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体验新版 GitCode,发现更多精彩内容 >>
未验证
提交
b40b6e93
编写于
6月 08, 2020
作者:
C
changsh726
提交者:
GitHub
6月 08, 2020
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Bazel: make modules/prediction build passed. (#11394)
上级
ccb6ebf2
变更
25
显示空白变更内容
内联
并排
Showing
25 changed file
with
126 addition
and
89 deletion
+126
-89
external/libtorch_cpu.BUILD
external/libtorch_cpu.BUILD
+5
-0
external/libtorch_gpu.BUILD
external/libtorch_gpu.BUILD
+6
-1
modules/prediction/BUILD
modules/prediction/BUILD
+4
-1
modules/prediction/common/BUILD
modules/prediction/common/BUILD
+8
-8
modules/prediction/common/message_process.cc
modules/prediction/common/message_process.cc
+28
-40
modules/prediction/container/BUILD
modules/prediction/container/BUILD
+1
-1
modules/prediction/container/adc_trajectory/BUILD
modules/prediction/container/adc_trajectory/BUILD
+2
-1
modules/prediction/container/obstacles/BUILD
modules/prediction/container/obstacles/BUILD
+4
-4
modules/prediction/container/pose/BUILD
modules/prediction/container/pose/BUILD
+2
-2
modules/prediction/container/storytelling/BUILD
modules/prediction/container/storytelling/BUILD
+1
-1
modules/prediction/evaluator/BUILD
modules/prediction/evaluator/BUILD
+5
-1
modules/prediction/evaluator/vehicle/BUILD
modules/prediction/evaluator/vehicle/BUILD
+12
-1
modules/prediction/evaluator/vehicle/junction_map_evaluator.cc
...es/prediction/evaluator/vehicle/junction_map_evaluator.cc
+4
-3
modules/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc
...s/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc
+15
-10
modules/prediction/network/BUILD
modules/prediction/network/BUILD
+1
-1
modules/prediction/network/rnn_model/BUILD
modules/prediction/network/rnn_model/BUILD
+3
-0
modules/prediction/pipeline/BUILD
modules/prediction/pipeline/BUILD
+3
-0
modules/prediction/predictor/BUILD
modules/prediction/predictor/BUILD
+4
-1
modules/prediction/predictor/extrapolation/BUILD
modules/prediction/predictor/extrapolation/BUILD
+1
-1
modules/prediction/predictor/interaction/BUILD
modules/prediction/predictor/interaction/BUILD
+1
-1
modules/prediction/predictor/junction/BUILD
modules/prediction/predictor/junction/BUILD
+3
-0
modules/prediction/scenario/scenario_features/BUILD
modules/prediction/scenario/scenario_features/BUILD
+1
-1
modules/prediction/submodules/BUILD
modules/prediction/submodules/BUILD
+6
-6
modules/prediction/util/data_extraction.h
modules/prediction/util/data_extraction.h
+2
-2
what_works.sh
what_works.sh
+4
-2
未找到文件。
external/libtorch_cpu.BUILD
浏览文件 @
b40b6e93
...
@@ -11,6 +11,11 @@ cc_library(
...
@@ -11,6 +11,11 @@ cc_library(
linkstatic = False,
linkstatic = False,
linkopts = [
linkopts = [
"-L/usr/local/libtorch_cpu/lib",
"-L/usr/local/libtorch_cpu/lib",
"-lc10",
"-ltorch",
"-ltorch",
"-ltorch_cpu",
],
deps = [
"@python3",
],
],
)
)
external/libtorch_gpu.BUILD
浏览文件 @
b40b6e93
...
@@ -11,7 +11,12 @@ cc_library(
...
@@ -11,7 +11,12 @@ cc_library(
linkstatic = False,
linkstatic = False,
linkopts = [
linkopts = [
"-L/usr/local/libtorch_gpu/lib",
"-L/usr/local/libtorch_gpu/lib",
"-lc10",
"-ltorch",
"-ltorch",
"-ltorch_cpu",
"-ltorch_cuda",
"-ltorch_cuda",
],
],
deps = [
"@python3",
],
)
)
modules/prediction/BUILD
浏览文件 @
b40b6e93
...
@@ -16,7 +16,7 @@ cc_library(
...
@@ -16,7 +16,7 @@ cc_library(
"//modules/prediction/common:message_process"
,
"//modules/prediction/common:message_process"
,
"//modules/prediction/evaluator:evaluator_manager"
,
"//modules/prediction/evaluator:evaluator_manager"
,
"//modules/prediction/predictor:predictor_manager"
,
"//modules/prediction/predictor:predictor_manager"
,
"//modules/prediction/proto:offline_features_proto"
,
"//modules/prediction/proto:offline_features_
cc_
proto"
,
"//modules/prediction/scenario:scenario_manager"
,
"//modules/prediction/scenario:scenario_manager"
,
"//modules/prediction/submodules:evaluator_submodule_lib"
,
"//modules/prediction/submodules:evaluator_submodule_lib"
,
"//modules/prediction/submodules:predictor_submodule_lib"
,
"//modules/prediction/submodules:predictor_submodule_lib"
,
...
@@ -35,6 +35,9 @@ cc_test(
...
