Prediction: specify LRU cache capacity in obstacles container

modules/prediction/common/prediction_gflags.cc

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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()
-           << "].";
   }
 }