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feat(elevation_map_loader): use polygon iterator to speed up #2885
feat(elevation_map_loader): use polygon iterator to speed up #2885
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #2885 +/- ##
==========================================
+ Coverage 11.88% 11.95% +0.07%
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Files 1336 1325 -11
Lines 93197 91893 -1304
Branches 24728 24578 -150
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- Hits 11077 10988 -89
+ Misses 70641 69502 -1139
+ Partials 11479 11403 -76
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For better performances I recommend using the grid_map_utils::PolygonIterator
(https://github.com/autowarefoundation/autoware.universe/tree/main/common/grid_map_utils).
You only need to add grid_map_utils
to packages.xml
and apply the suggested changes.
perception/elevation_map_loader/src/elevation_map_loader_node.cpp
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perception/elevation_map_loader/src/elevation_map_loader_node.cpp
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@@ -324,7 +324,7 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con | |||
], | |||
parameters=[ | |||
{ | |||
"use_lane_filter": False, | |||
"use_lane_filter": True, |
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This is debatable. The detection area is looking at pointcloud, but it is often defined outside of ll2 lanes.
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Even if we use lane filter for inpaint, the elevation value in cells including min_num_points_per_cell
or more points outside of lanelet is calculated.
This PR influences only cells outside of lanelet that do not include min_num_points_per_cell
points.
(And if we can expand Polygon of lanelet, we can include cells in detection_area outside of lanelet.)
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@Shin-kyoto I see. 👍 I was mistaken.
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@yukkysaito Although, setting default to True is not good idea, I think. I will fix this.
And this is a bit confusing, is it better to move these parameters to ground_segmentation.param.yaml? What do you think?
…warefoundation#2885) Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
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Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
Signed-off-by: Shunsuke Miura <[email protected]>
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LGTM
@kosuke55 @taichiH Could you review this PR as codeowners? @Shin-kyoto and I have already checked it works all right |
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LGTM
…efoundation#2885) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator Signed-off-by: Shunsuke Miura <[email protected]> * formatting Signed-off-by: Shunsuke Miura <[email protected]> * use use_lane_filter option Signed-off-by: Shunsuke Miura <[email protected]> * delete unused use-lane-filter option Signed-off-by: Shunsuke Miura <[email protected]> * change use_lane_filter to True, clarify the scope Signed-off-by: Shunsuke Miura <[email protected]> * change to use grid_map_utils::PolygonIterator Signed-off-by: Shunsuke Miura <[email protected]> * Add lane margin parameter Signed-off-by: Shunsuke Miura <[email protected]> * use boost geometry buffer to expand lanes Signed-off-by: Shunsuke Miura <[email protected]> * Change use_lane_filter param default to false Signed-off-by: Shunsuke Miura <[email protected]> * update README Signed-off-by: Shunsuke Miura <[email protected]> --------- Signed-off-by: Shunsuke Miura <[email protected]>
…arefoundation#2571, autowarefoundation#2885, #943) (#337) * feat(elevation_map_loader): reduce memory usage of elevation_map_loader (autowarefoundation#2571) * feat: reduce memory usage of elevation_map_loader Signed-off-by: Shin-kyoto <[email protected]> * chore: remove unnecessary comment Signed-off-by: Shin-kyoto <[email protected]> * fix: modify variables' name Signed-off-by: Shin-kyoto <[email protected]> Signed-off-by: Shin-kyoto <[email protected]> * feat(elevation_map_loader): use polygon iterator to speed up (autowarefoundation#2885) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator Signed-off-by: Shunsuke Miura <[email protected]> * formatting Signed-off-by: Shunsuke Miura <[email protected]> * use use_lane_filter option Signed-off-by: Shunsuke Miura <[email protected]> * delete unused use-lane-filter option Signed-off-by: Shunsuke Miura <[email protected]> * change use_lane_filter to True, clarify the scope Signed-off-by: Shunsuke Miura <[email protected]> * change to use grid_map_utils::PolygonIterator Signed-off-by: Shunsuke Miura <[email protected]> * Add lane margin parameter Signed-off-by: Shunsuke Miura <[email protected]> * use boost geometry buffer to expand lanes Signed-off-by: Shunsuke Miura <[email protected]> * Change use_lane_filter param default to false Signed-off-by: Shunsuke Miura <[email protected]> * update README Signed-off-by: Shunsuke Miura <[email protected]> --------- Signed-off-by: Shunsuke Miura <[email protected]> * perf(behavior_velocity_planner): add faster PolygonIterator (#943) * Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * suppress error --------- Signed-off-by: Shin-kyoto <[email protected]> Signed-off-by: Shunsuke Miura <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Co-authored-by: Shintaro Tomie <[email protected]> Co-authored-by: Shunsuke Miura <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]>
…efoundation#2885) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator Signed-off-by: Shunsuke Miura <[email protected]> * formatting Signed-off-by: Shunsuke Miura <[email protected]> * use use_lane_filter option Signed-off-by: Shunsuke Miura <[email protected]> * delete unused use-lane-filter option Signed-off-by: Shunsuke Miura <[email protected]> * change use_lane_filter to True, clarify the scope Signed-off-by: Shunsuke Miura <[email protected]> * change to use grid_map_utils::PolygonIterator Signed-off-by: Shunsuke Miura <[email protected]> * Add lane margin parameter Signed-off-by: Shunsuke Miura <[email protected]> * use boost geometry buffer to expand lanes Signed-off-by: Shunsuke Miura <[email protected]> * Change use_lane_filter param default to false Signed-off-by: Shunsuke Miura <[email protected]> * update README Signed-off-by: Shunsuke Miura <[email protected]> --------- Signed-off-by: Shunsuke Miura <[email protected]>
Description
When use_lane_filter is true, elevation map loader makes inpaint mask only within the lane polygons.
This option could be useful for large size map which takes long time to inpaint.
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