planning: add obstacle data to learning data

modules/planning/pipeline/feature_generator.cc

@@ -112,8 +112,8 @@ void FeatureGenerator::OnPerceptionObstacle(
     const apollo::perception::PerceptionObstacles& perception_obstacles) {
   perception_obstacles_map_.clear();
   for (int i = 0; i < perception_obstacles.perception_obstacle_size(); ++i) {
-    const auto& perception_obstale = perception_obstacles.perception_obstacle(i);
-
+    const auto& perception_obstale =
+        perception_obstacles.perception_obstacle(i);
     const int obstacle_id = perception_obstale.id();
     perception_obstacles_map_[obstacle_id].CopyFrom(perception_obstale);
   }
@@ -193,6 +193,35 @@ void FeatureGenerator::OnRoutingResponse(
   }
 }
 
+void FeatureGenerator::GenerateObstacleData(
+    LearningDataFrame* learning_data_frame) {
+  for (const auto& m : perception_obstacles_map_) {
+    auto obstacle_feature = learning_data_frame->add_obstacle();
+    obstacle_feature->set_id(m.first);
+    obstacle_feature->set_length(m.second.length());
+    obstacle_feature->set_width(m.second.width());
+    obstacle_feature->set_height(m.second.height());
+    obstacle_feature->set_type(m.second.type());
+
+    const auto& obstacle_history = obstacle_history_map_[m.first];
+    for (const auto& obj_traj_point : obstacle_history) {
+      auto obstacle_trajectory_point =
+          obstacle_feature->add_obstacle_trajectory_point();
+      obstacle_trajectory_point->set_timestamp(obj_traj_point.timestamp());
+      obstacle_trajectory_point->mutable_position()->CopyFrom(
+          obj_traj_point.position());
+      obstacle_trajectory_point->set_theta(obj_traj_point.theta());
+      obstacle_trajectory_point->mutable_velocity()->CopyFrom(
+          obj_traj_point.velocity());
+      obstacle_trajectory_point->mutable_polygon_point()->CopyFrom(
+          obj_traj_point.polygon_point());
+      obstacle_trajectory_point->mutable_acceleration()->CopyFrom(
+          obj_traj_point.acceleration());
+    }
+  }
+}
+
+
 void FeatureGenerator::GenerateTrajectoryPoints(
     const std::list<apollo::localization::LocalizationEstimate>&
         localization_for_label,
@@ -262,6 +291,9 @@ void FeatureGenerator::GenerateLearningDataFrame() {
     routing_response->add_lane_id(lane_id);
   }
 
+  // add obstacle
+  GenerateObstacleData(learning_data_frame);
+
   // add trajectory_points
   GenerateTrajectoryPoints(localization_for_label_, learning_data_frame);
 }

modules/planning/pipeline/feature_generator.h

@@ -48,6 +48,8 @@ class FeatureGenerator {
   void OnTafficLightDetection(
       const apollo::perception::TrafficLightDetection& traffic_light_detection);
 
+  void GenerateObstacleData(LearningDataFrame* learning_data_frame);
+
   void GenerateTrajectoryPoints(
       const std::list<apollo::localization::LocalizationEstimate>&
           localization_for_label,

modules/planning/proto/learning_data.proto

@@ -5,6 +5,7 @@ package apollo.planning;
 import "modules/canbus/proto/chassis.proto";
 import "modules/common/proto/geometry.proto";
 import "modules/common/proto/pnc_point.proto";
+import "modules/perception/proto/perception_obstacle.proto";
 import "modules/perception/proto/traffic_light_detection.proto";
 import "modules/routing/proto/routing.proto";
 
@@ -75,17 +76,7 @@ message ObstacleFeature {
   optional double length = 2;  // obstacle length.
   optional double width = 3;   // obstacle width.
   optional double height = 4;  // obstacle height.
-
-  enum Type {
-    UNKNOWN = 0;
-    UNKNOWN_MOVABLE = 1;
-    UNKNOWN_UNMOVABLE = 2;
-    PEDESTRIAN = 3;  // Pedestrian, usually determined by moving behavior.
-    BICYCLE = 4;     // bike, motor bike
-    VEHICLE = 5;     // Passenger car or truck.
-  };
-  optional Type type = 5;         // obstacle type
-
+  optional apollo.perception.PerceptionObstacle.Type type = 5;  // obstacle type
   repeated ObstacleTrajectoryPoint obstacle_trajectory_point = 6;
 }