perf(autoware_map_based_prediction): speed up map based prediction by using lru cache in convertPathType #8461
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… using lru cache in convertPathType Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
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## main #8461 +/- ##
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- Coverage 23.87% 23.82% -0.05%
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Files 1380 1381 +1
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… 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: Y.Hisaki <yhisaki31@gmail.com>
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… 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: Y.Hisaki <yhisaki31@gmail.com>
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… 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>
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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>
xtk8532704
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… 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: Y.Hisaki <yhisaki31@gmail.com> Signed-off-by: xtk8532704 <1041084556@qq.com>
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Description
By restoring previous calculation results, we can speed up
convertPathType!Related links
Parent Issue:
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Notes for reviewers
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Interface changes
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Effects on system behavior
None.