Bazel: make modules/prediction build passed. (#11394)

external/libtorch_cpu.BUILD

@@ -11,6 +11,11 @@ cc_library(
     linkstatic = False,
     linkopts = [
         "-L/usr/local/libtorch_cpu/lib",
+        "-lc10",
         "-ltorch",
+        "-ltorch_cpu",
+    ],
+    deps = [
+        "@python3",
     ],
 )

external/libtorch_gpu.BUILD

@@ -11,7 +11,12 @@ cc_library(
     linkstatic = False,
     linkopts = [
         "-L/usr/local/libtorch_gpu/lib",
+        "-lc10",
         "-ltorch",
+        "-ltorch_cpu",
         "-ltorch_cuda",
     ],
+    deps = [
+        "@python3",
+    ],
 )

modules/prediction/BUILD

@@ -16,7 +16,7 @@ cc_library(
         "//modules/prediction/common:message_process",
         "//modules/prediction/evaluator:evaluator_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/submodules:evaluator_submodule_lib",
         "//modules/prediction/submodules:predictor_submodule_lib",
@@ -35,6 +35,9 @@ cc_test(
         ":prediction_data",
         ":prediction_testdata",
     ],
+    linkopts = [
+        "-lgomp",
+    ],
     deps = [
         ":prediction_component_lib",
     ],

modules/prediction/common/BUILD

@@ -83,8 +83,8 @@ cc_library(
         "//modules/common/util",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/container/obstacles:obstacle",
-        "//modules/prediction/proto:offline_features_proto",
-        "//modules/prediction/proto:prediction_proto",
+        "//modules/prediction/proto:offline_features_cc_proto",
+        "//modules/prediction/proto:prediction_obstacle_cc_proto",
     ],
 )
 
@@ -110,7 +110,7 @@ cc_library(
         "//modules/prediction/common:prediction_constants",
         "//modules/prediction/common:prediction_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(
     deps = [
         "//modules/common/math",
         "//modules/prediction/common:prediction_gflags",
-        "//modules/prediction/proto:lane_graph_proto",
+        "//modules/prediction/proto:lane_graph_cc_proto",
     ],
 )
 
@@ -165,7 +165,7 @@ cc_library(
     hdrs = ["environment_features.h"],
     deps = [
         "//cyber",
-        "//modules/common/proto:geometry_proto",
+        "//modules/common/proto:geometry_cc_proto",
     ],
 )
 
@@ -188,7 +188,7 @@ cc_library(
     ],
     deps = [
         ":prediction_map",
-        "//modules/prediction/proto:feature_proto",
+        "//modules/prediction/proto:feature_cc_proto",
     ],
 )
 
@@ -221,7 +221,7 @@ cc_library(
         "//modules/common/adapters:adapter_gflags",
         "//modules/prediction/evaluator:evaluator_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/util:data_extraction",
     ],
@@ -264,7 +264,7 @@ cc_library(
         "//modules/common/util",
         "//modules/prediction/container:container_manager",
         "//modules/prediction/container/pose:pose_container",
-        "//modules/prediction/proto:feature_proto",
+        "//modules/prediction/proto:feature_cc_proto",
         "@opencv",
     ],
 )

