feat(elevation_map_loader): use polygon iterator to speed up #2885

miursh · 2023-02-14T11:45:38Z

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.

Tests performed

We have confirmed below

The elevation value is completely same within lanelet if margin is larger than 1m
Calculation time is much shorter than inpainting the entire area. (About 4 hours to 3 mins)

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codecov · 2023-02-14T11:59:08Z

Codecov Report

Patch coverage has no change and project coverage change: +0.07 🎉

Comparison is base (8b95d2a) 11.88% compared to head (e1cf536) 11.95%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2885      +/-   ##
==========================================
+ Coverage   11.88%   11.95%   +0.07%     
==========================================
  Files        1336     1325      -11     
  Lines       93197    91893    -1304     
  Branches    24728    24578     -150     
==========================================
- Hits        11077    10988      -89     
+ Misses      70641    69502    -1139     
+ Partials    11479    11403      -76

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`11.96% <ø> (+0.07%)`	⬆️	Carriedforward from 2d598cf

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...elevation_map_loader/elevation_map_loader_node.hpp	`0.00% <ø> (ø)`
...ation_map_loader/src/elevation_map_loader_node.cpp	`0.00% <0.00%> (ø)`

... and 45 files with indirect coverage changes

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maxime-clem

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

yukkysaito · 2023-02-15T07:38:34Z

...eption_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -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,


This is debatable. The detection area is looking at pointcloud, but it is often defined outside of ll2 lanes.

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.)

@Shin-kyoto I see. 👍 I was mistaken.

@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]>

Shin-kyoto

LGTM

miursh · 2023-03-20T00:07:05Z

@kosuke55 @taichiH Could you review this PR as codeowners?

@Shin-kyoto and I have already checked it works all right

kosuke55

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]>

miursh requested a review from Shin-kyoto February 14, 2023 11:45

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Feb 14, 2023

miursh marked this pull request as ready for review February 14, 2023 15:39

miursh requested review from kosuke55, taichiH and a team as code owners February 14, 2023 15:39

miursh force-pushed the feat/use_polygon_iterator branch from 5110cda to 465c9de Compare February 14, 2023 15:43

maxime-clem reviewed Feb 15, 2023

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perception/elevation_map_loader/src/elevation_map_loader_node.cpp Outdated Show resolved Hide resolved

perception/elevation_map_loader/src/elevation_map_loader_node.cpp Outdated Show resolved Hide resolved

miursh requested a review from yukkysaito as a code owner February 15, 2023 06:13

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Feb 15, 2023

yukkysaito reviewed Feb 15, 2023

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mitsudome-r added the reviewer assigned label Feb 21, 2023

miursh marked this pull request as draft March 13, 2023 01:23

miursh added 7 commits March 13, 2023 10:25

use grid_map::PolygonIterator instead of grid_map::GridMapIterator

dca950a

Signed-off-by: Shunsuke Miura <[email protected]>

formatting

d8e9484

Signed-off-by: Shunsuke Miura <[email protected]>

use use_lane_filter option

71e1f17

Signed-off-by: Shunsuke Miura <[email protected]>

delete unused use-lane-filter option

c828e11

Signed-off-by: Shunsuke Miura <[email protected]>

change use_lane_filter to True, clarify the scope

3323dd1

Signed-off-by: Shunsuke Miura <[email protected]>

change to use grid_map_utils::PolygonIterator

f640cdf

Signed-off-by: Shunsuke Miura <[email protected]>

Add lane margin parameter

cebac2c

Signed-off-by: Shunsuke Miura <[email protected]>

miursh force-pushed the feat/use_polygon_iterator branch from 99519b4 to cebac2c Compare March 13, 2023 01:26

miursh added 2 commits March 13, 2023 19:59

use boost geometry buffer to expand lanes

e7d3861

Signed-off-by: Shunsuke Miura <[email protected]>

Change use_lane_filter param default to false

997943b

Signed-off-by: Shunsuke Miura <[email protected]>

miursh marked this pull request as ready for review March 15, 2023 06:28

update README

2d598cf

Signed-off-by: Shunsuke Miura <[email protected]>

Shin-kyoto approved these changes Mar 17, 2023

View reviewed changes

kosuke55 approved these changes Mar 22, 2023

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taichiH approved these changes Mar 22, 2023

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Merge branch 'main' into feat/use_polygon_iterator

e1cf536

miursh merged commit 14739a0 into autowarefoundation:main Mar 22, 2023

miursh deleted the feat/use_polygon_iterator branch March 22, 2023 04:39

tier4-autoware-public-bot bot mentioned this pull request Mar 23, 2023

chore: sync upstream tier4/autoware.universe#328

Merged

h-ohta mentioned this pull request Mar 24, 2023

feat(elevation_map_loader): large size pointcloud map (backport #2571, #2885, #943) tier4/autoware.universe#337

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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

miursh commented Feb 14, 2023 •

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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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miursh commented Feb 14, 2023 • edited Loading

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