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体验新版 GitCode,发现更多精彩内容 >>
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207775ad
编写于
2月 13, 2019
作者:
K
kechxu
提交者:
Kecheng Xu
2月 14, 2019
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差异文件
Prediction: minor refactor
上级
a3bd8d57
变更
8
显示空白变更内容
内联
并排
Showing
8 changed file
with
15 addition
and
8 deletion
+15
-8
modules/prediction/common/feature_output.cc
modules/prediction/common/feature_output.cc
+1
-1
modules/prediction/common/prediction_gflags.cc
modules/prediction/common/prediction_gflags.cc
+2
-0
modules/prediction/common/prediction_gflags.h
modules/prediction/common/prediction_gflags.h
+1
-0
modules/prediction/evaluator/evaluator_manager.cc
modules/prediction/evaluator/evaluator_manager.cc
+5
-1
modules/prediction/evaluator/evaluator_manager.h
modules/prediction/evaluator/evaluator_manager.h
+0
-1
modules/prediction/proto/feature.proto
modules/prediction/proto/feature.proto
+0
-4
modules/prediction/proto/offline_features.proto
modules/prediction/proto/offline_features.proto
+4
-0
modules/tools/prediction/mlp_train/scripts/records_to_frame_env.sh
...ools/prediction/mlp_train/scripts/records_to_frame_env.sh
+2
-1
未找到文件。
modules/prediction/common/feature_output.cc
浏览文件 @
207775ad
...
...
@@ -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"
;
c
ommon
::
util
::
SetProtoToBinaryFile
(
list_frame_env_
,
file_name
);
c
yber
::
common
::
SetProtoToBinaryFile
(
list_frame_env_
,
file_name
);
list_frame_env_
.
Clear
();
++
idx_frame_env_
;
}
...
...
modules/prediction/common/prediction_gflags.cc
浏览文件 @
207775ad
...
...
@@ -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
浏览文件 @
207775ad
...
...
@@ -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
浏览文件 @
207775ad
...
...
@@ -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
);
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
浏览文件 @
207775ad
...
...
@@ -66,7 +66,6 @@ class EvaluatorManager {
void
EvaluateObstacle
(
Obstacle
*
obstacle
);
private:
void
BuildCurrentFrameEnv
();
/**
...
...
modules/prediction/proto/feature.proto
浏览文件 @
207775ad
...
...
@@ -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
浏览文件 @
207775ad
...
...
@@ -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
浏览文件 @
207775ad
...
...
@@ -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
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