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>

perception/autoware_map_based_prediction/src/map_based_prediction_node.cpp

@@ -971,23 +971,6 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
     return;
   }
 
-  auto world2map_transform = transform_listener_.getTransform(
-    "map",                        // target
-    in_objects->header.frame_id,  // src
-    in_objects->header.stamp, rclcpp::Duration::from_seconds(0.1));
-  auto map2world_transform = transform_listener_.getTransform(
-    in_objects->header.frame_id,  // target
-    "map",                        // src
-    in_objects->header.stamp, rclcpp::Duration::from_seconds(0.1));
-  auto debug_map2lidar_transform = transform_listener_.getTransform(
-    "base_link",  // target
-    "map",        // src
-    rclcpp::Time(), rclcpp::Duration::from_seconds(0.1));
-
-  if (!world2map_transform || !map2world_transform || !debug_map2lidar_transform) {
-    return;
-  }
-
   // Remove old objects information in object history
   const double objects_detected_time = rclcpp::Time(in_objects->header.stamp).seconds();
   removeOldObjectsHistory(objects_detected_time, object_buffer_time_length_, road_users_history);
@@ -1026,12 +1009,24 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
   }
   std::unordered_set<std::string> predicted_crosswalk_users_ids;
 
+  // get world to map transform
+  geometry_msgs::msg::TransformStamped::ConstSharedPtr world2map_transform;
+
+  bool is_object_not_in_map_frame = in_objects->header.frame_id != "map";
+  if (is_object_not_in_map_frame) {
+    world2map_transform = transform_listener_.getTransform(
+      "map",                        // target
+      in_objects->header.frame_id,  // src
+      in_objects->header.stamp, rclcpp::Duration::from_seconds(0.1));
+    if (!world2map_transform) return;
+  }
+
   for (const auto & object : in_objects->objects) {
     std::string object_id = autoware::universe_utils::toHexString(object.object_id);
     TrackedObject transformed_object = object;
 
     // transform object frame if it's based on map frame
-    if (in_objects->header.frame_id != "map") {
+    if (is_object_not_in_map_frame) {
       geometry_msgs::msg::PoseStamped pose_in_map;
       geometry_msgs::msg::PoseStamped pose_orig;
       pose_orig.pose = object.kinematics.pose_with_covariance.pose;