Feat behavior velocity occlusion spot more efficient #15

taikitanaka3 · 2022-04-22T04:57:05Z

OccupnacyGrid is divided to freespace+occupied image & occlusion image(eroded)
this can remove grid map occlusion size search and remove sensing noise

github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-04-22T07:24:47Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

  }
-  imageToOccupancyGrid(cv_image, &occupancy_grid);
+  imageToOccupancyGrid(border_image, &occupancy_grid);
  grid_map::GridMapRosConverter::fromOccupancyGrid(occupancy_grid, "layer", grid_map);
 }
 }  // namespace grid_utils


⚠️ modernize-concat-nested-namespaces ⚠️
nested namespaces can be concatenated

Suggested change

} // namespace grid_utils

}

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

planning/behavior_velocity_planner/test/src/test_grid_utils.cpp

taikitanaka3 · 2022-04-24T10:20:29Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

@@ -80,77 +80,21 @@ void addObjectsToGridMap(const std::vector<PredictedObject> & objs, grid_map::Gr
  }
 }

-bool isOcclusionSpotSquare(


is already alll the occlusion candiate created from eroded occlusion image so no need to find

taikitanaka3 · 2022-04-24T10:30:36Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

-    }
+  //!< @brief erode occlusion to make sure occlusion candidates are big enough
+  cv::Mat kernel(2, 2, CV_8UC1, cv::Scalar(1));
+  cv::erode(occlusion_image, occlusion_image, kernel, cv::Point(-1, -1), num_iter);


control occlusion spot size by the number of iteration

taikitanaka3 · 2022-04-24T10:33:18Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

+    cv::moveWindow("morph", 0, 300);
+  }
+
+  border_image += occlusion_image;


Merge eroded occlision image and free space + occupied image here

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github-actions

⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-04-24T12:58:30Z

planning/behavior_velocity_planner/include/behavior_velocity_planner/planner_data.hpp

@@ -97,6 +98,7 @@ struct PlannerData
  // additional parameters
  double max_stop_acceleration_threshold;
  double max_stop_jerk_threshold;
+  double system_delay;
  double delay_response_time;
  double stop_line_extend_length;


⚠️ cppcoreguidelines-pro-type-member-init ⚠️
constructor does not initialize these fields: stop_line_extend_length, accel_lowpass_gain_

Suggested change

double stop_line_extend_length;

double stop_line_extend_length{};

github-actions · 2022-04-24T12:58:30Z

planning/behavior_velocity_planner/src/scene_module/occlusion_spot/grid_utils.cpp

-      cv::waitKey(1);
-    }
+  //!< @brief erode occlusion to make sure occlusion candidates are big enough
+  cv::Mat kernel(2, 2, CV_8UC1, cv::Scalar(1));


⚠️ hicpp-signed-bitwise ⚠️
use of a signed integer operand with a binary bitwise operator

github-actions · 2022-04-24T12:58:30Z

planning/behavior_velocity_planner/test/src/test_grid_utils.cpp

@@ -215,3 +148,30 @@ TEST(compareTime, polygon_vs_line_iterator)
    count = 0;
  }
 }
+
+TEST(test, erode_with_custom_kernel)


⚠️ cppcoreguidelines-special-member-functions ⚠️
class test_erode_with_custom_kernel_Test defines a copy constructor and a copy assignment operator but does not define a destructor, a move constructor or a move assignment operator

github-actions · 2022-04-24T12:58:31Z

planning/behavior_velocity_planner/test/src/test_grid_utils.cpp

+TEST(test, erode_with_custom_kernel)
+{
+  cv::Mat image;
+  cv::Mat cv_image(100, 100, CV_8UC1, cv::Scalar(0));


