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体验新版 GitCode,发现更多精彩内容 >>
提交
ae2a9de6
编写于
4月 20, 2018
作者:
K
kechxu
提交者:
Liangliang Zhang
4月 20, 2018
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差异文件
Prediction: speed up module by avoiding computing redundant lane points
上级
f9fe98d8
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
9 addition
and
1 deletion
+9
-1
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/obstacle.cc
modules/prediction/container/obstacles/obstacle.cc
+4
-1
modules/prediction/evaluator/vehicle/mlp_evaluator.cc
modules/prediction/evaluator/vehicle/mlp_evaluator.cc
+1
-0
modules/prediction/evaluator/vehicle/rnn_evaluator.cc
modules/prediction/evaluator/vehicle/rnn_evaluator.cc
+1
-0
未找到文件。
modules/prediction/common/prediction_gflags.cc
浏览文件 @
ae2a9de6
...
...
@@ -113,6 +113,8 @@ DEFINE_bool(adjust_velocity_by_obstacle_heading, false,
DEFINE_bool
(
adjust_velocity_by_position_shift
,
false
,
"adjust velocity heading to lane heading"
);
DEFINE_double
(
heading_filter_param
,
0.99
,
"heading filter parameter"
);
DEFINE_uint32
(
max_num_lane_point
,
20
,
"The maximal number of lane points to store"
);
// Validation checker
DEFINE_double
(
centripetal_acc_coeff
,
0.5
,
...
...
modules/prediction/common/prediction_gflags.h
浏览文件 @
ae2a9de6
...
...
@@ -82,6 +82,7 @@ DECLARE_double(rnn_min_lane_relatice_s);
DECLARE_bool
(
adjust_velocity_by_obstacle_heading
);
DECLARE_bool
(
adjust_velocity_by_position_shift
);
DECLARE_double
(
heading_filter_param
);
DECLARE_uint32
(
max_num_lane_point
);
// Validation checker
DECLARE_double
(
centripetal_acc_coeff
);
...
...
modules/prediction/container/obstacles/obstacle.cc
浏览文件 @
ae2a9de6
...
...
@@ -899,7 +899,9 @@ void Obstacle::SetLanePoints(Feature* feature) {
double
start_s
=
lane_sequence
->
lane_segment
(
lane_index
).
start_s
();
double
total_s
=
0.0
;
double
lane_seg_s
=
start_s
;
while
(
lane_index
<
lane_sequence
->
lane_segment_size
())
{
std
::
size_t
count_point
=
0
;
while
(
lane_index
<
lane_sequence
->
lane_segment_size
()
&&
count_point
<
FLAGS_max_num_lane_point
)
{
if
(
lane_seg_s
>
lane_segment
->
end_s
())
{
start_s
=
lane_seg_s
-
lane_segment
->
end_s
();
lane_seg_s
=
start_s
;
...
...
@@ -937,6 +939,7 @@ void Obstacle::SetLanePoints(Feature* feature) {
lane_point
.
set_angle_diff
(
lane_point_angle_diff
);
lane_segment
->
set_lane_turn_type
(
PredictionMap
::
LaneTurnType
(
lane_id
));
lane_segment
->
add_lane_point
()
->
CopyFrom
(
lane_point
);
++
count_point
;
total_s
+=
FLAGS_target_lane_gap
;
lane_seg_s
+=
FLAGS_target_lane_gap
;
}
...
...
modules/prediction/evaluator/vehicle/mlp_evaluator.cc
浏览文件 @
ae2a9de6
...
...
@@ -54,6 +54,7 @@ void MLPEvaluator::Clear() { obstacle_feature_values_map_.clear(); }
void
MLPEvaluator
::
Evaluate
(
Obstacle
*
obstacle_ptr
)
{
Clear
();
CHECK_NOTNULL
(
obstacle_ptr
);
CHECK_LE
(
LANE_FEATURE_SIZE
,
4
*
FLAGS_max_num_lane_point
);
int
id
=
obstacle_ptr
->
id
();
if
(
!
obstacle_ptr
->
latest_feature
().
IsInitialized
())
{
...
...
modules/prediction/evaluator/vehicle/rnn_evaluator.cc
浏览文件 @
ae2a9de6
...
...
@@ -243,6 +243,7 @@ int RNNEvaluator::SetupObstacleFeature(
int
RNNEvaluator
::
SetupLaneFeature
(
const
Feature
&
feature
,
const
LaneSequence
&
lane_sequence
,
std
::
vector
<
float
>*
const
feature_values
)
{
CHECK_LE
(
LENGTH_LANE_POINT_SEQUENCE
,
FLAGS_max_num_lane_point
);
feature_values
->
clear
();
feature_values
->
reserve
(
static_cast
<
size_t
>
(
DIM_LANE_POINT_FEATURE
)
*
static_cast
<
size_t
>
(
LENGTH_LANE_POINT_SEQUENCE
));
...
...
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