feat(autoware_probabilistic_occupancy_grid_map): disabled the subsample filters for the ogm #1319
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…s faster now Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
knzo25
requested review from
miursh,
YoshiRi,
kminoda and
technolojin
as code owners
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YoshiRi
approved these changes
Feb 4, 2025
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LGTM but merge with autowarefoundation/autoware.universe#10060.
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Description
Since the introduction of
autowarefoundation/autoware.universe#9542
The OGM creation is faster, making the subsample filters (which were added to reduce the processing time of the OGM) less relevant.
How was this PR tested?
Run autoware with a few rosbags to evaluate the processing times with and without this PR
The subsample filters presented the following processing times:
Processing time of the OGM:
Note: of the 8ms, 6.4ms are just to copy the data to the device ! If inputs use the blackboard (soon to be introduced), this copy will not be needed.
Notes for reviewers
None.
Effects on system behavior
None.