modules/prediction/common/message_process.cc

@@ -21,6 +21,7 @@
 #include "cyber/common/file.h"
 #include "cyber/record/record_reader.h"
 #include "cyber/record/record_writer.h"
+
 #include "modules/common/adapters/adapter_gflags.h"
 #include "modules/prediction/common/feature_output.h"
 #include "modules/prediction/common/junction_analyzer.h"
@@ -297,36 +298,23 @@ void MessageProcess::ProcessOfflineData(
               message.channel_name, perception_obstacles, message.time);
         }
         PredictionObstacles prediction_obstacles;
-        OnPerception(perception_obstacles, &prediction_obstacles);
-        if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) {
-          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,
+        OnPerception(perception_obstacles, container_manager, evaluator_manager,
+                     predictor_manager, scenario_manager,
                      &prediction_obstacles);
-          if (FLAGS_prediction_offline_mode ==
-              PredictionConstants::kDumpRecord) {
+        if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) {
           writer.WriteMessage<PredictionObstacles>(
               prediction_conf.topic_conf().perception_obstacle_topic(),
               prediction_obstacles, message.time);
           AINFO << "Generated a new prediction message.";
->>>>>>> master
         }
       }
     } else if (message.channel_name ==
                prediction_conf.topic_conf().localization_topic()) {
       LocalizationEstimate localization;
       if (localization.ParseFromString(message.content)) {
-          if (FLAGS_prediction_offline_mode ==
-              PredictionConstants::kDumpRecord) {
-            writer.WriteMessage<LocalizationEstimate>(
-                message.channel_name, localization, message.time);
+        if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) {
+          writer.WriteMessage<LocalizationEstimate>(message.channel_name,
+                                                    localization, message.time);
         }
         OnLocalization(container_manager.get(), localization);
       }
@@ -341,7 +329,7 @@ void MessageProcess::ProcessOfflineData(
   if (FLAGS_prediction_offline_mode == PredictionConstants::kDumpRecord) {
     writer.Close();
   }
-  }
+}
 
 }  // namespace prediction
-}  // namespace prediction
+}  // namespace apollo

modules/prediction/container/BUILD

@@ -11,7 +11,7 @@ cc_library(
         "-DMODULE_NAME=\\\"prediction\\\"",
     ],
     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/obstacles:obstacles_container",
         "//modules/prediction/container/pose:pose_container",

modules/prediction/container/adc_trajectory/BUILD

@@ -11,9 +11,10 @@ cc_library(
         "-DMODULE_NAME=\\\"prediction\\\"",
     ],
     deps = [
-        "//modules/planning/proto:planning_proto",
+        "//modules/planning/proto:planning_cc_proto",
         "//modules/prediction/common:prediction_map",
         "//modules/prediction/container",
+        "//modules/prediction/proto:lane_graph_cc_proto",
     ],
 )
 

modules/prediction/container/obstacles/BUILD

@@ -16,7 +16,7 @@ cc_library(
         "//modules/prediction/common:prediction_constants",
         "//modules/prediction/container",
         "//modules/prediction/container/obstacles:obstacle",
-        "//modules/prediction/proto:prediction_proto",
+        "//modules/prediction/proto:prediction_obstacle_cc_proto",
         "//modules/prediction/submodules:submodule_output",
     ],
 )
@@ -33,8 +33,8 @@ cc_library(
         "//modules/prediction/common:junction_analyzer",
         "//modules/prediction/container/obstacles:obstacle_clusters",
         "//modules/prediction/network/rnn_model",
-        "//modules/prediction/proto:prediction_conf_proto",
-        "//modules/prediction/proto:prediction_proto",
+        "//modules/prediction/proto:prediction_conf_cc_proto",
+        "//modules/prediction/proto:prediction_obstacle_cc_proto",
     ],
 )
 
@@ -77,7 +77,7 @@ cc_library(
     ],
     deps = [
         "//modules/prediction/common:road_graph",
-        "//modules/prediction/proto:feature_proto",
+        "//modules/prediction/proto:feature_cc_proto",
     ],
 )
 

modules/prediction/container/pose/BUILD

@@ -12,8 +12,8 @@ cc_library(
     ],
     deps = [
         "//modules/common/math:quaternion",
-        "//modules/localization/proto:localization_proto",
-        "//modules/perception/proto:perception_proto",
+        "//modules/localization/proto:localization_cc_proto",
+        "//modules/perception/proto:perception_obstacle_cc_proto",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/container",
     ],

modules/prediction/container/storytelling/BUILD

@@ -13,7 +13,7 @@ cc_library(
     deps = [
         "//modules/prediction/common:prediction_map",
         "//modules/prediction/container",
-        "//modules/storytelling/proto:story_proto",
+        "//modules/storytelling/proto:story_cc_proto",
     ],
 )
 

modules/prediction/evaluator/BUILD

@@ -26,7 +26,8 @@ cc_library(
         "//modules/prediction/evaluator/vehicle:lane_scanning_evaluator",
         "//modules/prediction/evaluator/vehicle:mlp_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(
         "//modules/prediction:prediction_data",
         "//modules/prediction:prediction_testdata",
     ],
+    linkopts = [
+        "-lgomp",
+    ],
     deps = [
         "//modules/prediction/common:kml_map_based_test",
         "//modules/prediction/evaluator:evaluator_manager",

modules/prediction/evaluator/vehicle/BUILD

@@ -16,7 +16,7 @@ cc_library(
         "//modules/prediction/common:validation_checker",
         "//modules/prediction/container/obstacles:obstacles_container",
         "//modules/prediction/evaluator",
-        "//modules/prediction/proto:fnn_vehicle_model_proto",
+        "//modules/prediction/proto:fnn_vehicle_model_cc_proto",
     ],
 )
 
