perf(map_based_prediction): improve world to map transform calculation #8413
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8413 +/- ##
==========================================
- Coverage 23.85% 23.84% -0.01%
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Files 1379 1381 +2
Lines 101614 101647 +33
Branches 38644 38647 +3
==========================================
- Hits 24238 24236 -2
- Misses 74918 74952 +34
- Partials 2458 2459 +1
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1. remove unused transforms 2. make transform loading late as possible Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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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 <taekjin.lee@tier4.jp> * perf(map_based_prediction): get transform only when it is necessary Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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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 <taekjin.lee@tier4.jp> * perf(map_based_prediction): get transform only when it is necessary Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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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 <onur@adastec.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * perf(map_based_prediction): remove unncessary withinRoadLanelet() (autowarefoundation#8403) Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> * perf(map_based_prediction): create a fence LineString layer and use rtree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> * perf(map_based_prediction): apply lerp instead of spline (autowarefoundation#8416) perf: apply lerp interpolation instead of spline Signed-off-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * 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 <taekjin.lee@tier4.jp> * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * Update perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> * 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 <taekjin.lee@tier4.jp> * perf(map_based_prediction): get transform only when it is necessary Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat(autoware_universe_utils): add LRU Cache (autowarefoundation#8456) Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> * 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 <42021302+yhisaki@users.noreply.github.com> * fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks (autowarefoundation#8467) Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> --------- Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com> Signed-off-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com> Co-authored-by: Onur Can Yücedağ <onur@adastec.com> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com> Co-authored-by: Mamoru Sobue <hilo.soblin@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Co-authored-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
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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 <taekjin.lee@tier4.jp> * perf(map_based_prediction): get transform only when it is necessary Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com>
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Description
improve performance by optimizing transform loading part.
Related links
#8388
#8400
#8403
#8406
Parent Issue:
How was this PR tested?
Tested under a local environment.
improved runtime (average)
15.97 [ms] -> 15.24 [ms]
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.