planning: add timestamp to every adc trajectory point in learning data

modules/planning/pipeline/feature_generator.cc

@@ -135,7 +135,7 @@ void FeatureGenerator::OnPerceptionObstacle(
   for (const auto& m : perception_obstacles_map_) {
     const auto& perception_obstale = m.second;
     ObstacleTrajectoryPoint obstacle_trajectory_point;
-    obstacle_trajectory_point.set_timestamp(perception_obstale.timestamp());
+    obstacle_trajectory_point.set_timestamp_sec(perception_obstale.timestamp());
     obstacle_trajectory_point.mutable_position()->CopyFrom(
         perception_obstale.position());
     obstacle_trajectory_point.set_theta(perception_obstale.theta());
@@ -219,7 +219,8 @@ void FeatureGenerator::GenerateObstacleData(
     for (const auto& obj_traj_point : obstacle_history) {
       auto obstacle_trajectory_point =
           obstacle_feature->add_obstacle_trajectory_point();
-      obstacle_trajectory_point->set_timestamp(obj_traj_point.timestamp());
+      obstacle_trajectory_point->set_timestamp_sec(
+          obj_traj_point.timestamp_sec());
 
       // convert position to relative coordinate
       const auto& relative_posistion =
@@ -272,8 +273,7 @@ void FeatureGenerator::GenerateObstacleData(
   }
 }
 
-
-void FeatureGenerator::GenerateTrajectoryPoints(
+void FeatureGenerator::GenerateADCTrajectoryPoints(
     const std::list<apollo::localization::LocalizationEstimate>&
         localization_for_label,
     LearningDataFrame* learning_data_frame) {
@@ -287,7 +287,10 @@ void FeatureGenerator::GenerateTrajectoryPoints(
     if ((i % localization_sample_interval_for_trajectory_point) != 0) {
       continue;
     }
-    auto trajectory_point = learning_data_frame->add_trajectory_point();
+    auto adc_trajectory_point = learning_data_frame->add_adc_trajectory_point();
+    adc_trajectory_point->set_timestamp_sec(le.measurement_time());
+
+    auto trajectory_point = adc_trajectory_point->mutable_trajectory_point();
     auto& pose = le.pose();
     trajectory_point->mutable_path_point()->set_x(pose.position().x());
     trajectory_point->mutable_path_point()->set_y(pose.position().y());
@@ -346,7 +349,7 @@ void FeatureGenerator::GenerateLearningDataFrame() {
   GenerateObstacleData(learning_data_frame);
 
   // add trajectory_points
-  GenerateTrajectoryPoints(localization_for_label_, learning_data_frame);
+  GenerateADCTrajectoryPoints(localization_for_label_, learning_data_frame);
 }
 
 void FeatureGenerator::ProcessOfflineData(const std::string& record_filename) {

modules/planning/pipeline/feature_generator.h

@@ -51,7 +51,7 @@ class FeatureGenerator {
 
   void GenerateObstacleData(LearningDataFrame* learning_data_frame);
 
-  void GenerateTrajectoryPoints(
+  void GenerateADCTrajectoryPoints(
       const std::list<apollo::localization::LocalizationEstimate>&
           localization_for_label,
       LearningDataFrame* learning_data_frame);

modules/planning/pipeline/records_to_offline_data.cc

@@ -45,7 +45,7 @@ void GenerateDataForLearning() {
     AINFO << "For input " << input << ", found " << offline_bags.size()
           << " rosbags to process";
     for (std::size_t i = 0; i < offline_bags.size(); ++i) {
-      AINFO << "\tProcessing: [ " << i << " / " << offline_bags.size()
+      AINFO << "\tProcessing: [ " << i + 1 << " / " << offline_bags.size()
             << " ]: " << offline_bags[i];
       feature_generator.ProcessOfflineData(offline_bags[i]);
     }

modules/planning/proto/learning_data.proto

@@ -53,7 +53,7 @@ message LocalizationFeature {
 }
 
 message ObstacleTrajectoryPoint {
-  optional double timestamp = 1;  // GPS time in seconds.
+  optional double timestamp_sec = 1;
 
   // obstacle position in the OBJECT coordinate system
   optional apollo.common.Point3D position = 2;
@@ -89,12 +89,15 @@ message TrafficLightFeature {
     optional apollo.perception.TrafficLight.Color color = 2;
 }
 
+message ADCTrajectoryPoint {
+  optional double timestamp_sec = 1;  // localization measurement_time
+  optional apollo.common.TrajectoryPoint trajectory_point = 2;
+}
+
 message LearningDataFrame {
-  // Message publishing time in seconds.
+  // localization message publishing time in seconds.
   optional double timestamp_sec = 1;
 
-  // Sequence number for each frame
-  // sequence_num, always starting from 1.
   optional uint32 frame_num = 2;
 
   // Features from chassis
@@ -113,7 +116,7 @@ message LearningDataFrame {
   repeated TrafficLightFeature traffic_light = 7;
 
   // ADC ground-truth label trajectory
-  repeated apollo.common.TrajectoryPoint trajectory_point = 8;
+  repeated ADCTrajectoryPoint adc_trajectory_point = 8;
 }
 
 message LearningData {