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perf(map_based_prediction): create a fence LineString layer and use rtree query #8406

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Aug 8, 2024
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perf(map_based_prediction): create a fence LineString layer and use rtree query #8406

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4 changes: 4 additions & 0 deletions .../autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@
#include <visualization_msgs/msg/marker_array.hpp>

#include <lanelet2_core/Forward.h>
#include <lanelet2_core/LaneletMap.h>
#include <lanelet2_routing/Forward.h>
#include <lanelet2_traffic_rules/TrafficRules.h>

Expand Down Expand Up @@ -178,6 +179,9 @@ class MapBasedPredictionNode : public rclcpp::Node
// Crosswalk Entry Points
lanelet::ConstLanelets crosswalks_;

// Fences
lanelet::LaneletMapUPtr fence_layer_{nullptr};

// Parameters
bool enable_delay_compensation_;
PredictionTimeHorizon prediction_time_horizon_;
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15 changes: 12 additions & 3 deletions perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Lines of Code in a Single File 

The lines of code increases from 1936 to 1944, improve code health by reducing it to 1000. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

Check notice on line 1 in perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 6.56 to 6.58, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -929,6 +929,16 @@
const auto walkways = lanelet::utils::query::walkwayLanelets(all_lanelets);
crosswalks_.insert(crosswalks_.end(), crosswalks.begin(), crosswalks.end());
crosswalks_.insert(crosswalks_.end(), walkways.begin(), walkways.end());

lanelet::LineStrings3d fences;
for (const auto & linestring : lanelet_map_ptr_->lineStringLayer) {
if (const std::string type = linestring.attributeOr(lanelet::AttributeName::Type, "none");
type == "fence") {
fences.push_back(lanelet::LineString3d(
std::const_pointer_cast<lanelet::LineStringData>(linestring.constData())));
}
}
fence_layer_ = lanelet::utils::createMap(fences);
}

void MapBasedPredictionNode::trafficSignalsCallback(
Expand Down Expand Up @@ -1318,10 +1328,9 @@
for (const auto & p : predicted_path.path)
predicted_path_ls.emplace_back(p.position.x, p.position.y);
const auto candidates =
lanelet_map_ptr_->lineStringLayer.search(lanelet::geometry::boundingBox2d(predicted_path_ls));
fence_layer_->lineStringLayer.search(lanelet::geometry::boundingBox2d(predicted_path_ls));
for (const auto & candidate : candidates) {
const std::string type = candidate.attributeOr(lanelet::AttributeName::Type, "none");
if (type == "fence" && doesPathCrossFence(predicted_path, candidate)) {
if (doesPathCrossFence(predicted_path, candidate)) {
return true;
}
}
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