perf(map_based_prediction): create a fence LineString layer and use rtree query #8406
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Signed-off-by: Mamoru Sobue <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8406 +/- ##
==========================================
- Coverage 23.74% 23.73% -0.02%
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Files 1378 1380 +2
Lines 101354 101382 +28
Branches 38522 38521 -1
==========================================
- Hits 24068 24062 -6
- Misses 74870 74904 +34
Partials 2416 2416
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…tree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <[email protected]>
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…tree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <[email protected]>
technolojin
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…tree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <[email protected]>
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…tree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <[email protected]>
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…performance of map_based_prediction (#1464) * fix(autoware_map_based_prediction): fix argument order (autowarefoundation#8031) fix(autoware_map_based_prediction): fix argument order in call `getFrenetPoint()` Signed-off-by: yucedagonurcan <[email protected]> Co-authored-by: Shintaro Tomie <[email protected]> Co-authored-by: Kotaro Uetake <[email protected]> * perf(map_based_prediction): remove unncessary withinRoadLanelet() (autowarefoundation#8403) Signed-off-by: Mamoru Sobue <[email protected]> * perf(map_based_prediction): create a fence LineString layer and use rtree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <[email protected]> * perf(map_based_prediction): apply lerp instead of spline (autowarefoundation#8416) perf: apply lerp interpolation instead of spline Signed-off-by: Kotaro Uetake <[email protected]> * perf(autoware_map_based_prediction): improve orientation calculation and resample converted path (autowarefoundation#8427) * refactor: improve orientation calculation and resample converted path with linear interpolation Simplify the calculation of the orientation for each pose in the convertPathType function by directly calculating the sine and cosine of half the yaw angle. This improves efficiency and readability. Also, improve the resampling of the converted path by using linear interpolation for better performance. Signed-off-by: Taekjin LEE <[email protected]> * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp Co-authored-by: Kotaro Uetake <[email protected]> * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp Co-authored-by: Kotaro Uetake <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: Kotaro Uetake <[email protected]> * perf(map_based_prediction): improve world to map transform calculation (autowarefoundation#8413) * perf(map_based_prediction): improve world to map transform calculation 1. remove unused transforms 2. make transform loading late as possible Signed-off-by: Taekjin LEE <[email protected]> * perf(map_based_prediction): get transform only when it is necessary Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> * feat(autoware_universe_utils): add LRU Cache (autowarefoundation#8456) Signed-off-by: Yukinari Hisaki <[email protected]> * perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType (autowarefoundation#8461) feat(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType Signed-off-by: Yukinari Hisaki <[email protected]> * fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (autowarefoundation#8467) Signed-off-by: Yukinari Hisaki <[email protected]> --------- Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: Kotaro Uetake <[email protected]> Signed-off-by: Taekjin LEE <[email protected]> Signed-off-by: Yukinari Hisaki <[email protected]> Co-authored-by: Onur Can Yücedağ <[email protected]> Co-authored-by: Shintaro Tomie <[email protected]> Co-authored-by: Kotaro Uetake <[email protected]> Co-authored-by: Mamoru Sobue <[email protected]> Co-authored-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: Yukinari Hisaki <[email protected]>
xtk8532704
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Aug 15, 2024
…tree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <[email protected]> Signed-off-by: xtk8532704 <[email protected]>
technolojin
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Description
instead of searching from all LineStrings, create an articulated fence layer
Related links
https://star4.slack.com/archives/C03S84LDJGG/p1723084187292029
How was this PR tested?
worst processing time for a rosbag changed from
to
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.