@@ -70,6 +70,7 @@ cc_library(
     hdrs = ["junction_mlp_evaluator.h"],
     copts = [
         "-DMODULE_NAME=\\\"prediction\\\"",
+        "-fopenmp",
     ],
     deps = [
         "//modules/common/math:geometry",
@@ -90,6 +91,9 @@ cc_test(
         "//modules/prediction:prediction_data",
         "//modules/prediction:prediction_testdata",
     ],
+    linkopts = [
+        "-lgomp",
+    ],
     deps = [
         "//modules/prediction/common:kml_map_based_test",
         "//modules/prediction/evaluator/vehicle:junction_mlp_evaluator",
@@ -103,6 +107,7 @@ cc_library(
     hdrs = ["junction_map_evaluator.h"],
     copts = [
         "-DMODULE_NAME=\\\"prediction\\\"",
+        "-fopenmp",
     ],
     deps = [
         "//modules/prediction/common:prediction_util",
@@ -119,6 +124,7 @@ cc_library(
     hdrs = ["cruise_mlp_evaluator.h"],
     copts = [
         "-DMODULE_NAME=\\\"prediction\\\"",
+        "-fopenmp",
     ],
     deps = [
         "//modules/prediction/common:prediction_util",
@@ -137,6 +143,9 @@ cc_test(
         "//modules/prediction:prediction_data",
         "//modules/prediction:prediction_testdata",
     ],
+    linkopts = [
+        "-lgomp",
+    ],
     deps = [
         "//modules/prediction/common:kml_map_based_test",
         "//modules/prediction/evaluator/vehicle:cruise_mlp_evaluator",
@@ -149,6 +158,7 @@ cc_library(
     hdrs = ["lane_scanning_evaluator.h"],
     copts = [
         "-DMODULE_NAME=\\\"prediction\\\"",
+        "-fopenmp",
     ],
     deps = [
         "//modules/prediction/container:container_manager",
@@ -179,6 +189,7 @@ cc_library(
     hdrs = ["semantic_lstm_evaluator.h"],
     copts = [
         "-DMODULE_NAME=\\\"prediction\\\"",
+        "-fopenmp",
     ],
     deps = [
         "//modules/prediction/common:prediction_util",

modules/prediction/evaluator/vehicle/junction_map_evaluator.cc

@@ -94,11 +94,12 @@ bool JunctionMapEvaluator::Evaluate(Obstacle* obstacle_ptr,
     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(junction_exit_mask.to(device_))},
-      c10::TupleType::create(
-          std::vector<c10::TypePtr>(2, c10::TensorType::create()))));
+      c10::TupleType::create(std::vector<c10::TypePtr>(
+          2, c10::TensorType::create(torch_input_tensor)))));
 
   // Compute probability
   std::vector<double> probability;

modules/prediction/evaluator/vehicle/semantic_lstm_evaluator.cc

@@ -98,11 +98,13 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
 
   // Build input features for torch
   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(obstacle_pos_step.to(device_))},
-      c10::TupleType::create(
-          std::vector<c10::TypePtr>(3, c10::TensorType::create()))));
+      c10::TupleType::create(std::vector<c10::TypePtr>(
+          3, c10::TensorType::create(torch_input_tensor)))));
 
