Prediction: move parameters to gflags

modules/prediction/common/junction_analyzer.cc

@@ -22,6 +22,7 @@
 #include <unordered_set>
 
 #include "modules/prediction/common/junction_analyzer.h"
+#include "modules/prediction/common/prediction_gflags.h"
 
 namespace apollo {
 namespace prediction {
@@ -62,19 +63,14 @@ void JunctionAnalyzer::SetAllJunctionExits() {
     if (overlap_info_ptr == nullptr) {
       continue;
     }
-    // TODO(all) consider to delete
-    if (overlap_info_ptr->overlap().object_size() != 2) {
-      continue;
-    }
     for (const auto &object : overlap_info_ptr->overlap().object()) {
       if (object.has_lane_overlap_info()) {
         const std::string& lane_id = object.id().id();
         auto lane_info_ptr = PredictionMap::LaneById(lane_id);
-        // TODO(all) move 0.1 to gflags
-        if (object.lane_overlap_info().end_s() + 0.1 <
+        double s = object.lane_overlap_info().end_s();
+        if (s + FLAGS_junction_exit_lane_threshold <
             lane_info_ptr->total_length()) {
           JunctionExit junction_exit;
-          double s = object.lane_overlap_info().end_s();
           apollo::common::PointENU position = lane_info_ptr->GetSmoothPoint(s);
           junction_exit.set_exit_lane_id(lane_id);
           junction_exit.mutable_exit_position()->set_x(position.x());
@@ -181,8 +177,7 @@ double JunctionAnalyzer::ComputeJunctionRange() {
       junction_info_ptr_->junction().polygon().point_size() < 3) {
     AERROR << "Junction [" << GetJunctionId()
            << "] has not enough polygon points to compute range";
-    // TODO(kechxu) move the default range value to gflags
-    return 10.0;
+    return FLAGS_defualt_junction_range;
   }
   double x_min = std::numeric_limits<double>::infinity();
   double x_max = -std::numeric_limits<double>::infinity();

modules/prediction/common/prediction_gflags.cc

@@ -161,6 +161,16 @@ DEFINE_uint32(max_num_lane_point, 20,
 DEFINE_double(centripetal_acc_coeff, 0.5,
               "Coefficient of centripetal acceleration probability");
 
+// Junction Scenario
+DEFINE_double(junction_exit_lane_threshold, 0.1,
+              "If a lane has longer extend out of the junction,"
+              "consider it as a exit_lane.");
+DEFINE_double(distance_beyond_junction, 0.5,
+              "If the obstacle is in junction more than this threshold,"
+              "consider it in junction.");
+DEFINE_double(defualt_junction_range, 10.0,
+              "Default value for the range of a junction.");
+
 // Obstacle trajectory
 DEFINE_bool(enable_cruise_regression, false,
             "If enable using regression in cruise model");
@@ -176,9 +186,6 @@ DEFINE_bool(enable_trim_prediction_trajectory, false,
             "protected adc planning trajectory.");
 DEFINE_bool(enable_trajectory_validation_check, false,
             "If check the validity of prediction trajectory.");
-DEFINE_double(distance_beyond_junction, 0.5,
-              "If the obstacle is in junction more than this threshold,"
-              "consider it in junction.");
 DEFINE_double(adc_trajectory_search_length, 10.0,
               "How far to search junction along adc planning trajectory");
 DEFINE_double(virtual_lane_radius, 0.5, "Radius to search virtual lanes");

modules/prediction/common/prediction_gflags.h

@@ -105,6 +105,11 @@ DECLARE_uint32(max_num_lane_point);
 // Validation checker
 DECLARE_double(centripetal_acc_coeff);
 
+// Junction Scenario
+DECLARE_double(junction_exit_lane_threshold);
+DECLARE_double(distance_beyond_junction);
+DECLARE_double(defualt_junction_range);
+
 // Obstacle trajectory
 DECLARE_bool(enable_cruise_regression);
 DECLARE_double(lane_sequence_threshold_cruise);
@@ -113,7 +118,6 @@ DECLARE_double(lane_change_dist);
 DECLARE_bool(enable_lane_sequence_acc);
 DECLARE_bool(enable_trim_prediction_trajectory);
 DECLARE_bool(enable_trajectory_validation_check);
-DECLARE_double(distance_beyond_junction);
 DECLARE_double(adc_trajectory_search_length);
 DECLARE_double(virtual_lane_radius);
 DECLARE_double(default_lateral_approach_speed);