perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #7687

taisa1 · 2024-06-25T09:50:38Z

Description

This PR makes pointcloud based occupancy grid map faster without changing logical output.

The tail latency of the probabilistic_occupancy_grid_map (type: OccupancyGridMapFixedBlindSpot) gets about x1.5 faster with this PR merged.

Pointcloud based occupancy grid map has two types.
This PR focuses on OccupancyGridMapFixedBlindSpot (default type), but it also changes implementation of OccupancyGridMapProjectiveBlindSpot.

The main changes are as follows:

Processed points without making new PointCloud2 as much as possible.
Used std::vector more efficiently, such as use of emplace_back and reserve, to reduce the cost of memory allocation.
Replaced std::hypot with std::sqrt.

In addition, some small changes are made to improve performance.

Measurement Condition

Ubuntu22.04 + ROS2 Humble + Autoware Universe rosbag simulation
Core Isolated
Core Frequency Fixed (2.3GHz)
L3 Cache: 24MB

Tests performed

Local test

It has been verified that the content of output topics with the same timestamp is identical before and after the PR.

Download files from https://drive.google.com/drive/folders/1rxwKyDgtOYEfnNyFPES1hga2I_-KCK0l. This folder contains files for rosbag simulation, topic output as csv, and script for comparison.
For comparing results, run python3 python3 validator.py default_(fix|projective).csv pr_(fix|projective).csv.

Evaluator test

The perception mode test has been passed.
https://github.com/tier4/auto-evaluator/actions/runs/9855260202

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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In-review checklist for the PR reviewers

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The PR follows the pull request guidelines.
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Post-review checklist for the PR author

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After all checkboxes are checked, anyone who has write access can merge the PR.

github-actions · 2024-06-25T09:50:55Z

Thank you for contributing to the Autoware project!

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All required CI checks pass before marking the PR ready for review.

Signed-off-by: taisa1 <kento.osa@tier4.jp>

atsushi421

Please insert blank lines into your code to improve readability.
https://medium.com/@wijithbandara/best-practices-in-coding-9b9ffbdbfe27

...stic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp

...occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp

Signed-off-by: taisa1 <kento.osa@tier4.jp>

...stic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp

...occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_projective.cpp

...abilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_base.hpp

...bilistic_occupancy_grid_map/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.hpp

...stic_occupancy_grid_map/src/pointcloud_based_occupancy_grid_map/occupancy_grid_map_fixed.cpp

Signed-off-by: taisa1 <kento.osa@tier4.jp>

…universe into perf_occupancy_grid_map

atsushi421

LGTM

YoshiRi

Cool! LGTM

Signed-off-by: taisa1 <kento.osa@tier4.jp>

codecov · 2024-07-16T07:00:21Z

Codecov Report

Attention: Patch coverage is 63.46154% with 38 lines in your changes missing coverage. Please review.

Project coverage is 28.44%. Comparing base (f716b5b) to head (71974b3).
Report is 74 commits behind head on main.

Files	Patch %	Lines
...p/lib/costmap_2d/occupancy_grid_map_projective.cpp	0.00%	31 Missing ⚠️
...d_map/pointcloud_based_occupancy_grid_map_node.cpp	50.00%	3 Missing and 2 partials ⚠️
...cy_grid_map/costmap_2d/occupancy_grid_map_base.hpp	75.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7687      +/-   ##
==========================================
+ Coverage   28.42%   28.44%   +0.01%     
==========================================
  Files        1591     1592       +1     
  Lines      116213   116265      +52     
  Branches    49606    49606              
==========================================
+ Hits        33039    33077      +38     
- Misses      74174    74188      +14     
  Partials     9000     9000

Flag	Coverage Δ		*Carryforward flag
differential	`11.34% <63.46%> (?)`
total	`28.41% <ø> (-0.02%)`	⬇️	Carriedforward from f716b5b

