From 207775ad2f6264cb049060a91d737e4cc7cee58c Mon Sep 17 00:00:00 2001 From: kechxu Date: Wed, 13 Feb 2019 17:14:35 -0800 Subject: [PATCH] Prediction: minor refactor --- modules/prediction/common/feature_output.cc | 2 +- modules/prediction/common/prediction_gflags.cc | 2 ++ modules/prediction/common/prediction_gflags.h | 1 + modules/prediction/evaluator/evaluator_manager.cc | 6 +++++- modules/prediction/evaluator/evaluator_manager.h | 1 - modules/prediction/proto/feature.proto | 4 ---- modules/prediction/proto/offline_features.proto | 4 ++++ .../prediction/mlp_train/scripts/records_to_frame_env.sh | 3 ++- 8 files changed, 15 insertions(+), 8 deletions(-) diff --git a/modules/prediction/common/feature_output.cc b/modules/prediction/common/feature_output.cc index 767e89a2b3..ba6999bbed 100644 --- a/modules/prediction/common/feature_output.cc +++ b/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_; } diff --git a/modules/prediction/common/prediction_gflags.cc b/modules/prediction/common/prediction_gflags.cc index cadde5b163..7ee3831d26 100644 --- a/modules/prediction/common/prediction_gflags.cc +++ b/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, diff --git a/modules/prediction/common/prediction_gflags.h b/modules/prediction/common/prediction_gflags.h index 6be76dbaa0..585542ab9d 100644 --- a/modules/prediction/common/prediction_gflags.h +++ b/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); diff --git a/modules/prediction/evaluator/evaluator_manager.cc b/modules/prediction/evaluator/evaluator_manager.cc index b1a17df26b..f0f76ac4c1 100644 --- a/modules/prediction/evaluator/evaluator_manager.cc +++ b/modules/prediction/evaluator/evaluator_manager.cc @@ -17,9 +17,11 @@ #include "modules/prediction/evaluator/evaluator_manager.h" #include +#include #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 dynamic_env; for (int id : obstacles_container->curr_frame_predictable_obstacle_ids()) { diff --git a/modules/prediction/evaluator/evaluator_manager.h b/modules/prediction/evaluator/evaluator_manager.h index 0e5edb1089..c50fd8bf84 100644 --- a/modules/prediction/evaluator/evaluator_manager.h +++ b/modules/prediction/evaluator/evaluator_manager.h @@ -66,7 +66,6 @@ class EvaluatorManager { void EvaluateObstacle(Obstacle* obstacle); private: - void BuildCurrentFrameEnv(); /** diff --git a/modules/prediction/proto/feature.proto b/modules/prediction/proto/feature.proto index f8e97a1846..80fd6fd864 100644 --- a/modules/prediction/proto/feature.proto +++ b/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]; diff --git a/modules/prediction/proto/offline_features.proto b/modules/prediction/proto/offline_features.proto index 3825584dd0..0e422a0f74 100644 --- a/modules/prediction/proto/offline_features.proto +++ b/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; +} diff --git a/modules/tools/prediction/mlp_train/scripts/records_to_frame_env.sh b/modules/tools/prediction/mlp_train/scripts/records_to_frame_env.sh index 4ae959d582..e225077f87 100644 --- a/modules/tools/prediction/mlp_train/scripts/records_to_frame_env.sh +++ b/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 -- GitLab