@@ -35,6 +35,9 @@ cc_test(
":prediction_data"
,
":prediction_data"
,
":prediction_testdata"
,
":prediction_testdata"
,
],
],
linkopts
=
[
"-lgomp"
,
],
deps
=
[
deps
=
[
":prediction_component_lib"
,
":prediction_component_lib"
,
],
],
...
...
modules/prediction/common/BUILD
浏览文件 @
b40b6e93
...
@@ -83,8 +83,8 @@ cc_library(
...
@@ -83,8 +83,8 @@ cc_library(
"//modules/common/util"
,
"//modules/common/util"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/container/obstacles:obstacle"
,
"//modules/prediction/container/obstacles:obstacle"
,
"//modules/prediction/proto:offline_features_proto"
,
"//modules/prediction/proto:offline_features_
cc_
proto"
,
"//modules/prediction/proto:prediction_proto"
,
"//modules/prediction/proto:prediction_
obstacle_cc_
proto"
,
],
],
)
)
...
@@ -110,7 +110,7 @@ cc_library(
...
@@ -110,7 +110,7 @@ cc_library(
"//modules/prediction/common:prediction_constants"
,
"//modules/prediction/common:prediction_constants"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_system_gflags"
,
"//modules/prediction/common:prediction_system_gflags"
,
"//modules/prediction/proto:lane_graph_proto"
,
"//modules/prediction/proto:lane_graph_
cc_
proto"
,
],
],
)
)
...
@@ -141,7 +141,7 @@ cc_library(
...
@@ -141,7 +141,7 @@ cc_library(
deps
=
[
deps
=
[
"//modules/common/math"
,
"//modules/common/math"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/proto:lane_graph_proto"
,
"//modules/prediction/proto:lane_graph_
cc_
proto"
,
],
],
)
)
...
@@ -165,7 +165,7 @@ cc_library(
...
@@ -165,7 +165,7 @@ cc_library(
hdrs
=
[
"environment_features.h"
],
hdrs
=
[
"environment_features.h"
],
deps
=
[
deps
=
[
"//cyber"
,
"//cyber"
,
"//modules/common/proto:geometry_proto"
,
"//modules/common/proto:geometry_
cc_
proto"
,
],
],
)
)
...
@@ -188,7 +188,7 @@ cc_library(
...
@@ -188,7 +188,7 @@ cc_library(
],
],
deps
=
[
deps
=
[
":prediction_map"
,
":prediction_map"
,
"//modules/prediction/proto:feature_proto"
,
"//modules/prediction/proto:feature_
cc_
proto"
,
],
],
)
)
...
@@ -221,7 +221,7 @@ cc_library(
...
@@ -221,7 +221,7 @@ cc_library(
"//modules/common/adapters:adapter_gflags"
,
"//modules/common/adapters:adapter_gflags"
,
"//modules/prediction/evaluator:evaluator_manager"
,
"//modules/prediction/evaluator:evaluator_manager"
,
"//modules/prediction/predictor:predictor_manager"
,
"//modules/prediction/predictor:predictor_manager"
,
"//modules/prediction/proto:offline_features_proto"
,
"//modules/prediction/proto:offline_features_
cc_
proto"
,
"//modules/prediction/scenario:scenario_manager"
,
"//modules/prediction/scenario:scenario_manager"
,
"//modules/prediction/util:data_extraction"
,
"//modules/prediction/util:data_extraction"
,
],
],
...
@@ -264,7 +264,7 @@ cc_library(
...
@@ -264,7 +264,7 @@ cc_library(
"//modules/common/util"
,
"//modules/common/util"
,
"//modules/prediction/container:container_manager"
,
"//modules/prediction/container:container_manager"
,
"//modules/prediction/container/pose:pose_container"
,
"//modules/prediction/container/pose:pose_container"
,
"//modules/prediction/proto:feature_proto"
,
"//modules/prediction/proto:feature_
cc_
proto"
,
"@opencv"
,
"@opencv"
,
],
],
)
)
...
...
modules/prediction/common/message_process.cc
浏览文件 @
b40b6e93
...
@@ -21,6 +21,7 @@
...
@@ -21,6 +21,7 @@
#include "cyber/common/file.h"
#include "cyber/common/file.h"
#include "cyber/record/record_reader.h"
#include "cyber/record/record_reader.h"
#include "cyber/record/record_writer.h"
#include "cyber/record/record_writer.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/common/adapters/adapter_gflags.h"
#include "modules/prediction/common/feature_output.h"
#include "modules/prediction/common/feature_output.h"
#include "modules/prediction/common/junction_analyzer.h"
#include "modules/prediction/common/junction_analyzer.h"
...
@@ -297,36 +298,23 @@ void MessageProcess::ProcessOfflineData(
...
@@ -297,36 +298,23 @@ void MessageProcess::ProcessOfflineData(
message
.
channel_name
,
perception_obstacles
,
message
.
time
);
message
.
channel_name
,
perception_obstacles
,
message
.
time
);
}
}
PredictionObstacles
prediction_obstacles
;
PredictionObstacles
prediction_obstacles
;
OnPerception
(
perception_obstacles
,
&
prediction_obstacles
);
OnPerception
(
perception_obstacles
,
container_manager
,
evaluator_manager
,
if
(
FLAGS_prediction_offline_mode
==
PredictionConstants
::
kDumpRecord
)
{
predictor_manager
,
scenario_manager
,
SingleMessage
single_message
;
std
::
string
content
=
""
;
prediction_obstacles
.
