Prediction: move dumping adc trajectory to data for tuning

modules/prediction/common/feature_output.cc

@@ -26,6 +26,7 @@ namespace apollo {
 namespace prediction {
 
 using apollo::common::util::StrCat;
+using apollo::common::TrajectoryPoint;
 
 Features FeatureOutput::features_;
 ListDataForLearning FeatureOutput::list_data_for_learning_;
@@ -132,7 +133,8 @@ void FeatureOutput::InsertFrameEnv(const FrameEnv& frame_env) {
 
 void FeatureOutput::InsertDataForTuning(
     const Feature& feature, const std::vector<double>& feature_values,
-    const std::string& category, const LaneSequence& lane_sequence) {
+    const std::string& category, const LaneSequence& lane_sequence,
+    const std::vector<TrajectoryPoint>& adc_trajectory) {
   DataForTuning* data_for_tuning = list_data_for_tuning_.add_data_for_tuning();
   data_for_tuning->set_id(feature.id());
   data_for_tuning->set_timestamp(feature.timestamp());
@@ -142,6 +144,9 @@ void FeatureOutput::InsertDataForTuning(
   ADEBUG << "Insert [" << category
          << "] data for tuning with size = " << feature_values.size();
   data_for_tuning->set_lane_sequence_id(lane_sequence.lane_sequence_id());
+  for (const auto& adc_traj_point : adc_trajectory) {
+    data_for_tuning->add_adc_trajectory_point()->CopyFrom(adc_traj_point);
+  }
 }
 
 void FeatureOutput::WriteFeatureProto() {

modules/prediction/common/feature_output.h

@@ -88,11 +88,12 @@ class FeatureOutput {
    * @param values for tuning
    * @param category of the data
    * @param lane sequence
+   * @param adc trajectory
    */
   static void InsertDataForTuning(const Feature& feature,
-                                  const std::vector<double>& feature_values,
-                                  const std::string& category,
-                                  const LaneSequence& lane_sequence);
+      const std::vector<double>& feature_values,
+      const std::string& category, const LaneSequence& lane_sequence,
+      const std::vector<apollo::common::TrajectoryPoint>& adc_trajectory);
 
   /**
    * @brief Write features to a file

modules/prediction/predictor/interaction/interaction_predictor.cc

@@ -261,7 +261,8 @@ double InteractionPredictor::ComputeTrajectoryCost(const Obstacle& obstacle,
     std::vector<double> cost_values = {lon_acc_cost, centri_acc_cost,
                                        collision_cost};
     FeatureOutput::InsertDataForTuning(
-        obstacle.latest_feature(), cost_values, "interaction", lane_sequence);
+        obstacle.latest_feature(), cost_values, "interaction", lane_sequence,
+        adc_trajectory_);
   }
 
   return total_cost;

modules/prediction/proto/BUILD

@@ -91,6 +91,7 @@ proto_library(
         "offline_features.proto",
     ],
     deps = [
+        "//modules/common/proto:pnc_point_proto_lib",
         "//modules/prediction/proto:feature_proto_lib",
         "//modules/prediction/proto:prediction_proto_lib",
     ],

modules/prediction/proto/offline_features.proto

@@ -2,6 +2,7 @@ syntax = "proto2";
 
 package apollo.prediction;
 
+import "modules/common/proto/pnc_point.proto";
 import "modules/prediction/proto/feature.proto";
 
 message CNNFeatures {
@@ -58,6 +59,8 @@ message DataForTuning {
   repeated double real_cost_value = 5;
   // The lane sequence id if associated with a lane
   optional int32 lane_sequence_id = 6;
+  // The associated adc trajectory
+  repeated apollo.common.TrajectoryPoint adc_trajectory_point = 7;
 }
 
 message ListDataForTuning {