   // Compute pred_traj
   std::vector<double> pred_traj;
@@ -110,8 +112,9 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
   auto start_time = std::chrono::system_clock::now();
   at::Tensor torch_output_tensor = torch_default_output_tensor_;
   if (obstacle_ptr->IsPedestrian()) {
-    torch_output_tensor = torch_pedestrian_model_.forward(torch_inputs).
-                          toTensor().to(torch::kCPU);
+    torch_output_tensor = torch_pedestrian_model_.forward(torch_inputs)
+                              .toTensor()
+                              .to(torch::kCPU);
   } else {
     torch_output_tensor =
         torch_vehicle_model_.forward(torch_inputs).toTensor().to(torch::kCPU);
@@ -166,8 +169,8 @@ bool SemanticLSTMEvaluator::Evaluate(Obstacle* obstacle_ptr,
       rotation_matrix(1, 1) = std::cos(heading);
 
       Eigen::Matrix2d cov_matrix;
-      cov_matrix = rotation_matrix * cov_matrix_r *
-                   (rotation_matrix.transpose());
+      cov_matrix =
+          rotation_matrix * cov_matrix_r * (rotation_matrix.transpose());
       double sigma_x = std::sqrt(std::abs(cov_matrix(0, 0)));
       double sigma_y = std::sqrt(std::abs(cov_matrix(1, 1)));
       double corr = cov_matrix(0, 1) / (sigma_x + FLAGS_double_precision) /
@@ -258,11 +261,13 @@ void SemanticLSTMEvaluator::LoadModel() {
   torch::Tensor obstacle_pos = torch::zeros({1, 20, 2});
   torch::Tensor obstacle_pos_step = torch::zeros({1, 20, 2});
   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(obstacle_pos_step.to(device_))},
-      c10::TupleType::create(
-          std::vector<c10::TypePtr>(3, c10::TensorType::create()))));
+      c10::TupleType::create(std::vector<c10::TypePtr>(
+          3, c10::TensorType::create(torch_input_tensor)))));
   // Run one inference to avoid very slow first inference later
   torch_default_output_tensor_ =
       torch_vehicle_model_.forward(torch_inputs).toTensor().to(torch::kCPU);

modules/prediction/network/rnn_model/BUILD

@@ -8,6 +8,8 @@ cc_library(
     srcs = ["rnn_model.cc"],
     hdrs = ["rnn_model.h"],
     deps = [
+        "//cyber/base:macros",
+        "//cyber/common:macros",
         "//modules/prediction/network:net_model",
     ],
 )
@@ -20,6 +22,7 @@ cc_test(
         "//modules/prediction:prediction_data",
     ],
     deps = [
+        "//cyber/common:file",
         "//modules/prediction/network/rnn_model",
         "@com_google_googletest//:gtest_main",
     ],

modules/prediction/pipeline/BUILD

@@ -9,6 +9,9 @@ cc_binary(
     copts = [
         "-DMODULE_NAME=\\\"prediction\\\"",
     ],
+    linkopts = [
+        "-lgomp",
+    ],
     deps = [
         "//modules/prediction/common:message_process",
         "//third_party:boost",

modules/prediction/predictor/BUILD

@@ -21,7 +21,7 @@ cc_library(
         "//modules/prediction/predictor/lane_sequence:lane_sequence_predictor",
         "//modules/prediction/predictor/move_sequence:move_sequence_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",
     ],
 )
@@ -34,6 +34,9 @@ cc_test(
         "//modules/prediction:prediction_data",
         "//modules/prediction:prediction_testdata",
     ],
+    linkopts = [
+        "-lgomp",
+    ],
     deps = [
         "//modules/prediction/common:kml_map_based_test",
         "//modules/prediction/evaluator:evaluator_manager",

modules/prediction/predictor/extrapolation/BUILD

@@ -18,7 +18,7 @@ cc_library(
         "//modules/prediction/container/obstacles:obstacle_clusters",
         "//modules/prediction/container/obstacles:obstacles_container",
         "//modules/prediction/predictor/sequence:sequence_predictor",
-        "//modules/prediction/proto:lane_graph_proto",
+        "//modules/prediction/proto:lane_graph_cc_proto",
     ],
 )
 

modules/prediction/predictor/interaction/BUILD

@@ -11,7 +11,7 @@ cc_library(
         "-DMODULE_NAME=\\\"prediction\\\"",
     ],
     deps = [
-        "//modules/common/adapters/proto:adapter_config_proto",
+        "//modules/common/adapters/proto:adapter_config_cc_proto",
         "//modules/prediction/common:feature_output",
         "//modules/prediction/common:prediction_util",
         "//modules/prediction/predictor/sequence:sequence_predictor",

