perf(autoware_map_based_prediction autoware_universe_utils): improve performance of map_based_prediction #1464
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…ation#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>
…towarefoundation#8403) Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com>
…tree query (autowarefoundation#8406) use fence layer Signed-off-by: Mamoru Sobue <hilo.soblin@gmail.com>
…ndation#8416) perf: apply lerp interpolation instead of spline Signed-off-by: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>
…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>
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: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
… 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>
…d of external_surrounding_crosswalks (autowarefoundation#8467) Signed-off-by: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
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Aug 15, 2024
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Description
Improve performance of map_based_prediction.
autoware_map_based_prediction
fix(autoware_map_based_prediction): fix argument order autowarefoundation/autoware.universe#8031
perf(map_based_prediction): remove unncessary withinRoadLanelet() autowarefoundation/autoware.universe#8403
perf(map_based_prediction): create a fence LineString layer and use rtree query autowarefoundation/autoware.universe#8406
perf(map_based_prediction): apply lerp instead of spline autowarefoundation/autoware.universe#8416
perf(autoware_map_based_prediction): improve orientation calculation and resample converted path autowarefoundation/autoware.universe#8427
perf(map_based_prediction): improve world to map transform calculation autowarefoundation/autoware.universe#8413
perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType autowarefoundation/autoware.universe#8461
fix(autoware_map_based_prediction): use surrounding_crosswalks instead of external_surrounding_crosswalks autowarefoundation/autoware.universe#8467
autoware_universe_utils
feat(autoware_universe_utils): add LRU Cache autowarefoundation/autoware.universe#8456
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Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.