SerializeToString
(
&
content
);
single_message
.
set_content
(
content
);
single_message
.
set_time
(
message
.
time
);
single_message
.
set_channel_name
(
FLAGS_prediction_topic
);
writer
.
WriteMessage
(
RecordMessageToSingleMessage
(
message
));
=======
OnPerception
(
perception_obstacles
,
container_manager
,
evaluator_manager
,
predictor_manager
,
scenario_manager
,
&
prediction_obstacles
);
&
prediction_obstacles
);
if
(
FLAGS_prediction_offline_mode
==
if
(
FLAGS_prediction_offline_mode
==
PredictionConstants
::
kDumpRecord
)
{
PredictionConstants
::
kDumpRecord
)
{
writer
.
WriteMessage
<
PredictionObstacles
>
(
writer
.
WriteMessage
<
PredictionObstacles
>
(
prediction_conf
.
topic_conf
().
perception_obstacle_topic
(),
prediction_conf
.
topic_conf
().
perception_obstacle_topic
(),
prediction_obstacles
,
message
.
time
);
prediction_obstacles
,
message
.
time
);
AINFO
<<
"Generated a new prediction message."
;
AINFO
<<
"Generated a new prediction message."
;
>>>>>>>
master
}
}
}
}
}
else
if
(
message
.
channel_name
==
}
else
if
(
message
.
channel_name
==
prediction_conf
.
topic_conf
().
localization_topic
())
{
prediction_conf
.
topic_conf
().
localization_topic
())
{
LocalizationEstimate
localization
;
LocalizationEstimate
localization
;
if
(
localization
.
ParseFromString
(
message
.
content
))
{
if
(
localization
.
ParseFromString
(
message
.
content
))
{
if
(
FLAGS_prediction_offline_mode
==
if
(
FLAGS_prediction_offline_mode
==
PredictionConstants
::
kDumpRecord
)
{
PredictionConstants
::
kDumpRecord
)
{
writer
.
WriteMessage
<
LocalizationEstimate
>
(
message
.
channel_name
,
writer
.
WriteMessage
<
LocalizationEstimate
>
(
localization
,
message
.
time
);
message
.
channel_name
,
localization
,
message
.
time
);
}
}
OnLocalization
(
container_manager
.
get
(),
localization
);
OnLocalization
(
container_manager
.
get
(),
localization
);
}
}
...
@@ -341,7 +329,7 @@ void MessageProcess::ProcessOfflineData(
...
@@ -341,7 +329,7 @@ void MessageProcess::ProcessOfflineData(
if
(
FLAGS_prediction_offline_mode
==
PredictionConstants
::
kDumpRecord
)
{
if
(
FLAGS_prediction_offline_mode
==
PredictionConstants
::
kDumpRecord
)
{
writer
.
Close
();
writer
.
Close
();
}
}
}
}
}
// namespace prediction
}
// namespace prediction
}
// namespace
prediction
}
// namespace
apollo
modules/prediction/container/BUILD
浏览文件 @
b40b6e93
...
@@ -11,7 +11,7 @@ cc_library(
...
@@ -11,7 +11,7 @@ cc_library(
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
],
],
deps
=
[
deps
=
[
"//modules/common/adapters/proto:adapter_config_proto"
,
"//modules/common/adapters/proto:adapter_config_
cc_
proto"
,
"//modules/prediction/container/adc_trajectory:adc_trajectory_container"
,
"//modules/prediction/container/adc_trajectory:adc_trajectory_container"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
"//modules/prediction/container/pose:pose_container"
,
"//modules/prediction/container/pose:pose_container"
,
...
...
modules/prediction/container/adc_trajectory/BUILD
浏览文件 @
b40b6e93
...
@@ -11,9 +11,10 @@ cc_library(
...
@@ -11,9 +11,10 @@ cc_library(
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
],
],
deps
=
[
deps
=
[
"//modules/planning/proto:planning_proto"
,
"//modules/planning/proto:planning_
cc_
proto"
,
"//modules/prediction/common:prediction_map"
,
"//modules/prediction/common:prediction_map"
,
"//modules/prediction/container"
,
"//modules/prediction/container"
,
"//modules/prediction/proto:lane_graph_cc_proto"
,
],
],
)
)
...
...
modules/prediction/container/obstacles/BUILD
浏览文件 @
b40b6e93
...
@@ -16,7 +16,7 @@ cc_library(
...
@@ -16,7 +16,7 @@ cc_library(
"//modules/prediction/common:prediction_constants"
,
"//modules/prediction/common:prediction_constants"
,
"//modules/prediction/container"
,
"//modules/prediction/container"
,
"//modules/prediction/container/obstacles:obstacle"
,
"//modules/prediction/container/obstacles:obstacle"
,
"//modules/prediction/proto:prediction_proto"
,
"//modules/prediction/proto:prediction_
obstacle_cc_
proto"
,
"//modules/prediction/submodules:submodule_output"
,
"//modules/prediction/submodules:submodule_output"
,
],
],
)
)
...
@@ -33,8 +33,8 @@ cc_library(
...