⚠️ hicpp-signed-bitwise ⚠️
use of a signed integer operand with a binary bitwise operator

github-actions · 2022-04-24T12:58:31Z

planning/behavior_velocity_planner/test/src/test_grid_utils.cpp

+  // cv::namedWindow("original", cv::WINDOW_NORMAL);
+  // cv::imshow("original", cv_image);
+  // cv::waitKey(100);
+  cv::Mat kernel(2, 2, CV_8UC1, cv::Scalar(1));


⚠️ hicpp-signed-bitwise ⚠️
use of a signed integer operand with a binary bitwise operator

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⚠️ clang-tidy found issue(s) with the introduced code (1/1)

github-actions · 2022-04-28T11:22:58Z

planning/behavior_velocity_planner/test/src/test_occlusion_spot_utils.cpp

@@ -98,7 +98,7 @@ TEST(calcSlowDownPointsForPossibleCollision, ConsiderSignedOffset)
        std::cout << "v : " << path.points[i].point.longitudinal_velocity_mps << "\t";


⚠️ modernize-loop-convert ⚠️
use range-based for loop instead

Suggested change

std::cout << "v : " << path.points[i].point.longitudinal_velocity_mps << "\t";

std::cout << "v : " << point.point.longitudinal_velocity_mps << "\t";

github-actions bot reviewed Apr 22, 2022

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taikitanaka3 force-pushed the feat-behavior-velocity-occlusion-spot-more-efficient branch from 7d697a5 to cc9cf59 Compare April 23, 2022 01:43

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taikitanaka3 force-pushed the feat-behavior-velocity-occlusion-spot-more-efficient branch from 3729130 to e70e41c Compare April 24, 2022 10:28

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fix(map_loader): modify build error in rolling (autowarefoundation#777)

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fix(osqp_interface): modify build error in rolling (autowarefoundatio…

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a999cc4

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

fix(fault_injection): fix empty hardware_id (autowarefoundation#814)

cdbff23

Signed-off-by: h-ohta <hiroki.ota@tier4.jp>

fix(lane_change): intersection check not considering size equal 1 (au…

0b76783

…towarefoundation#811) Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

feat: change object_association_merger name (autowarefoundation#815)

26353e4

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

feat(behavior_path_planner): make initial ego pose in drivable area (a…

57e6774

…utowarefoundation#769) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

fix(lane_change): intersection check caused incorrect stopping point (a…

7aca634

…utowarefoundation#818) this is happens whenever intersection is involved. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

fix(behavior_path_planner): fix undefined symbol in rolling (autoware…

f711c45

…foundation#823) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

feat(behavior_velocity): find occlusion more efficiently

511510f

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

taikitanaka3 force-pushed the feat-behavior-velocity-occlusion-spot-more-efficient branch from e70e41c to 511510f Compare April 28, 2022 07:27

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taikitanaka3 closed this Jun 6, 2022

taikitanaka3 deleted the feat-behavior-velocity-occlusion-spot-more-efficient branch June 6, 2022 09:22

taikitanaka3 restored the feat-behavior-velocity-occlusion-spot-more-efficient branch August 19, 2022 06:15

taikitanaka3 deleted the feat-behavior-velocity-occlusion-spot-more-efficient branch January 9, 2023 04:20

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Feat behavior velocity occlusion spot more efficient #15

Feat behavior velocity occlusion spot more efficient #15

taikitanaka3 commented Apr 22, 2022 •

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	double stop_line_extend_length;
	double stop_line_extend_length{};

		@@ -98,7 +98,7 @@ TEST(calcSlowDownPointsForPossibleCollision, ConsiderSignedOffset)
		std::cout << "v : " << path.points[i].point.longitudinal_velocity_mps << "\t";

	std::cout << "v : " << path.points[i].point.longitudinal_velocity_mps << "\t";
	std::cout << "v : " << point.point.longitudinal_velocity_mps << "\t";

Feat behavior velocity occlusion spot more efficient #15

Feat behavior velocity occlusion spot more efficient #15

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taikitanaka3 commented Apr 22, 2022 •

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