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perf(map_height_fitter): more efficient query to find closest lanelet #7020
perf(map_height_fitter): more efficient query to find closest lanelet #7020
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@maxime-clem I would like to ask an additional question that is not related to the pull request. |
Thank you for checking the PR. It sounds like it would be better to retrieve the closest point. Which is also possible. I can use |
I think that change is fine. 👍 |
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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@SakodaShintaro I committed the change. Are you able to test the new version and confirm it works as expected ? |
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I conducted the following three types of tests.
- planning_simulator (initializing pose by vectormap)
- logging_simulator (initializing pose by both pcd and vectormap)
- AWSIM (initializing pose by both pcd and vectormap)
Everything worked fine. Thank you very much.
…oint query (autowarefoundation#7020) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>
…oint query (autowarefoundation#7020) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
Description
Improve performance of the
map_height_fitter
when getting the ground height.Currently, it checks ALL lanelets to find the closest one. With this PR, the query is more efficient (thanks to the R-tree used in the lanelet layer).
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
Interface changes
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