@@ -33,8 +33,8 @@ cc_library(
"//modules/prediction/common:junction_analyzer"
,
"//modules/prediction/common:junction_analyzer"
,
"//modules/prediction/container/obstacles:obstacle_clusters"
,
"//modules/prediction/container/obstacles:obstacle_clusters"
,
"//modules/prediction/network/rnn_model"
,
"//modules/prediction/network/rnn_model"
,
"//modules/prediction/proto:prediction_conf_proto"
,
"//modules/prediction/proto:prediction_conf_
cc_
proto"
,
"//modules/prediction/proto:prediction_proto"
,
"//modules/prediction/proto:prediction_
obstacle_cc_
proto"
,
],
],
)
)
...
@@ -77,7 +77,7 @@ cc_library(
...
@@ -77,7 +77,7 @@ cc_library(
],
],
deps
=
[
deps
=
[
"//modules/prediction/common:road_graph"
,
"//modules/prediction/common:road_graph"
,
"//modules/prediction/proto:feature_proto"
,
"//modules/prediction/proto:feature_
cc_
proto"
,
],
],
)
)
...
...
modules/prediction/container/pose/BUILD
浏览文件 @
b40b6e93
...
@@ -12,8 +12,8 @@ cc_library(
...
@@ -12,8 +12,8 @@ cc_library(
],
],
deps
=
[
deps
=
[
"//modules/common/math:quaternion"
,
"//modules/common/math:quaternion"
,
"//modules/localization/proto:localization_proto"
,
"//modules/localization/proto:localization_
cc_
proto"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_
obstacle_cc_
proto"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/container"
,
"//modules/prediction/container"
,
],
],
...
...
modules/prediction/container/storytelling/BUILD
浏览文件 @
b40b6e93
...
@@ -13,7 +13,7 @@ cc_library(
...
@@ -13,7 +13,7 @@ cc_library(
deps
=
[
deps
=
[
"//modules/prediction/common:prediction_map"
,
"//modules/prediction/common:prediction_map"
,
"//modules/prediction/container"
,
"//modules/prediction/container"
,
"//modules/storytelling/proto:story_proto"
,
"//modules/storytelling/proto:story_
cc_
proto"
,
],
],
)
)
...
...
modules/prediction/evaluator/BUILD
浏览文件 @
b40b6e93
...
@@ -26,7 +26,8 @@ cc_library(
...
@@ -26,7 +26,8 @@ cc_library(
"//modules/prediction/evaluator/vehicle:lane_scanning_evaluator"
,
"//modules/prediction/evaluator/vehicle:lane_scanning_evaluator"
,
"//modules/prediction/evaluator/vehicle:mlp_evaluator"
,
"//modules/prediction/evaluator/vehicle:mlp_evaluator"
,
"//modules/prediction/evaluator/vehicle:semantic_lstm_evaluator"
,
"//modules/prediction/evaluator/vehicle:semantic_lstm_evaluator"
,
"//modules/prediction/proto:prediction_conf_proto"
,
"//modules/prediction/proto:prediction_conf_cc_proto"
,
"//third_party:libtorch"
,
],
],
)
)
...
@@ -38,6 +39,9 @@ cc_test(
...
@@ -38,6 +39,9 @@ cc_test(
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_testdata"
,
"//modules/prediction:prediction_testdata"
,
],
],
linkopts
=
[
"-lgomp"
,
],
deps
=
[
deps
=
[
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/evaluator:evaluator_manager"
,
"//modules/prediction/evaluator:evaluator_manager"
,
...
...
modules/prediction/evaluator/vehicle/BUILD
浏览文件 @
b40b6e93
...
@@ -16,7 +16,7 @@ cc_library(
...
@@ -16,7 +16,7 @@ cc_library(
"//modules/prediction/common:validation_checker"
,
"//modules/prediction/common:validation_checker"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
"//modules/prediction/evaluator"
,
"//modules/prediction/evaluator"
,
"//modules/prediction/proto:fnn_vehicle_model_proto"
,
"//modules/prediction/proto:fnn_vehicle_model_
cc_
proto"
,
],
],
)
)
...
@@ -70,6 +70,7 @@ cc_library(
...
@@ -70,6 +70,7 @@ cc_library(
hdrs
=
[
"junction_mlp_evaluator.h"
],
hdrs
=
[
"junction_mlp_evaluator.h"
],
copts
=
[
copts
=
[
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-fopenmp"
,
],
],
deps
=
[
deps
=
[
"//modules/common/math:geometry"
,
"//modules/common/math:geometry"
,
...
@@ -90,6 +91,9 @@ cc_test(
...
@@ -90,6 +91,9 @@ cc_test(
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_testdata"
,
"//modules/prediction:prediction_testdata"
,
],
],
linkopts
=
[
"-lgomp"
,
],
deps
=
[
deps
=
[
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/evaluator/vehicle:junction_mlp_evaluator"
,
"//modules/prediction/evaluator/vehicle:junction_mlp_evaluator"
,
...
@@ -103,6 +107,7 @@ cc_library(
...
@@ -103,6 +107,7 @@ cc_library(
hdrs
=
[
"junction_map_evaluator.h"
],
hdrs
=
[
"junction_map_evaluator.h"
],
copts
=
[
copts
=
[
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-fopenmp"
,
],
],
deps
=
[
deps
=
[
"//modules/prediction/common:prediction_util"
,
"//modules/prediction/common:prediction_util"
,
...
