Prediction: add feature_extraction.sh

modules/tools/prediction/mlp_train/common/configure.py

@@ -31,7 +31,7 @@ parameters = {
         'dim_output': 1
     },
     'cruise_mlp': {
-        'dim_input': 23 + 60 + 8 + 150,
+        'dim_input': 23 + 24 + 8 + 150,
         'dim_hidden_1': 50,
         'dim_hidden_2': 18,
         'dim_output': 3

modules/tools/prediction/mlp_train/feature_extraction.sh

+#!/usr/bin/env bash
+
+###############################################################################
+# 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.
+###############################################################################
+
+SRC_DIR=$1
+TARGET_DIR=$2
+
+set -e
+
+# TODO(xiaoxq): Remove after rebuilding docker image.
+sudo pip install h5py
+
+source /apollo/scripts/apollo_base.sh
+source /apollo/cyber/setup.bash 
+
+FLAGFILE=/apollo/modules/prediction/conf/prediction.conf
+echo "--prediction_offline_mode" >> ${FLAGFILE}
+echo "--prediction_offline_bags=${SRC_DIR}" >> ${FLAGFILE}
+echo "--prediction_data_dir=${TARGET_DIR}" >> ${FLAGFILE}
+echo "--junction_distance_threshold=30.0" >> ${FLAGFILE}
+
+sudo mkdir -p ${TARGET_DIR}
+# sudo chown apollo:apollo ${TARGET_DIR}
+cyber_launch start /apollo/modules/prediction/launch/prediction.launch
+
+for b in $(find ${TARGET_DIR} -iname "*.bin"); do
+  if [-e "$b.junction.label"]; then
+     echo "skip existing $b.junction.label"
+  else
+     echo "Generating junction labels for $b"
+     python modules/tools/prediction/mlp_train/generate_junction_labels.py \
+         $b $b.junction.label
+  fi
+
+  if [ -e "$b.junction.label.junction.h5" ]; then
+    echo "skip existing $b.junction.label.junction.h5"
+  else
+    echo "Generating junction h5 for $b"
+    python modules/tools/prediction/mlp_train/generate_junction_h5.py \
+        $b.junction.label $b.junction.label.junction.h5
+  fi
+done
+
+for b in $(find ${TARGET_DIR} -iname "*.bin"); do
+  if [-e "$b.cruise.label"]; then
+    echo "skip existing $b.cruise.label"
+  else
+    echo "Generating cruise labels for $b"
+    python modules/tools/prediction/mlp_train/generate_cruise_labels.py \
+        $b $b.cruise.label
+  fi
+
+  if [ -e "$b.cruise.label.cruise.h5" ]; then
+    echo "skip existing $b.cruise.label.cruise.h5"
+  else
+    echo "Generating cruise h5 for $b"
+    python modules/tools/prediction/mlp_train/generate_cruise_h5.py \
+        $b.cruise.label $b.cruise.label.cruise.h5
+  fi
+done