perf: PR 7237

autowarefoundation#7237
technolojin · Oct 21, 2024 · dd1493d · dd1493d
1 parent a7e68a1
commit dd1493d
Showing 1 changed file with 8 additions and 4 deletions.
diff --git a/perception/map_based_prediction/src/map_based_prediction_node.cpp b/perception/map_based_prediction/src/map_based_prediction_node.cpp
@@ -1031,10 +1031,14 @@ void MapBasedPredictionNode::objectsCallback(const TrackedObjects::ConstSharedPt
 
 bool MapBasedPredictionNode::doesPathCrossAnyFence(const PredictedPath & predicted_path)
 {
-  const lanelet::ConstLineStrings3d & all_fences =
-    lanelet::utils::query::getAllFences(lanelet_map_ptr_);
-  for (const auto & fence_line : all_fences) {
-    if (doesPathCrossFence(predicted_path, fence_line)) {
+  lanelet::BasicLineString2d predicted_path_ls;
+  for (const auto & p : predicted_path.path)
+    predicted_path_ls.emplace_back(p.position.x, p.position.y);
+  const auto candidates =
+    lanelet_map_ptr_->lineStringLayer.search(lanelet::geometry::boundingBox2d(predicted_path_ls));
+  for (const auto & candidate : candidates) {
+    const std::string type = candidate.attributeOr(lanelet::AttributeName::Type, "none");
+    if (type == "fence" && doesPathCrossFence(predicted_path, candidate)) {
       return true;
     }
   }