@@ -119,6 +124,7 @@ cc_library(
...
@@ -119,6 +124,7 @@ cc_library(
hdrs
=
[
"cruise_mlp_evaluator.h"
],
hdrs
=
[
"cruise_mlp_evaluator.h"
],
copts
=
[
copts
=
[
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-fopenmp"
,
],
],
deps
=
[
deps
=
[
"//modules/prediction/common:prediction_util"
,
"//modules/prediction/common:prediction_util"
,
...
@@ -137,6 +143,9 @@ cc_test(
...
@@ -137,6 +143,9 @@ cc_test(
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_testdata"
,
"//modules/prediction:prediction_testdata"
,
],
],
linkopts
=
[
"-lgomp"
,
],
deps
=
[
deps
=
[
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/evaluator/vehicle:cruise_mlp_evaluator"
,
"//modules/prediction/evaluator/vehicle:cruise_mlp_evaluator"
,
...
@@ -149,6 +158,7 @@ cc_library(
...
@@ -149,6 +158,7 @@ cc_library(
hdrs
=
[
"lane_scanning_evaluator.h"
],
hdrs
=
[
"lane_scanning_evaluator.h"
],
copts
=
[
copts
=
[
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-fopenmp"
,
],
],
deps
=
[
deps
=
[
"//modules/prediction/container:container_manager"
,
"//modules/prediction/container:container_manager"
,
...
@@ -179,6 +189,7 @@ cc_library(
...
@@ -179,6 +189,7 @@ cc_library(
hdrs
=
[
"semantic_lstm_evaluator.h"
],
hdrs
=
[
"semantic_lstm_evaluator.h"
],
copts
=
[
copts
=
[
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-fopenmp"
,
],
],
deps
=
[
deps
=
[
"//modules/prediction/common:prediction_util"
,
"//modules/prediction/common:prediction_util"
,
...
...
modules/prediction/evaluator/vehicle/junction_map_evaluator.cc
浏览文件 @
b40b6e93
...
@@ -94,11 +94,12 @@ bool JunctionMapEvaluator::Evaluate(Obstacle* obstacle_ptr,
...
@@ -94,11 +94,12 @@ bool JunctionMapEvaluator::Evaluate(Obstacle* obstacle_ptr,
junction_exit_mask
[
0
][
i
]
=
static_cast
<
float
>
(
feature_values
[
i
]);
junction_exit_mask
[
0
][
i
]
=
static_cast
<
float
>
(
feature_values
[
i
]);
}
}
torch_inputs
.
push_back
(
c10
::
ivalue
::
Tuple
::
create
(
at
::
Tensor
torch_input_tensor
;
torch_inputs
.
push_back
(
c10
::
ivalue
::
Tuple
::
createNamed
(
{
std
::
move
(
img_tensor
.
to
(
device_
)),
{
std
::
move
(
img_tensor
.
to
(
device_
)),
std
::
move
(
junction_exit_mask
.
to
(
device_
))},
std
::
move
(
junction_exit_mask
.
to
(
device_
))},
c10
::
TupleType
::
create
(
c10
::
TupleType
::
create
(
std
::
vector
<
c10
::
TypePtr
>
(
std
::
vector
<
c10
::
TypePtr
>
(
2
,
c10
::
TensorType
::
create
(
)))));
2
,
c10
::
TensorType
::
create
(
torch_input_tensor
)))));
// Compute probability
// Compute probability
std
::
vector
<
double
>
probability
;
std
::
vector
<
double
>
probability
;
...
...
modules/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc
浏览文件 @
b40b6e93
...
@@ -98,11 +98,13 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
...
@@ -98,11 +98,13 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
// Build input features for torch
// Build input features for torch
std
::
vector
<
torch
::
jit
::
IValue
>
torch_inputs
;
std
::
vector
<
torch
::
jit
::
IValue
>
torch_inputs
;
torch_inputs
.
push_back
(
c10
::
ivalue
::
Tuple
::
create
(
at
::
Tensor
torch_input_tensor
;
torch_inputs
.
push_back
(
c10
::
ivalue
::
Tuple
::
createNamed
(
{
std
::
move
(
img_tensor
.
to
(
device_
)),
std
::
move
(
obstacle_pos
.
to
(
device_
)),
{
std
::
move
(
img_tensor
.
to
(
device_
)),
std
::
move
(
obstacle_pos
.
to
(
device_
)),
std
::
move
(
obstacle_pos_step
.
to
(
device_
))},
std
::
move
(
obstacle_pos_step
.
to
(
device_
))},
c10
::
TupleType
::
create
(
c10
::
TupleType
::
create
(
std
::
vector
<
c10
::
TypePtr
>
(
std
::
vector
<
c10
::
TypePtr
>
(
3
,
c10
::
TensorType
::
create
(
)))));
3
,
c10
::
TensorType
::
create
(
torch_input_tensor
)))));
// Compute pred_traj
// Compute pred_traj
std
::
vector
<
double
>
pred_traj
;
std
::
vector
<
double
>
pred_traj
;
...
@@ -110,8 +112,9 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
...
