perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum #2883
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…erencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
Codecov ReportBase: 11.70% // Head: 11.70% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2883 +/- ##
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- Coverage 11.70% 11.70% -0.01%
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Files 1314 1314
Lines 91666 91671 +5
Branches 24506 24506
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Hits 10728 10728
- Misses 69751 69756 +5
Partials 11187 11187
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TomohitoAndo
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…erencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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TomohitoAndo
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#280) perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: Ryuta Kambe <veqcc.c@gmail.com> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…erencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…v0.7.0 * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * perf(map_based_prediction): calculate yaw without calling getLaneletAngle (autowarefoundation#2895) Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: Ryuta Kambe <veqcc.c@gmail.com> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
nabetetsu
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Mar 1, 2023
…erencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1222-takeshi
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Mar 6, 2023
…erencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
taikitanaka3
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…erencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…erencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum Signed-off-by: veqcc <ryuta.kambe@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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TomohitoAndo
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…erencePath with cumulative sum (#810) perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum (autowarefoundation#2883) * perf(map_based_prediction): performance improvement of interpolateReferencePath with cumulative sum * style(pre-commit): autofix --------- Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: Ryuta Kambe <veqcc.c@gmail.com> Co-authored-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Signed-off-by: veqcc ryuta.kambe@tier4.jp
Description
The node
map_based_predictionis too slow to publish/perception/object_recognition/objectstopic when there are a lot of vehicles around the ego. This is due to the inefficient implementation ofinterpolateReferencePath, especially the calculation of the length of paths withcalcSignedArcLength. It calls thecalcSignedArcLengthfunction for EVERY index of the path. This can be optimized with the idea cumulative sum, in which the path length of 0 to i-th index can be easily calculated with the value of 0 to (i-1)th.The following figure shows how latencies are optimized with the idea. The red graph is the original latency, and the blue graph is the latency of the proposed implementation.