Prediction: Introducing the lane-scanning evaluator.

modules/prediction/container/obstacles/obstacles_container.cc

@@ -277,6 +277,7 @@ void ObstaclesContainer::BuildLaneGraph() {
       continue;
     }
     obstacle_ptr->BuildLaneGraph();
+    obstacle_ptr->BuildLaneGraphFromLeftToRight();
   }
 }
 

modules/prediction/evaluator/vehicle/BUILD

@@ -165,4 +165,18 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "lane_scanning_evaluator",
+    srcs = [
+        "lane_scanning_evaluator.cc",
+    ],
+    hdrs = [
+        "lane_scanning_evaluator.h",
+    ],
+    deps = [
+        "//modules/prediction/container:container_manager",
+        "//modules/prediction/evaluator",
+    ],
+)
+
 cpplint()

modules/prediction/evaluator/vehicle/lane_scanning_evaluator.cc

+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include <limits>
+#include <utility>
+
+#include "modules/common/util/file.h"
+#include "modules/prediction/common/feature_output.h"
+#include "modules/prediction/common/prediction_gflags.h"
+#include "modules/prediction/common/prediction_system_gflags.h"
+#include "modules/prediction/container/container_manager.h"
+#include "modules/prediction/container/obstacles/obstacles_container.h"
+#include "modules/prediction/evaluator/vehicle/lane_scanning_evaluator.h"
+
+namespace apollo {
+namespace prediction {
+
+using apollo::common::adapter::AdapterConfig;
+using apollo::common::util::GetProtoFromFile;
+
+// Helper function for converting world coordinate of a point
+// to relative coordinate with respect to the object (obstacle or ADC).
+std::pair<double, double> WorldCoordToObjCoord
+    (std::pair<double, double> input_world_coord,
+     std::pair<double, double> obj_world_coord,
+     double obj_world_angle) {
+  double x_diff = input_world_coord.first - obj_world_coord.first;
+  double y_diff = input_world_coord.second - obj_world_coord.second;
+  double rho = std::sqrt(x_diff * x_diff + y_diff * y_diff);
+  double theta = std::atan2(y_diff, x_diff) - obj_world_angle;
+
+  return std::make_pair(std::cos(theta)*rho, std::sin(theta)*rho);
+}
+
+double WorldAngleToObjAngle(double input_world_angle,
+                            double obj_world_angle) {
+  return common::math::NormalizeAngle(input_world_angle - obj_world_angle);
+}
+
+LaneScanningEvaluator::LaneScanningEvaluator() {
+}
+
+void LaneScanningEvaluator::Evaluate(Obstacle* obstacle_ptr) {
+}
+
+void LaneScanningEvaluator::ExtractFeatures(
+    const Obstacle* obstacle_ptr, std::vector<double>* feature_values) {
+}
+
+void LaneScanningEvaluator::ExtractObstacleFeatures(
+    const Obstacle* obstacle_ptr, std::vector<double>* feature_values) {
+}
+
+void LaneScanningEvaluator::ExtractStaticEnvFeatures(
+    const Obstacle* obstacle_ptr, std::vector<double>* feature_values) {
+}
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/evaluator/vehicle/lane_scanning_evaluator.h

+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#pragma once
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "modules/prediction/evaluator/evaluator.h"
+
+namespace apollo {
+namespace prediction {
+
+class LaneScanningEvaluator : public Evaluator {
+ public:
+  /**
+   * @brief Constructor
+   */
+  LaneScanningEvaluator();
+
+  /**
+   * @brief Destructor
+   */
+  virtual ~LaneScanningEvaluator() = default;
+
+  /**
+   * @brief Override Evaluate
+   * @param Obstacle pointer
+   */
+  void Evaluate(Obstacle* obstacle_ptr) override;
+
+  /**
+   * @brief Extract features for learning model's input
+   * @param Obstacle pointer
+   */
+  void ExtractFeatures(const Obstacle* obstacle_ptr,
+                       std::vector<double>* feature_values);
+
+ private:
+  /**
+   * @brief Extract the features for obstacles
+   * @param Obstacle pointer
+   *        A vector of doubles to be filled up with extracted features
+   */
+  void ExtractObstacleFeatures(const Obstacle* obstacle_ptr,
+                               std::vector<double>* feature_values);
+
+  /**
+   * @brief Set lane feature vector
+   * @param Obstacle pointer
+   *        A vector of doubles to be filled up with extracted features
+   */
+  void ExtractStaticEnvFeatures(const Obstacle* obstacle_ptr,
+                                std::vector<double>* feature_values);
+
+
+ private:
+  static const size_t OBSTACLE_FEATURE_SIZE = 23 + 5 * 9;
+  static const size_t INTERACTION_FEATURE_SIZE = 8;
+  static const size_t SINGLE_LANE_FEATURE_SIZE = 4;
+  static const size_t LANE_POINTS_SIZE = 20;
+};
+
+}  // namespace prediction
+}  // namespace apollo

modules/prediction/proto/feature.proto

@@ -64,12 +64,6 @@ message ObstaclePriority {
   optional Priority priority = 25 [default = NORMAL];
 }
 
-// Ground truth information for labeling purpose
-
-message FutureStatus {
-  repeated apollo.common.TrajectoryPoint future_traj_points = 1;
-}
-
 // next id = 32
 message Feature {
   // Obstacle ID