@@ -110,8 +112,9 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
auto
start_time
=
std
::
chrono
::
system_clock
::
now
();
auto
start_time
=
std
::
chrono
::
system_clock
::
now
();
at
::
Tensor
torch_output_tensor
=
torch_default_output_tensor_
;
at
::
Tensor
torch_output_tensor
=
torch_default_output_tensor_
;
if
(
obstacle_ptr
->
IsPedestrian
())
{
if
(
obstacle_ptr
->
IsPedestrian
())
{
torch_output_tensor
=
torch_pedestrian_model_
.
forward
(
torch_inputs
).
torch_output_tensor
=
torch_pedestrian_model_
.
forward
(
torch_inputs
)
toTensor
().
to
(
torch
::
kCPU
);
.
toTensor
()
.
to
(
torch
::
kCPU
);
}
else
{
}
else
{
torch_output_tensor
=
torch_output_tensor
=
torch_vehicle_model_
.
forward
(
torch_inputs
).
toTensor
().
to
(
torch
::
kCPU
);
torch_vehicle_model_
.
forward
(
torch_inputs
).
toTensor
().
to
(
torch
::
kCPU
);
...
@@ -166,8 +169,8 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
...
@@ -166,8 +169,8 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
rotation_matrix
(
1
,
1
)
=
std
::
cos
(
heading
);
rotation_matrix
(
1
,
1
)
=
std
::
cos
(
heading
);
Eigen
::
Matrix2d
cov_matrix
;
Eigen
::
Matrix2d
cov_matrix
;
cov_matrix
=
rotation_matrix
*
cov_matrix_r
*
cov_matrix
=
(
rotation_matrix
.
transpose
());
rotation_matrix
*
cov_matrix_r
*
(
rotation_matrix
.
transpose
());
double
sigma_x
=
std
::
sqrt
(
std
::
abs
(
cov_matrix
(
0
,
0
)));
double
sigma_x
=
std
::
sqrt
(
std
::
abs
(
cov_matrix
(
0
,
0
)));
double
sigma_y
=
std
::
sqrt
(
std
::
abs
(
cov_matrix
(
1
,
1
)));
double
sigma_y
=
std
::
sqrt
(
std
::
abs
(
cov_matrix
(
1
,
1
)));
double
corr
=
cov_matrix
(
0
,
1
)
/
(
sigma_x
+
FLAGS_double_precision
)
/
double
corr
=
cov_matrix
(
0
,
1
)
/
(
sigma_x
+
FLAGS_double_precision
)
/
...
@@ -258,11 +261,13 @@ void SemanticLSTMEvaluator::LoadModel() {
...
@@ -258,11 +261,13 @@ void SemanticLSTMEvaluator::LoadModel() {
torch
::
Tensor
obstacle_pos
=
torch
::
zeros
({
1
,
20
,
2
});
torch
::
Tensor
obstacle_pos
=
torch
::
zeros
({
1
,
20
,
2
});
torch
::
Tensor
obstacle_pos_step
=
torch
::
zeros
({
1
,
20
,
2
});
torch
::
Tensor
obstacle_pos_step
=
torch
::
zeros
({
1
,
20
,
2
});
std
::
vector
<
torch
::
jit
::
IValue
>
torch_inputs
;
std
::
vector
<
torch
::
jit
::
IValue
>
torch_inputs
;
torch_inputs
.
push_back
(
c10
::
ivalue
::
Tuple
::
create
(
at
::
Tensor
torch_input_tensor
;
torch_inputs
.
push_back
(
c10
::
ivalue
::
Tuple
::
createNamed
(
{
std
::
move
(
img_tensor
.
to
(
device_
)),
std
::
move
(
obstacle_pos
.
to
(
device_
)),
{
std
::
move
(
img_tensor
.
to
(
device_
)),
std
::
move
(
obstacle_pos
.
to
(
device_
)),
std
::
move
(
obstacle_pos_step
.
to
(
device_
))},
std
::
move
(
obstacle_pos_step
.
to
(
device_
))},
c10
::
TupleType
::
create
(
c10
::
TupleType
::
create
(
std
::
vector
<
c10
::
TypePtr
>
(
std
::
vector
<
c10
::
TypePtr
>
(
3
,
c10
::
TensorType
::
create
(
)))));
3
,
c10
::
TensorType
::
create
(
torch_input_tensor
)))));
// Run one inference to avoid very slow first inference later
// Run one inference to avoid very slow first inference later
torch_default_output_tensor_
=
torch_default_output_tensor_
=
torch_vehicle_model_
.
forward
(
torch_inputs
).
toTensor
().
to
(
torch
::
kCPU
);
torch_vehicle_model_
.
forward
(
torch_inputs
).
toTensor
().
to
(
torch
::
kCPU
);
...
...
modules/prediction/network/BUILD
浏览文件 @
b40b6e93
modules/prediction/network/rnn_model/BUILD
浏览文件 @
b40b6e93
...
@@ -8,6 +8,8 @@ cc_library(
...
@@ -8,6 +8,8 @@ cc_library(
srcs
=
[
"rnn_model.cc"
],
srcs
=
[
"rnn_model.cc"
],
hdrs
=
[
"rnn_model.h"
],
hdrs
=
[
"rnn_model.h"
],
deps
=
[
deps
=
[
"//cyber/base:macros"
,
"//cyber/common:macros"
,
"//modules/prediction/network:net_model"
,
"//modules/prediction/network:net_model"
,
],
],
)
)
...
