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perf(perception): improved speed of Wall Occlusion #443

Merged
merged 7 commits into from
Dec 9, 2024
Merged

perf(perception): improved speed of Wall Occlusion #443

merged 7 commits into from
Dec 9, 2024
+80 −16

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schwepmo
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@schwepmo schwepmo commented Dec 5, 2024 •
edited by kschrab
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Description

This PR dramatically improves the speed of Wall Occlusion evaluation

  • achieved by a) using a more sensible pre-selection of walls
  • b) not using the intersection point calculation from VectorUtils

Issue(s) related to this PR

  • Resolves issue # / internal issue

Affected parts of the online documentation

Changes in the documentation required?

Definition of Done

Prerequisites

  • You have read CONTRIBUTING.md carefully.
  • You have signed the Contributor License Agreement.
  • Your GitHub user id is linked with your Eclipse Account.

Required

  • The title of this merge request follows the scheme type(scope): description (in the style of Conventional Commits)
  • You have assigned a suitable label to this pull request (e.g., enhancement, or bugfix)
  • origin/main has been merged into your Fork.
  • Coding guidelines have been followed (see CONTRIBUTING.md).
  • All checks on GitHub pass.
  • All tests on Jenkins pass.

Requested (can be enforced by maintainers)

  • New functionality is covered by unit tests or integration tests. Code coverage must not decrease.
  • If a bug has been fixed, a new unit test has been written (beforehand) to prove misbehavior
  • There are no new SpotBugs warnings.

Special notes to reviewer

@schwepmo
improvement(perception-module): dramatically improved speed of wall o…
fb9b932 
…cclusion eval

* achieved by a) using a more sensible pre-selection of walls
* b not using the 3D intersections eval from VectorUtils

Signed-off-by: Moritz Schweppenhäuser <[email protected]>
@schwepmo schwepmo added the enhancement New feature or request label Dec 5, 2024
@schwepmo schwepmo self-assigned this Dec 5, 2024
@schwepmo schwepmo requested a review from kschrab December 5, 2024 12:34
@schwepmo
cleanup(vector-utils): improved readability by using different parame…
38ad06e 
…ter names and re-ordering code

Signed-off-by: Moritz Schweppenhäuser <[email protected]>
@schwepmo
cleanup(perception): removed unused import
e35bb71 
Signed-off-by: Moritz Schweppenhäuser <[email protected]>
@kschrab kschrab changed the title improvement(perception-module): dramatically improved speed of Wall Occlusion improvement(perception-module): improved speed of Wall Occlusion Dec 9, 2024
@kschrab kschrab changed the title improvement(perception-module): improved speed of Wall Occlusion perf(perception): improved speed of Wall Occlusion Dec 9, 2024
@kschrab kschrab merged commit 8c8817d into main Dec 9, 2024
5 checks passed
@kschrab kschrab deleted the speed-up-wall-occlusion branch December 9, 2024 10:26
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@kschrab kschrab kschrab approved these changes

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@schwepmo schwepmo

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