perf(behavior_velocity_planner): use faster PolygonIterator #943

maxime-clem · 2022-05-20T09:37:26Z

Signed-off-by: Maxime CLEMENT maxime.clement@tier4.jp

Description

This PR adds a faster PolygonIterator for the grid_map library.

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codecov · 2022-05-20T09:48:55Z

Codecov Report

Merging #943 (3c0cd88) into main (4e30bf5) will increase coverage by 0.08%.
The diff coverage is 22.60%.

@@            Coverage Diff            @@
##            main     #943      +/-   ##
=========================================
+ Coverage   9.95%   10.04%   +0.08%     
=========================================
  Files        879      883       +4     
  Lines      55968    56344     +376     
  Branches   10577    10794     +217     
=========================================
+ Hits        5572     5657      +85     
- Misses     45679    45776      +97     
- Partials    4717     4911     +194

Flag	Coverage Δ		*Carryforward flag
differential	`21.54% <21.54%> (?)`
total	`9.95% <ø> (ø)`		Carriedforward from a942475

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
common/grid_map_utils/test/benchmark.cpp	`0.00% <0.00%> (ø)`
...mmon/grid_map_utils/test/test_polygon_iterator.cpp	`10.98% <10.98%> (ø)`
common/grid_map_utils/src/polygon_iterator.cpp	`58.87% <58.87%> (ø)`
..._utils/include/grid_map_utils/polygon_iterator.hpp	`75.00% <75.00%> (ø)`

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common/grid_map_utils/src/polygon_iterator.cpp

taikitanaka3 · 2022-05-24T06:47:47Z

please make PR to grid map core too if this is merged and test result become nicer.
please add brief description to this package

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

taikitanaka3 · 2022-05-30T10:10:18Z

@maxime-clem
I close and reopen this pr for updating ci

taikitanaka3 · 2022-05-30T10:24:32Z

@yukkysaito @TakaHoribe
This is just PR for adding new package.
There is a test for comparing polygon iterator of grid map package and @maxime-clem 's grid map utils.
I think merge isReady.

yukkysaito

Awesome. LGTM

maxime-clem · 2022-05-30T11:31:40Z

Thank you for the review.
Friday I tested a new feature making use of this faster PolygonIterator and did not encounter any issue.
I will merge this.

…foundation#943) * Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

…arefoundation#2571, autowarefoundation#2885, #943) (#337) * feat(elevation_map_loader): reduce memory usage of elevation_map_loader (autowarefoundation#2571) * feat: reduce memory usage of elevation_map_loader Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * chore: remove unnecessary comment Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * fix: modify variables' name Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> * feat(elevation_map_loader): use polygon iterator to speed up (autowarefoundation#2885) * use grid_map::PolygonIterator instead of grid_map::GridMapIterator Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * formatting Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * use use_lane_filter option Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * delete unused use-lane-filter option Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * change use_lane_filter to True, clarify the scope Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * change to use grid_map_utils::PolygonIterator Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Add lane margin parameter Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * use boost geometry buffer to expand lanes Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * Change use_lane_filter param default to false Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * update README Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> --------- Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * perf(behavior_velocity_planner): add faster PolygonIterator (#943) * Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> * suppress error --------- Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com> Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

feat(lane_change): cherry-pick LC PRs

…arefoundation#943) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

maxime-clem added the type:new-feature New functionalities or additions, feature requests. label May 20, 2022

maxime-clem requested a review from taikitanaka3 May 20, 2022 09:37

maxime-clem self-assigned this May 20, 2022

maxime-clem force-pushed the perf-polygon_iterator branch from ec33e7b to 3b749cf Compare May 20, 2022 09:59

taikitanaka3 requested a review from yukkysaito May 24, 2022 06:40

taikitanaka3 reviewed May 24, 2022

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common/grid_map_utils/src/polygon_iterator.cpp Outdated Show resolved Hide resolved

taikitanaka3 reviewed May 24, 2022

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common/grid_map_utils/src/polygon_iterator.cpp Outdated Show resolved Hide resolved

maxime-clem force-pushed the perf-polygon_iterator branch 2 times, most recently from ea41110 to 3d1173d Compare May 25, 2022 12:26

maxime-clem added 9 commits May 25, 2022 22:12

Add grid_map_utils pkg with faster implementation of PolygonIterator

216f101

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Factorize code of PolygonIterator (ongoing)

