Replace scipy #2071
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Replace scipy #2071
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Gamenot
requested changes
Jun 23, 2023
| for lane_id, l_lps in self._lanepoints_by_lane_id.items() | ||
| } | ||
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| self._lanepoints_kd_tree_by_edge_id = { | ||
| edge_id: LanePoints._build_kd_tree(l_lps) | ||
| self._lp_points_by_edge_id = { |
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Not using an optimization for the points in lanes and edges seems like it could be reasonable. A tree might cost more than it gains unless there are a large amount of points.
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Yes, there is a slight performance gain on smaller maps from this change.
| ) -> List[LinkedLanePoint]: | ||
| x = point.as_np_array[:2] | ||
| dists = np.sqrt(np.sum((points - x) ** 2, axis=1)) | ||
| closest_indices = np.argsort(dists)[:k] |
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This is where I am slightly concerned. The naive approach will break down with large numbers of lanepoints.
Have you looked to see what the performance difference is on the minicity scenario?
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Yes, it is roughly the same as using the KDTree. The frame time seems to be dominated by other things.
Adaickalavan
approved these changes
Jun 28, 2023
Gamenot
approved these changes
Jun 28, 2023
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Removes
scipyas a core package dependency and makes progress towards #1981.