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体验新版 GitCode,发现更多精彩内容 >>
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6ac48c97
编写于
8月 17, 2017
作者:
K
kechxu
提交者:
Yajia Zhang
8月 17, 2017
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差异文件
Prediction: specify LRU cache capacity in obstacles container
上级
5cb3ac26
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
9 addition
and
4 deletion
+9
-4
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/container/obstacles/BUILD
modules/prediction/container/obstacles/BUILD
+1
-0
modules/prediction/container/obstacles/obstacles_container.cc
...les/prediction/container/obstacles/obstacles_container.cc
+5
-1
modules/prediction/evaluator/vehicle/mlp_evaluator.cc
modules/prediction/evaluator/vehicle/mlp_evaluator.cc
+0
-3
未找到文件。
modules/prediction/common/prediction_gflags.cc
浏览文件 @
6ac48c97
...
...
@@ -69,6 +69,8 @@ DEFINE_int32(num_trajectory_still_pedestrian, 6,
DEFINE_double
(
still_speed
,
0.01
,
"speed considered to be still"
);
DEFINE_string
(
vehicle_model_file
,
"modules/prediction/data/mlp_vehicle_model.bin"
,
"Vehicle model file"
);
DEFINE_int32
(
max_num_obstacles_stored
,
100
,
"maximal number of obstacles stored in obstacles container."
);
// Obstacle trajectory
DEFINE_double
(
lane_sequence_threshold
,
0.5
,
...
...
modules/prediction/common/prediction_gflags.h
浏览文件 @
6ac48c97
...
...
@@ -57,6 +57,7 @@ DECLARE_double(prediction_pedestrian_total_time);
DECLARE_int32
(
num_trajectory_still_pedestrian
);
DECLARE_double
(
still_speed
);
DECLARE_string
(
vehicle_model_file
);
DECLARE_int32
(
max_num_obstacles_stored
);
// Obstacle trajectory
DECLARE_double
(
lane_sequence_threshold
);
...
...
modules/prediction/container/obstacles/BUILD
浏览文件 @
6ac48c97
...
...
@@ -9,6 +9,7 @@ cc_library(
deps
=
[
"//modules/common/math:math_utils"
,
"//modules/common/util:lru_cache"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/container"
,
"//modules/prediction/container/obstacles:obstacle"
,
"//modules/prediction/container/pose:pose_container"
,
...
...
modules/prediction/container/obstacles/obstacles_container.cc
浏览文件 @
6ac48c97
...
...
@@ -19,6 +19,7 @@
#include <utility>
#include "modules/common/math/math_utils.h"
#include "modules/prediction/common/prediction_gflags.h"
namespace
apollo
{
namespace
prediction
{
...
...
@@ -28,7 +29,10 @@ using apollo::perception::PerceptionObstacles;
std
::
mutex
ObstaclesContainer
::
g_mutex_
;
ObstaclesContainer
::
ObstaclesContainer
()
{
timestamp_
=
0.0
;
}
ObstaclesContainer
::
ObstaclesContainer
()
{
obstacles_
.
set_capacity
(
FLAGS_max_num_obstacles_stored
),
timestamp_
=
0.0
;
}
void
ObstaclesContainer
::
Insert
(
const
::
google
::
protobuf
::
Message
&
message
)
{
AINFO
<<
"message: "
<<
message
.
ShortDebugString
();
...
...
modules/prediction/evaluator/vehicle/mlp_evaluator.cc
浏览文件 @
6ac48c97
...
...
@@ -86,9 +86,6 @@ void MLPEvaluator::Evaluate(Obstacle* obstacle_ptr) {
ExtractFeatureValues
(
obstacle_ptr
,
lane_sequence_ptr
,
&
feature_values
);
double
probability
=
ComputeProbability
(
feature_values
);
lane_sequence_ptr
->
set_probability
(
probability
);
ADEBUG
<<
"Obstacle ["
<<
id
<<
"] has lane sequence ["
<<
lane_sequence_ptr
->
ShortDebugString
()
<<
"]."
;
}
}
...
...
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