@@ -20,6 +22,7 @@ cc_test(
...
@@ -20,6 +22,7 @@ cc_test(
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_data"
,
],
],
deps
=
[
deps
=
[
"//cyber/common:file"
,
"//modules/prediction/network/rnn_model"
,
"//modules/prediction/network/rnn_model"
,
"@com_google_googletest//:gtest_main"
,
"@com_google_googletest//:gtest_main"
,
],
],
...
...
modules/prediction/pipeline/BUILD
浏览文件 @
b40b6e93
...
@@ -9,6 +9,9 @@ cc_binary(
...
@@ -9,6 +9,9 @@ cc_binary(
copts
=
[
copts
=
[
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
],
],
linkopts
=
[
"-lgomp"
,
],
deps
=
[
deps
=
[
"//modules/prediction/common:message_process"
,
"//modules/prediction/common:message_process"
,
"//third_party:boost"
,
"//third_party:boost"
,
...
...
modules/prediction/predictor/BUILD
浏览文件 @
b40b6e93
...
@@ -21,7 +21,7 @@ cc_library(
...
@@ -21,7 +21,7 @@ cc_library(
"//modules/prediction/predictor/lane_sequence:lane_sequence_predictor"
,
"//modules/prediction/predictor/lane_sequence:lane_sequence_predictor"
,
"//modules/prediction/predictor/move_sequence:move_sequence_predictor"
,
"//modules/prediction/predictor/move_sequence:move_sequence_predictor"
,
"//modules/prediction/predictor/single_lane:single_lane_predictor"
,
"//modules/prediction/predictor/single_lane:single_lane_predictor"
,
"//modules/prediction/proto:prediction_conf_proto"
,
"//modules/prediction/proto:prediction_conf_
cc_
proto"
,
"//modules/prediction/scenario:scenario_manager"
,
"//modules/prediction/scenario:scenario_manager"
,
],
],
)
)
...
@@ -34,6 +34,9 @@ cc_test(
...
@@ -34,6 +34,9 @@ cc_test(
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_testdata"
,
"//modules/prediction:prediction_testdata"
,
],
],
linkopts
=
[
"-lgomp"
,
],
deps
=
[
deps
=
[
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/evaluator:evaluator_manager"
,
"//modules/prediction/evaluator:evaluator_manager"
,
...
...
modules/prediction/predictor/extrapolation/BUILD
浏览文件 @
b40b6e93
...
@@ -18,7 +18,7 @@ cc_library(
...
@@ -18,7 +18,7 @@ cc_library(
"//modules/prediction/container/obstacles:obstacle_clusters"
,
"//modules/prediction/container/obstacles:obstacle_clusters"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
"//modules/prediction/predictor/sequence:sequence_predictor"
,
"//modules/prediction/predictor/sequence:sequence_predictor"
,
"//modules/prediction/proto:lane_graph_proto"
,
"//modules/prediction/proto:lane_graph_
cc_
proto"
,
],
],
)
)
...
...
modules/prediction/predictor/interaction/BUILD
浏览文件 @
b40b6e93
...
@@ -11,7 +11,7 @@ cc_library(
...
@@ -11,7 +11,7 @@ cc_library(
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
],
],
deps
=
[
deps
=
[
"//modules/common/adapters/proto:adapter_config_proto"
,
"//modules/common/adapters/proto:adapter_config_
cc_
proto"
,
"//modules/prediction/common:feature_output"
,
"//modules/prediction/common:feature_output"
,
"//modules/prediction/common:prediction_util"
,
"//modules/prediction/common:prediction_util"
,
"//modules/prediction/predictor/sequence:sequence_predictor"
,
"//modules/prediction/predictor/sequence:sequence_predictor"
,
...
...
modules/prediction/predictor/junction/BUILD
浏览文件 @
b40b6e93
...
@@ -24,6 +24,9 @@ cc_test(
...
@@ -24,6 +24,9 @@ cc_test(
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_data"
,
"//modules/prediction:prediction_testdata"
,
"//modules/prediction:prediction_testdata"
,
],
],
linkopts
=
[
"-lgomp"
,
],
deps
=
[
deps
=
[
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/common:kml_map_based_test"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
"//modules/prediction/container/obstacles:obstacles_container"
,
...
...
modules/prediction/scenario/scenario_features/BUILD
浏览文件 @
b40b6e93
...
@@ -11,7 +11,7 @@ cc_library(
...
@@ -11,7 +11,7 @@ cc_library(
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
"-DMODULE_NAME=
\\\"
prediction
\\\"
"
,
],
],
deps
=
[
deps
=
[
"//modules/prediction/proto:scenario_proto"
,
"//modules/prediction/proto:scenario_
cc_
proto"
,
],
],
)
)
...
...
modules/prediction/submodules/BUILD
浏览文件 @
b40b6e93
...
@@ -12,7 +12,7 @@ cc_library(
...
