perf(map_based_prediction): calculate yaw without calling getLaneletAngle #2895
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…ngle Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
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Codecov ReportBase: 12.59% // Head: 12.59% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2895 +/- ##
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- Coverage 12.59% 12.59% -0.01%
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Files 1219 1219
Lines 86539 86549 +10
Branches 24794 24794
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- Misses 64281 64291 +10
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…ngle (autowarefoundation#2895) Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp>
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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>
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…ngle (autowarefoundation#2895) Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp>
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…ngle (autowarefoundation#2895) Signed-off-by: veqcc <ryuta.kambe@tier4.jp> Co-authored-by: veqcc <ryuta.kambe@tier4.jp>
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Signed-off-by: veqcc ryuta.kambe@tier4.jp
Description
The motivation to improve the latency of map_based_prediction node is the same as #2883 .
How I optimized
getPredictedReferencePathis to remove thegetLanletAnglefunction calls. IngetLanletAngle, we search which segment is the closest to the point in parameter, where the segments are created from two adjacent centerline points in lanelet. These points in parameter, however, are exactly the points of centerline in lanelet (as seen inconvertPathType). Thus, we don't have to walk through the lanelet centerline points again and to calculate the yaw from the previous point is enough.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 after #2883 is merged, and the green graph is the latency of this proposal.
By the way, the current implementation of skipping the first point is not smart I think. If you have better implementation ideas, please add a comment.