Prediction: minor refactor

modules/prediction/common/feature_output.cc

@@ -145,7 +145,7 @@ void FeatureOutput::WriteFrameEnv() {
     const std::string file_name =
         FLAGS_prediction_data_dir + "/frame_env." +
         std::to_string(idx_frame_env_) + ".bin";
-    common::util::SetProtoToBinaryFile(list_frame_env_, file_name);
+    cyber::common::SetProtoToBinaryFile(list_frame_env_, file_name);
     list_frame_env_.Clear();
     ++idx_frame_env_;
   }

modules/prediction/common/prediction_gflags.cc

@@ -174,6 +174,8 @@ DEFINE_double(default_s_if_no_obstacle_in_lane_sequence, 1000.0,
               "The default s value if no obstacle in the lane sequence.");
 DEFINE_double(default_l_if_no_obstacle_in_lane_sequence, 10.0,
               "The default l value if no obstacle in the lane sequence.");
+DEFINE_bool(enable_build_current_frame_env, false,
+            "If build current frame environment");
 
 // Obstacle trajectory
 DEFINE_bool(enable_cruise_regression, false,

modules/prediction/common/prediction_gflags.h

@@ -111,6 +111,7 @@ DECLARE_double(distance_to_slow_down_at_stop_sign);
 DECLARE_double(time_to_center_if_not_reach);
 DECLARE_double(default_s_if_no_obstacle_in_lane_sequence);
 DECLARE_double(default_l_if_no_obstacle_in_lane_sequence);
+DECLARE_bool(enable_build_current_frame_env);
 
 // Obstacle trajectory
 DECLARE_bool(enable_cruise_regression);

modules/prediction/evaluator/evaluator_manager.cc

@@ -17,9 +17,11 @@
 #include "modules/prediction/evaluator/evaluator_manager.h"
 
 #include <vector>
+#include <algorithm>
 
 #include "modules/prediction/common/feature_output.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
+#include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/container/container_manager.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 #include "modules/prediction/container/pose/pose_container.h"
@@ -131,7 +133,9 @@ void EvaluatorManager::Run() {
           AdapterConfig::PERCEPTION_OBSTACLES);
   CHECK_NOTNULL(obstacles_container);
 
-  BuildCurrentFrameEnv();
+  if (FLAGS_enable_build_current_frame_env) {
+    BuildCurrentFrameEnv();
+  }
 
   std::vector<Obstacle*> dynamic_env;
   for (int id : obstacles_container->curr_frame_predictable_obstacle_ids()) {

modules/prediction/evaluator/evaluator_manager.h

@@ -66,7 +66,6 @@ class EvaluatorManager {
   void EvaluateObstacle(Obstacle* obstacle);
 
  private:
-
   void BuildCurrentFrameEnv();
 
   /**

modules/prediction/proto/feature.proto

@@ -109,10 +109,6 @@ message Feature {
   repeated PredictionTrajectoryPoint future_trajectory_points = 31;
 }
 
-message Features {
-  repeated Feature feature = 1;
-}
-
 message ObstacleHistory {
   repeated Feature feature = 1;
   optional bool is_trainable = 2 [default = false];

modules/prediction/proto/offline_features.proto

@@ -43,3 +43,7 @@ message ListPredictionResult {
 message ListFrameEnv {
   repeated FrameEnv frame_env = 1;
 }
+
+message Features {
+  repeated Feature feature = 1;
+}

modules/tools/prediction/mlp_train/scripts/records_to_frame_env.sh

@@ -38,4 +38,5 @@ fi
     --prediction_offline_mode=4 \
     --prediction_offline_bags=${SRC_DIR} \
     --prediction_data_dir=${TARGET_DIR} \
-    --max_num_dump_feature=1000
+    --max_num_dump_feature=1000 \
+    --enable_build_current_frame_env