@@ -12,7 +12,7 @@ cc_library(
],
],
deps
=
[
deps
=
[
"//modules/common/util:lru_cache"
,
"//modules/common/util:lru_cache"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_
obstacle_cc_
proto"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/container/obstacles:obstacle"
,
"//modules/prediction/container/obstacles:obstacle"
,
"@com_google_absl//absl/time"
,
"@com_google_absl//absl/time"
,
...
@@ -29,9 +29,9 @@ cc_library(
...
@@ -29,9 +29,9 @@ cc_library(
deps
=
[
deps
=
[
"//cyber"
,
"//cyber"
,
"//modules/common/adapters:adapter_gflags"
,
"//modules/common/adapters:adapter_gflags"
,
"//modules/common/adapters/proto:adapter_config_proto"
,
"//modules/common/adapters/proto:adapter_config_
cc_
proto"
,
"//modules/common/time"
,
"//modules/common/time"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_
obstacle_cc_
proto"
,
"//modules/prediction/common:message_process"
,
"//modules/prediction/common:message_process"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/evaluator:evaluator_manager"
,
"//modules/prediction/evaluator:evaluator_manager"
,
...
@@ -56,15 +56,15 @@ cc_library(
...
@@ -56,15 +56,15 @@ cc_library(
deps
=
[
deps
=
[
"//cyber"
,
"//cyber"
,
"//modules/common/adapters:adapter_gflags"
,
"//modules/common/adapters:adapter_gflags"
,
"//modules/common/adapters/proto:adapter_config_proto"
,
"//modules/common/adapters/proto:adapter_config_
cc_
proto"
,
"//modules/common/time"
,
"//modules/common/time"
,
"//modules/common/util:message_util"
,
"//modules/common/util:message_util"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/proto:perception_
obstacle_cc_
proto"
,
"//modules/prediction/common:message_process"
,
"//modules/prediction/common:message_process"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/common:prediction_gflags"
,
"//modules/prediction/container/adc_trajectory:adc_trajectory_container"
,
"//modules/prediction/container/adc_trajectory:adc_trajectory_container"
,
"//modules/prediction/predictor:predictor_manager"
,
"//modules/prediction/predictor:predictor_manager"
,
"//modules/prediction/proto:prediction_proto"
,
"//modules/prediction/proto:prediction_
obstacle_cc_
proto"
,
],
],
alwayslink
=
True
,
alwayslink
=
True
,
)
)
...
...
modules/prediction/util/data_extraction.h
浏览文件 @
b40b6e93
...
@@ -16,10 +16,10 @@
...
@@ -16,10 +16,10 @@
#pragma once
#pragma once
#include <boost/filesystem.hpp>
#include <boost/range/iterator_range.hpp>
#include <string>
#include <string>
#include <vector>
#include <vector>
#include <boost/filesystem.hpp>
#include <boost/range/iterator_range.hpp>
namespace
apollo
{
namespace
apollo
{
namespace
prediction
{
namespace
prediction
{
...
...
what_works.sh
浏览文件 @
b40b6e93
...
@@ -54,7 +54,8 @@ bazel_build_with_dist_cache \
...
@@ -54,7 +54,8 @@ bazel_build_with_dist_cache \
//modules/v2x/...
\
//modules/v2x/...
\
//modules/dreamview/...
\
//modules/dreamview/...
\
//modules/guardian/...
\
//modules/guardian/...
\
//modules/localization/...
//modules/localization/...
\
//modules/prediction/...
bazel_test_with_dist_cache
\
bazel_test_with_dist_cache
\
//cyber/...
\
//cyber/...
\
...
@@ -77,6 +78,7 @@ bazel_test_with_dist_cache //modules/drivers/...
...
@@ -77,6 +78,7 @@ bazel_test_with_dist_cache //modules/drivers/...
bash scripts/install_esdcan_library.sh uninstall
bash scripts/install_esdcan_library.sh uninstall
bazel_build_with_dist_cache //modules/tools/...
bazel_build_with_dist_cache //modules/tools/...
bazel build //modules/tools/...
# Note(storypku): bazel test works except some lint errors in cyber_visualizer.
# Note(storypku): bazel test works except some lint errors in cyber_visualizer.
# Check cyber_visualizer's functionality once stablized.
# Check cyber_visualizer's functionality once stablized.
bazel_test_with_dist_cache
$(
bazel query //modules/tools/... except //modules/tools/visualizer/...
)
bazel_test_with_dist_cache
$(
bazel query //modules/tools/... except //modules/tools/visualizer/...
)
...
@@ -94,7 +96,7 @@ echo "########################### All check passed! ###########################"
...
@@ -94,7 +96,7 @@ echo "########################### All check passed! ###########################"
# TODO(?): bazel test //modules/map/...
# TODO(?): bazel test //modules/map/...
# TODO(?): bazel build //modules/contrib/...
# TODO(?): bazel build //modules/contrib/...
# TODO(?): bazel build //modules/perception/...
# TODO(?): bazel build //modules/perception/...
# TODO(
changsh726): bazel build
//modules/prediction/...
# TODO(
?): bazel test
//modules/prediction/...
# TODO(?): bazel build //modules/third_party_perception/...
# TODO(?): bazel build //modules/third_party_perception/...
# TODO(?): apollo.sh build
# TODO(?): apollo.sh build
# TODO(?): apollo.sh test
# TODO(?): apollo.sh test
...
...
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