perf(map_based_prediction): filter surrounding crosswalks for pedestrians beforehand #8388
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soblin
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Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8388 +/- ##
==========================================
- Coverage 23.76% 23.73% -0.03%
==========================================
Files 1379 1381 +2
Lines 101362 101376 +14
Branches 38528 38521 -7
==========================================
- Hits 24086 24063 -23
- Misses 74796 74816 +20
- Partials 2480 2497 +17
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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…ians beforehand (autowarefoundation#8388) fix withinAnyCroswalk Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
This was referenced Aug 8, 2024
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…ians beforehand (autowarefoundation#8388) fix withinAnyCroswalk Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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…ians beforehand (autowarefoundation#8388) fix withinAnyCroswalk Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: xtk8532704 <1041084556@qq.com>
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Description
iterating all
crosswalks_is really slow, so filter surrounding crosswalk beforehand for each objectRelated links
https://tier4.atlassian.net/browse/RT0-32279
How was this PR tested?
https://evaluation.tier4.jp/evaluation/reports/2f811188-c27e-5dce-9a11-381656ee369c?project_id=prd_jt
worst computation time of objectsCallbak reduced from 38.59ms to 18.59ms for a rosbag with many pedestrians.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.