run
+        """
+
+        try:
+            max_mem = 0
+            max_cpu = 0
+
+            # tell parent profiling is ready
+            self.pipe.send(0)
+            stop = False
+            while True:
+                # Get memory
+                current_mem = self.process.memory_info().rss
+
+                max_mem = max(max_mem, current_mem)
+
+                # Get cpu max
+                current_cpu = self.process.cpu_percent(
+                    interval=self.cpu_interval
+                )
+
+                max_cpu = max(max_cpu, current_cpu)
+
+                if stop:
+                    break
+                stop = self.pipe.poll(self.interval)
+
+            # Convert nbytes size for logger
+            self.pipe.send(float(max_mem) / 1000000)
+            self.pipe.send(max_cpu)
+
+        except BrokenPipeError:
+            logging.debug("broken pipe error in log wrapper ")