modules/prediction/predictor/junction/BUILD

@@ -24,6 +24,9 @@ cc_test(
         "//modules/prediction:prediction_data",
         "//modules/prediction:prediction_testdata",
     ],
+    linkopts = [
+        "-lgomp",
+    ],
     deps = [
         "//modules/prediction/common:kml_map_based_test",
         "//modules/prediction/container/obstacles:obstacles_container",

modules/prediction/scenario/scenario_features/BUILD

@@ -11,7 +11,7 @@ cc_library(
         "-DMODULE_NAME=\\\"prediction\\\"",
     ],
     deps = [
-        "//modules/prediction/proto:scenario_proto",
+        "//modules/prediction/proto:scenario_cc_proto",
     ],
 )
 

modules/prediction/submodules/BUILD

@@ -12,7 +12,7 @@ cc_library(
     ],
     deps = [
         "//modules/common/util:lru_cache",
-        "//modules/perception/proto:perception_proto",
+        "//modules/perception/proto:perception_obstacle_cc_proto",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/container/obstacles:obstacle",
         "@com_google_absl//absl/time",
@@ -29,9 +29,9 @@ cc_library(
     deps = [
         "//cyber",
         "//modules/common/adapters:adapter_gflags",
-        "//modules/common/adapters/proto:adapter_config_proto",
+        "//modules/common/adapters/proto:adapter_config_cc_proto",
         "//modules/common/time",
-        "//modules/perception/proto:perception_proto",
+        "//modules/perception/proto:perception_obstacle_cc_proto",
         "//modules/prediction/common:message_process",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/evaluator:evaluator_manager",
@@ -56,15 +56,15 @@ cc_library(
     deps = [
         "//cyber",
         "//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/util:message_util",
-        "//modules/perception/proto:perception_proto",
+        "//modules/perception/proto:perception_obstacle_cc_proto",
         "//modules/prediction/common:message_process",
         "//modules/prediction/common:prediction_gflags",
         "//modules/prediction/container/adc_trajectory:adc_trajectory_container",
         "//modules/prediction/predictor:predictor_manager",
-        "//modules/prediction/proto:prediction_proto",
+        "//modules/prediction/proto:prediction_obstacle_cc_proto",
     ],
     alwayslink = True,
 )

modules/prediction/util/data_extraction.h

@@ -16,10 +16,10 @@
 
 #pragma once
 
-#include <boost/filesystem.hpp>
-#include <boost/range/iterator_range.hpp>
 #include <string>
 #include <vector>
+#include <boost/filesystem.hpp>
+#include <boost/range/iterator_range.hpp>
 
 namespace apollo {
 namespace prediction {

what_works.sh

@@ -54,7 +54,8 @@ bazel_build_with_dist_cache \
     //modules/v2x/... \
     //modules/dreamview/... \
     //modules/guardian/... \
-    //modules/localization/...
+    //modules/localization/... \
+    //modules/prediction/...
 
 bazel_test_with_dist_cache \
     //cyber/... \
@@ -77,6 +78,7 @@ bazel_test_with_dist_cache //modules/drivers/...
 bash scripts/install_esdcan_library.sh uninstall
 
 bazel_build_with_dist_cache //modules/tools/...
+bazel build //modules/tools/...
 # Note(storypku): bazel test works except some lint errors in cyber_visualizer.
 # Check cyber_visualizer's functionality once stablized.
 bazel_test_with_dist_cache $(bazel query //modules/tools/... except //modules/tools/visualizer/...)
@@ -94,7 +96,7 @@ echo "########################### All check passed! ###########################"
 # TODO(?): bazel test //modules/map/...
 # TODO(?): bazel build //modules/contrib/...
 # TODO(?): bazel build //modules/perception/...
-# TODO(changsh726): bazel build //modules/prediction/...
+# TODO(?): bazel test //modules/prediction/...
 # TODO(?): bazel build //modules/third_party_perception/...
 # TODO(?): apollo.sh build
 # TODO(?): apollo.sh test