Prediction: dump obstacle conf info to prediction results

modules/prediction/common/feature_output.cc

@@ -116,7 +116,8 @@ void FeatureOutput::InsertDataForLearning(
 }
 
 void FeatureOutput::InsertPredictionResult(
-    const int obstacle_id, const PredictionObstacle& prediction_obstacle) {
+    const int obstacle_id, const PredictionObstacle& prediction_obstacle,
+    const ObstacleConf& obstacle_conf) {
   PredictionResult* prediction_result =
       list_prediction_result_.add_prediction_result();
   prediction_result->set_id(obstacle_id);
@@ -124,6 +125,7 @@ void FeatureOutput::InsertPredictionResult(
   for (int i = 0; i < prediction_obstacle.trajectory_size(); ++i) {
     prediction_result->add_trajectory()->CopyFrom(
         prediction_obstacle.trajectory(i));
+    prediction_result->mutable_obstacle_conf()->CopyFrom(obstacle_conf);
   }
 }
 

modules/prediction/common/feature_output.h

@@ -74,7 +74,8 @@ class FeatureOutput {
    * @param prediction_obstacle
    */
   static void InsertPredictionResult(
-      const int obstacle_id, const PredictionObstacle& prediction_obstacle);
+      const int obstacle_id, const PredictionObstacle& prediction_obstacle,
+      const ObstacleConf& obstacle_conf);
 
   /**
    * @brief Insert a frame env

modules/prediction/container/obstacles/obstacle.h

@@ -249,6 +249,8 @@ class Obstacle {
 
   void SetPredictorType(const ObstacleConf::PredictorType& predictor_type);
 
+  const ObstacleConf& obstacle_conf() { return obstacle_conf_; }
+
  private:
   Obstacle() = default;
 

modules/prediction/predictor/predictor_manager.cc

@@ -21,6 +21,7 @@
 #include <unordered_map>
 
 #include "modules/prediction/common/feature_output.h"
+#include "modules/prediction/common/prediction_constants.h"
 #include "modules/prediction/common/prediction_gflags.h"
 #include "modules/prediction/common/prediction_system_gflags.h"
 #include "modules/prediction/common/prediction_thread_pool.h"
@@ -321,8 +322,10 @@ void PredictorManager::PredictObstacle(
   prediction_obstacle->mutable_priority()->CopyFrom(
       obstacle->latest_feature().priority());
   prediction_obstacle->set_is_static(obstacle->IsStill());
-  if (FLAGS_prediction_offline_mode == 3) {
-    FeatureOutput::InsertPredictionResult(obstacle->id(), *prediction_obstacle);
+  if (FLAGS_prediction_offline_mode ==
+      PredictionConstants::kDumpPredictionResult) {
+    FeatureOutput::InsertPredictionResult(obstacle->id(), *prediction_obstacle,
+                                          obstacle->obstacle_conf());
   }
 }