Merge branch 'develop' into feat/ground_segmentation_pcd_eval

.driving_log_replayer.cspell.json

@@ -38,6 +38,7 @@
     "youtalk",
     "UMiho",
     "nuscenes",
-    "devkit"
+    "devkit",
+    "fastjsonschema"
   ]
 }

ReleaseNotes.md

@@ -1,5 +1,21 @@
 # Release Notes
 
+## Version 2.3.11
+
+Minor Tweak
+
+| Module       | Feature     | Brief summary               | Pull request                                                   | Jira | Contributor                           |
+| ------------ | ----------- | --------------------------- | -------------------------------------------------------------- | ---- | ------------------------------------- |
+| `perception` | performance | perf: 2x processing speedup | [#581](https://github.com/tier4/driving_log_replayer/pull/581) | -    | [ralwing](https://github.com/ralwing) |
+
+## Version 2.3.10
+
+Bug fix
+
+| Module                  | Feature   | Brief summary                    | Pull request                                                   | Jira | Contributor                                   |
+| ----------------------- | --------- | -------------------------------- | -------------------------------------------------------------- | ---- | --------------------------------------------- |
+| `obstacle_segmentation` | condition | fix condition to judge diag name | [#582](https://github.com/tier4/driving_log_replayer/pull/582) | -    | [hayato-m126](https://github.com/hayato-m126) |
+
 ## Version 2.3.9
 
 Minor Tweak

driving_log_replayer/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package driving_log_replayer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.11 (2024-11-02)
+-------------------
+* perf: 2x processing speedup (`#581 <https://github.com/tier4/driving_log_replayer/issues/581>`_)
+  Co-authored-by: Hayato Mizushima <[email protected]>
+* Contributors: ralwing
+
+2.3.10 (2024-11-01)
+-------------------
+* fix: condition to judge diag name (`#582 <https://github.com/tier4/driving_log_replayer/issues/582>`_)
+* Contributors: Hayato Mizushima
+
 2.3.9 (2024-10-28)
 ------------------
 * feat: update pre commit and ruff (`#579 <https://github.com/tier4/driving_log_replayer/issues/579>`_)

driving_log_replayer/driving_log_replayer/perception_eval_conversions.py

@@ -17,12 +17,12 @@
 
 from ament_index_python.packages import get_package_share_directory
 from builtin_interfaces.msg import Time
+import fastjsonschema
 from geometry_msgs.msg import Point
 from geometry_msgs.msg import Polygon as RosPolygon
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import Quaternion as RosQuaternion
 from geometry_msgs.msg import Vector3
-import jsonschema
 import numpy as np
 from perception_eval.common import ObjectType
 from perception_eval.common.object import DynamicObject
@@ -305,25 +305,28 @@ def fill_xyzw_quat(q: Quaternion | None) -> dict:
 # utils for writing each perception frame result to a file
 class FrameDescriptionWriter:
     schema: dict = None
+    validate_func = None
 
     @classmethod
     def load_schema(cls) -> None:
-        if cls.schema is None:
+        if cls.schema is None or cls.validate_func is None:
             package_share_directory = get_package_share_directory("driving_log_replayer")
             schema_file_path = (
                 Path(package_share_directory) / "config" / "object_output_schema.json"
             )
             with schema_file_path.open() as file:
                 cls.schema = json.load(file)
+            cls.validate_func = fastjsonschema.compile(cls.schema)
 
     @classmethod
     def is_object_structure_valid(cls, objdata: dict | None) -> bool:
         cls.load_schema()
         try:
-            jsonschema.validate(objdata, cls.schema)
-        except jsonschema.exceptions.ValidationError:
+            cls.validate_func(objdata)
+        except fastjsonschema.exceptions.JsonSchemaException:
             return False
-        return True
+        else:
+            return True
 
     @staticmethod
     def object_to_description(obj: ObjectType | None) -> dict:

driving_log_replayer/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>driving_log_replayer</name>
-  <version>2.3.9</version>
+  <version>2.3.11</version>
   <description>The driving_log_replayer package</description>
   <maintainer email="[email protected]">Hayato Mizushima</maintainer>
   <maintainer email="[email protected]">Kotaro Uetake</maintainer>
@@ -38,7 +38,7 @@
   <exec_depend>driving_log_replayer_analyzer</exec_depend>
   <exec_depend>lanelet2_extension_python</exec_depend>
   <exec_depend>perception_eval</exec_depend>
-  <exec_depend>python3-jsonschema</exec_depend>
+  <exec_depend>python3-fastjsonschema</exec_depend>
   <exec_depend>python3-pandas</exec_depend>
   <exec_depend>python3-simplejson</exec_depend>
   <exec_depend>python3-termcolor</exec_depend>

driving_log_replayer/scripts/obstacle_segmentation_evaluator_node.py

@@ -304,7 +304,7 @@ def diag_cb(self, msg: DiagnosticArray) -> None:
         if len(msg.status) == 0:
             return
         diag_status: DiagnosticStatus = msg.status[0]
-        if diag_status.name == TARGET_DIAG_NAME:
+        if diag_status.name != TARGET_DIAG_NAME:
             return
         if diag_status.level >= DiagnosticStatus.ERROR:
             self.__topic_rate = False

driving_log_replayer_analyzer/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package driving_log_replayer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.11 (2024-11-02)
+-------------------
+* perf: 2x processing speedup (`#581 <https://github.com/tier4/driving_log_replayer/issues/581>`_)
+  Co-authored-by: Hayato Mizushima <[email protected]>
+* Contributors: ralwing
+
+2.3.10 (2024-11-01)
+-------------------
+* fix: condition to judge diag name (`#582 <https://github.com/tier4/driving_log_replayer/issues/582>`_)
+* Contributors: Hayato Mizushima
+
 2.3.9 (2024-10-28)
 ------------------
 * feat: update pre commit and ruff (`#579 <https://github.com/tier4/driving_log_replayer/issues/579>`_)

driving_log_replayer_analyzer/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>driving_log_replayer_analyzer</name>
-  <version>2.3.9</version>
+  <version>2.3.11</version>
   <description>The driving_log_replayer_analyzer package</description>
   <maintainer email="[email protected]">Hayato Mizushima</maintainer>
   <maintainer email="[email protected]">Keisuke Shima</maintainer>

driving_log_replayer_msgs/CHANGELOG.rst

@@ -2,6 +2,17 @@
 Changelog for package driving_log_replayer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.11 (2024-11-02)
+-------------------
+* perf: 2x processing speedup (`#581 <https://github.com/tier4/driving_log_replayer/issues/581>`_)
+  Co-authored-by: Hayato Mizushima <[email protected]>
+* Contributors: ralwing
+
+2.3.10 (2024-11-01)
+-------------------
+* fix: condition to judge diag name (`#582 <https://github.com/tier4/driving_log_replayer/issues/582>`_)
+* Contributors: Hayato Mizushima
+
 2.3.9 (2024-10-28)
 ------------------
 * feat: update pre commit and ruff (`#579 <https://github.com/tier4/driving_log_replayer/issues/579>`_)

driving_log_replayer_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>driving_log_replayer_msgs</name>
-  <version>2.3.9</version>
+  <version>2.3.11</version>
   <description>driving_log_replayer msgs</description>
   <maintainer email="[email protected]">Hayato Mizushima</maintainer>
   <license>Apache-2.0</license>

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "driving-log-replayer"
-version = "2.3.9"
+version = "2.3.11"
 description = "command line tool for driving_log_replayer"
 authors = [
   { name = "Hayato Mizushima", email = "[email protected]" },