feat(autoware_lidar_centerpoint): process front voxels first

[technolojin]

Description

Alternative solution of PR #9583

1. exchange x and y to process in a row-major order
2. flip x axis direction to process front to back

Related links

Parent Issue:

• Link

How was this PR tested?

The following visualization is to show filled voxel distribution. Configurations are as follwing.

• input high-density lidar point cloud
• score_threshold: 0.01
• max_voxel_size: 40000
• point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]

Then lower score object will be shown (due to the lower score_threshold), indirectly visualize where the voxel is filled.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[kminoda]

Would you also locally check if the unit test passes? Currently it's disabled due to the issue in GitHub Action runner if I recall correctly.

autoware.universe/perception/autoware_lidar_centerpoint/CMakeLists.txt

Lines 164 to 207 in 3cfb03e

	# https://github.com/autowarefoundation/autoware.universe/issues/7724
	# ament_auto_add_gtest(test_voxel_generator
	# test/test_voxel_generator.cpp
	# )
	#
	# add_executable(test_preprocess_kernel
	# test/test_preprocess_kernel.cpp
	# lib/utils.cpp
	# )
	#
	# target_include_directories(test_preprocess_kernel PUBLIC
	# ${test_preprocess_kernel_SOURCE_DIR}
	# )
	#
	# target_link_libraries(test_preprocess_kernel
	# ${PROJECT_NAME}_cuda_lib
	# gtest
	# gtest_main
	# )
	#
	# ament_add_test(test_preprocess_kernel
	# GENERATE_RESULT_FOR_RETURN_CODE_ZERO
	# COMMAND "$<TARGET_FILE:test_preprocess_kernel>"
	# )
	#
	# add_executable(test_postprocess_kernel
	# test/test_postprocess_kernel.cpp
	# lib/utils.cpp
	# )
	#
	# target_include_directories(test_postprocess_kernel PUBLIC
	# ${test_postprocess_kernel_SOURCE_DIR}
	# )
	#
	# target_link_libraries(test_postprocess_kernel
	# ${PROJECT_NAME}_cuda_lib
	# gtest
	# gtest_main
	# )
	#
	# ament_add_test(test_postprocess_kernel
	# GENERATE_RESULT_FOR_RETURN_CODE_ZERO
	# COMMAND "$<TARGET_FILE:test_postprocess_kernel>"
	# )

[technolojin]

Would you also locally check if the unit test passes? Currently it's disabled due to the issue in GitHub Action runner if I recall correctly.

autoware.universe/perception/autoware_lidar_centerpoint/CMakeLists.txt

Lines 164 to 207 in 3cfb03e

	# https://github.com/autowarefoundation/autoware.universe/issues/7724
	# ament_auto_add_gtest(test_voxel_generator
	# test/test_voxel_generator.cpp
	# )
	#
	# add_executable(test_preprocess_kernel
	# test/test_preprocess_kernel.cpp
	# lib/utils.cpp
	# )
	#
	# target_include_directories(test_preprocess_kernel PUBLIC
	# ${test_preprocess_kernel_SOURCE_DIR}
	# )
	#
	# target_link_libraries(test_preprocess_kernel
	# ${PROJECT_NAME}_cuda_lib
	# gtest
	# gtest_main
	# )
	#
	# ament_add_test(test_preprocess_kernel
	# GENERATE_RESULT_FOR_RETURN_CODE_ZERO
	# COMMAND "$<TARGET_FILE:test_preprocess_kernel>"
	# )
	#
	# add_executable(test_postprocess_kernel
	# test/test_postprocess_kernel.cpp
	# lib/utils.cpp
	# )
	#
	# target_include_directories(test_postprocess_kernel PUBLIC
	# ${test_postprocess_kernel_SOURCE_DIR}
	# )
	#
	# target_link_libraries(test_postprocess_kernel
	# ${PROJECT_NAME}_cuda_lib
	# gtest
	# gtest_main
	# )
	#
	# ament_add_test(test_postprocess_kernel
	# GENERATE_RESULT_FOR_RETURN_CODE_ZERO
	# COMMAND "$<TARGET_FILE:test_postprocess_kernel>"
	# )

colcon test --packages-select autoware_lidar_centerpoint
Starting >>> autoware_lidar_centerpoint
Finished <<< autoware_lidar_centerpoint [3.13s]          

Summary: 1 package finished [4.41s]

[kminoda]

LGTM
Would also be better to get a review from Kenzo-san as I am not that familiar with CUDA programming, but overall looks good to me.

[knzo25]

LGTM. Sorry for the delay