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体验新版 GitCode,发现更多精彩内容 >>
提交
754b4c6d
编写于
7月 17, 2019
作者:
P
panjiacheng
提交者:
Calvin Miao
7月 18, 2019
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差异文件
Prediction: dump polygon-point feature for learning.
上级
38a44845
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
20 addition
and
3 deletion
+20
-3
modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc
...s/prediction/evaluator/vehicle/lane_scanning_evaluator.cc
+19
-2
modules/prediction/evaluator/vehicle/lane_scanning_evaluator.h
...es/prediction/evaluator/vehicle/lane_scanning_evaluator.h
+1
-1
未找到文件。
modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc
浏览文件 @
754b4c6d
...
@@ -92,9 +92,9 @@ bool LaneScanningEvaluator::Evaluate(Obstacle* obstacle_ptr,
...
@@ -92,9 +92,9 @@ bool LaneScanningEvaluator::Evaluate(Obstacle* obstacle_ptr,
std
::
vector
<
double
>
labels
=
{
0.0
};
std
::
vector
<
double
>
labels
=
{
0.0
};
if
(
FLAGS_prediction_offline_mode
==
if
(
FLAGS_prediction_offline_mode
==
PredictionConstants
::
kDumpDataForLearning
)
{
PredictionConstants
::
kDumpDataForLearning
)
{
std
::
string
learning_data_tag
=
"cruise"
;
std
::
string
learning_data_tag
=
"
vehicle_
cruise"
;
if
(
latest_feature_ptr
->
has_junction_feature
())
{
if
(
latest_feature_ptr
->
has_junction_feature
())
{
learning_data_tag
=
"junction"
;
learning_data_tag
=
"
vehicle_
junction"
;
}
}
FeatureOutput
::
InsertDataForLearning
(
*
latest_feature_ptr
,
feature_values
,
FeatureOutput
::
InsertDataForLearning
(
*
latest_feature_ptr
,
feature_values
,
string_feature_values
,
learning_data_tag
,
nullptr
);
string_feature_values
,
learning_data_tag
,
nullptr
);
...
@@ -181,6 +181,7 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
...
@@ -181,6 +181,7 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
CHECK_NOTNULL
(
obstacle_ptr
);
CHECK_NOTNULL
(
obstacle_ptr
);
feature_values
->
clear
();
feature_values
->
clear
();
FLAGS_cruise_historical_frame_length
=
20
;
FLAGS_cruise_historical_frame_length
=
20
;
int
max_num_poly_pt
=
20
;
std
::
vector
<
double
>
has_history
(
FLAGS_cruise_historical_frame_length
,
1.0
);
std
::
vector
<
double
>
has_history
(
FLAGS_cruise_historical_frame_length
,
1.0
);
std
::
vector
<
std
::
pair
<
double
,
double
>>
pos_history
(
std
::
vector
<
std
::
pair
<
double
,
double
>>
pos_history
(
FLAGS_cruise_historical_frame_length
,
std
::
make_pair
(
0.0
,
0.0
));
FLAGS_cruise_historical_frame_length
,
std
::
make_pair
(
0.0
,
0.0
));
...
@@ -192,6 +193,10 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
...
@@ -192,6 +193,10 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
0.0
);
0.0
);
std
::
vector
<
double
>
vel_heading_changing_rate_history
(
std
::
vector
<
double
>
vel_heading_changing_rate_history
(
FLAGS_cruise_historical_frame_length
,
0.0
);
FLAGS_cruise_historical_frame_length
,
0.0
);
std
::
vector
<
std
::
vector
<
std
::
pair
<
double
,
double
>>>
polygon_points_history
(
FLAGS_cruise_historical_frame_length
,
std
::
vector
<
std
::
pair
<
double
,
double
>>
(
max_num_poly_pt
,
std
::
make_pair
(
0.0
,
0.0
)));
// Get obstacle's current position to set up the relative coord. system.
// Get obstacle's current position to set up the relative coord. system.
const
Feature
&
obs_curr_feature
=
obstacle_ptr
->
latest_feature
();
const
Feature
&
obs_curr_feature
=
obstacle_ptr
->
latest_feature
();
...
@@ -261,6 +266,14 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
...
@@ -261,6 +266,14 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
}
else
{
}
else
{
has_history
[
i
]
=
0.0
;
has_history
[
i
]
=
0.0
;
}
}
// Extract polygon-point info.
for
(
int
j
=
0
;
j
<
feature
.
polygon_point_size
();
++
j
)
{
if
(
j
>=
max_num_poly_pt
)
{
break
;
}
polygon_points_history
[
i
][
j
].
first
=
feature
.
polygon_point
(
j
).
x
();
polygon_points_history
[
i
][
j
].
second
=
feature
.
polygon_point
(
j
).
y
();
}
}
}
for
(
std
::
size_t
i
=
obstacle_ptr
->
history_size
();
for
(
std
::
size_t
i
=
obstacle_ptr
->
history_size
();
...
@@ -279,6 +292,10 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
...
@@ -279,6 +292,10 @@ bool LaneScanningEvaluator::ExtractObstacleFeatures(
feature_values
->
push_back
(
acc_history
[
i
].
second
);
feature_values
->
push_back
(
acc_history
[
i
].
second
);
feature_values
->
push_back
(
vel_heading_history
[
i
]);
feature_values
->
push_back
(
vel_heading_history
[
i
]);
feature_values
->
push_back
(
vel_heading_changing_rate_history
[
i
]);
feature_values
->
push_back
(
vel_heading_changing_rate_history
[
i
]);
for
(
int
j
=
0
;
j
<
max_num_poly_pt
;
++
j
)
{
feature_values
->
push_back
(
polygon_points_history
[
i
][
j
].
first
);
feature_values
->
push_back
(
polygon_points_history
[
i
][
j
].
second
);
}
}
}
return
true
;
return
true
;
...
...
modules/prediction/evaluator/vehicle/lane_scanning_evaluator.h
浏览文件 @
754b4c6d
...
@@ -103,7 +103,7 @@ class LaneScanningEvaluator : public Evaluator {
...
@@ -103,7 +103,7 @@ class LaneScanningEvaluator : public Evaluator {
Feature
*
feature_ptr
);
Feature
*
feature_ptr
);
private:
private:
static
const
size_t
OBSTACLE_FEATURE_SIZE
=
20
*
9
;
static
const
size_t
OBSTACLE_FEATURE_SIZE
=
20
*
(
9
+
40
)
;
static
const
size_t
INTERACTION_FEATURE_SIZE
=
8
;
static
const
size_t
INTERACTION_FEATURE_SIZE
=
8
;
static
const
size_t
SINGLE_LANE_FEATURE_SIZE
=
4
;
static
const
size_t
SINGLE_LANE_FEATURE_SIZE
=
4
;
static
const
size_t
LANE_POINTS_SIZE
=
100
;
// 50m
static
const
size_t
LANE_POINTS_SIZE
=
100
;
// 50m
...
...
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