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

…loud based occupancy grid map (autowarefoundation#7687) * perf: performance tuning Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: remove unnecessary change Signed-off-by: taisa1 <kento.osa@tier4.jp> * chore: edit comments Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: change the way of offset initialization Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: compile error and name Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: take common parts as func Signed-off-by: taisa1 <kento.osa@tier4.jp> * refactor: change variable name Signed-off-by: taisa1 <kento.osa@tier4.jp> * refactor: add some blank lines Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: made unapplied change Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: compile error Signed-off-by: taisa1 <kento.osa@tier4.jp> * refactor: simplified conditions Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: apply changes to projective Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: remove reserve from projective Signed-off-by: taisa1 <kento.osa@tier4.jp> * refactor: reduce too many arguments Signed-off-by: taisa1 <kento.osa@tier4.jp> * refactor: delete angle_increment Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: reflect review Signed-off-by: taisa1 <kento.osa@tier4.jp> * fix: build error Signed-off-by: taisa1 <kento.osa@tier4.jp> --------- Signed-off-by: taisa1 <kento.osa@tier4.jp> Co-authored-by: atsushi yano <55824710+atsushi421@users.noreply.github.com>

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Jun 25, 2024

taisa1 added 3 commits June 25, 2024 18:59

perf: performance tuning

e5f0951

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: remove unnecessary change

b2c6ae3

Signed-off-by: taisa1 <kento.osa@tier4.jp>

chore: edit comments

dda0c0d

Signed-off-by: taisa1 <kento.osa@tier4.jp>

taisa1 force-pushed the perf_occupancy_grid_map branch from 3fb5ce1 to dda0c0d Compare June 25, 2024 10:03

atsushi421 requested changes Jun 26, 2024

View reviewed changes

taisa1 and others added 12 commits June 27, 2024 15:21

fix: change the way of offset initialization

29dc755

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: compile error and name

4689449

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: take common parts as func

ba35f4c

Signed-off-by: taisa1 <kento.osa@tier4.jp>

refactor: change variable name

d24fec2

Signed-off-by: taisa1 <kento.osa@tier4.jp>

refactor: add some blank lines

174a32e

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: made unapplied change

dd6b800

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: compile error

6e55227

Signed-off-by: taisa1 <kento.osa@tier4.jp>

refactor: simplified conditions

2d2c737

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: apply changes to projective

d967648

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: remove reserve from projective

9b3a470

Signed-off-by: taisa1 <kento.osa@tier4.jp>

refactor: reduce too many arguments

d958c1c

Signed-off-by: taisa1 <kento.osa@tier4.jp>

Merge branch 'main' into perf_occupancy_grid_map

db765e7

atsushi421 requested changes Jul 6, 2024

View reviewed changes

taisa1 added 4 commits July 9, 2024 15:10

refactor: delete angle_increment

4cc661a

Signed-off-by: taisa1 <kento.osa@tier4.jp>

fix: reflect review

dd60264

Signed-off-by: taisa1 <kento.osa@tier4.jp>

Merge branch 'perf_occupancy_grid_map' of github.com:TAISA1/autoware.…

5452685

…universe into perf_occupancy_grid_map

Merge branch 'main' into perf_occupancy_grid_map

9f334dc

atsushi421 self-requested a review July 9, 2024 10:56

atsushi421 approved these changes Jul 9, 2024

View reviewed changes

atsushi421 marked this pull request as ready for review July 11, 2024 01:20

atsushi421 requested review from soblin, YoshiRi and yukkysaito as code owners July 11, 2024 01:20

YoshiRi approved these changes Jul 16, 2024

View reviewed changes

atsushi421 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 16, 2024

fix: build error

71974b3

Signed-off-by: taisa1 <kento.osa@tier4.jp>

atsushi421 merged commit ee097c5 into autowarefoundation:main Jul 16, 2024
29 of 30 checks passed

atsushi421 deleted the perf_occupancy_grid_map branch July 16, 2024 07:32

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perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #7687

perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #7687

taisa1 commented Jun 25, 2024 •

edited by atsushi421

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perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #7687

perf(probabilistic_occupancy_grid_map): performance tuning for pointcloud based occupancy grid map #7687

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taisa1 commented Jun 25, 2024 • edited by atsushi421 Loading

Description

Measurement Condition

Related links

Tests performed

Local test

Evaluator test

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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taisa1 commented Jun 25, 2024 •

edited by atsushi421

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