64ea717

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Add program to visualize difference with grid_map::PolygonIterator

354d4ad

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Cleanup code and make behavior closer to grid_map::PolygonIterator

0d67dc0

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Fix bug: some pairs of y intersection outside the map were not removed

15c4102

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Replace debug visualization exe with benchmark+visualization exe

7d0756f

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Fix bug when calculating min_vertex_x + code cleanup

7fdf7ab

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Calculate Indexes during iteration (faster than during construction)

0c2e26c

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Change list to vector for better performances

c89e28a

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

maxime-clem force-pushed the perf-polygon_iterator branch from 3d1173d to 713359c Compare May 25, 2022 13:24

maxime-clem added 2 commits May 25, 2022 22:31

Add README and runtime comparison figure

e28c2f6

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Remove polygon drawing and cleanup benchmark

bcc3c37

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

maxime-clem force-pushed the perf-polygon_iterator branch from 713359c to bcc3c37 Compare May 25, 2022 13:31

maxime-clem marked this pull request as ready for review May 25, 2022 14:57

maxime-clem added 3 commits May 26, 2022 08:55

Add 2 failing tests + improve benchmark

a942475

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Update edge case test (diff with grid_map) and update README:Assumptions

99f3071

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Fix self-crossing test

3c0cd88

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

taikitanaka3 closed this May 30, 2022

taikitanaka3 reopened this May 30, 2022

yukkysaito approved these changes May 30, 2022

View reviewed changes

maxime-clem merged commit 90f5f56 into autowarefoundation:main May 30, 2022

maxime-clem deleted the perf-polygon_iterator branch May 30, 2022 11:33

tier4-autoware-public-bot bot mentioned this pull request May 31, 2022

chore: sync upstream tier4/autoware.universe#52

Merged

maxime-clem mentioned this pull request Jun 1, 2022

feat(behavior_velocity_planner): use grid_map_utils::PolygonIterator #1018

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maxime-clem referenced this pull request in tier4/autoware.universe Aug 3, 2022

perf(behavior_velocity_planner): add faster PolygonIterator (#943)

66a97da

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

maxime-clem referenced this pull request in tier4/autoware.universe Aug 11, 2022

perf(behavior_velocity_planner): add faster PolygonIterator (#943)

fa9ae50

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022

perf(behavior_velocity_planner): add faster PolygonIterator (tier4#943)

81af9ea

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

perf(behavior_velocity_planner): add faster PolygonIterator (tier4#943)

21d35ff

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022

perf(behavior_velocity_planner): add faster PolygonIterator (tier4#943)

f7b4ecd

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022

perf(behavior_velocity_planner): add faster PolygonIterator (tier4#943)

cd95d70

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

h-ohta referenced this pull request in tier4/autoware.universe Mar 24, 2023

perf(behavior_velocity_planner): add faster PolygonIterator (#943)

0f67f5e

* Add grid_map_utils pkg with faster implementation of PolygonIterator Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

h-ohta mentioned this pull request Mar 24, 2023

feat(elevation_map_loader): large size pointcloud map (backport #2571, #2885, #943) tier4/autoware.universe#337

Merged

4 tasks

YoshiRi pushed a commit to YoshiRi/autoware.universe that referenced this pull request Oct 19, 2023

Merge pull request autowarefoundation#943 from tier4/lc-update-20231013

02b5f1a

feat(lane_change): cherry-pick LC PRs

iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025

feat(lane_change): check prepare phase in turn direction lanes (autow…

18173b0

…arefoundation#943) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

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perf(behavior_velocity_planner): use faster PolygonIterator #943

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perf(behavior_velocity_planner): use faster PolygonIterator #943

perf(behavior_velocity_planner): use faster PolygonIterator #943

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