#include <junction_map_evaluator.h>

类 apollo::prediction::JunctionMapEvaluator 继承关系图:

apollo::prediction::JunctionMapEvaluator 的协作图:

Public 成员函数
	JunctionMapEvaluator ()=delete
	Constructor

	JunctionMapEvaluator (SemanticMap *semantic_map)

virtual	~JunctionMapEvaluator ()=default
	Destructor

void	Clear ()
	Clear obstacle feature map

bool	Evaluate (Obstacle obstacle_ptr, ObstaclesContainer obstacles_container) override
	Override Evaluate

bool	ExtractFeatureValues (Obstacle obstacle_ptr, std::vector< double > feature_values)
	Extract feature vector

std::string	GetName () override
	Get the name of evaluator.

Public 成员函数继承自 apollo::prediction::Evaluator
	Evaluator ()=default
	Constructor

virtual	~Evaluator ()=default
	Destructor

virtual bool	Evaluate (Obstacle obstacle, ObstaclesContainer obstacles_container, std::vector< Obstacle * > dynamic_env)
	Evaluate an obstacle

virtual bool	Evaluate (const ADCTrajectoryContainer adc_trajectory_container, Obstacle obstacle, ObstaclesContainer *obstacles_container)
	Evaluate an obstacle

额外继承的成员函数
Protected 成员函数继承自 apollo::prediction::Evaluator
std::pair< double, double >	WorldCoordToObjCoord (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle)

std::pair< double, double >	WorldCoordToObjCoordNorth (std::pair< double, double > input_world_coord, std::pair< double, double > obj_world_coord, double obj_world_angle)

double	WorldAngleToObjAngle (double input_world_angle, double obj_world_angle)

Eigen::MatrixXf	VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index)

Eigen::MatrixXf	VectorToMatrixXf (const std::vector< double > &nums, const int start_index, const int end_index, const int output_num_row, const int output_num_col)

Protected 属性继承自 apollo::prediction::Evaluator
ObstacleConf::EvaluatorType	evaluator_type_

详细描述

在文件 junction_map_evaluator.h 第 32 行定义.

构造及析构函数说明

◆ JunctionMapEvaluator() [1/2]

apollo::prediction::JunctionMapEvaluator::JunctionMapEvaluator ( )

delete

Constructor

◆ JunctionMapEvaluator() [2/2]

apollo::prediction::JunctionMapEvaluator::JunctionMapEvaluator ( SemanticMap * semantic_map )

explicit

在文件 junction_map_evaluator.cc 第 33 行定义.

    : device_(torch::kCPU), semantic_map_(semantic_map) {
  evaluator_type_ = ObstacleConf::JUNCTION_MAP_EVALUATOR;
  LoadModel();
}

◆ ~JunctionMapEvaluator()

virtual apollo::prediction::JunctionMapEvaluator::~JunctionMapEvaluator ( )

virtualdefault

Destructor

成员函数说明

◆ Clear()

void apollo::prediction::JunctionMapEvaluator::Clear ( )

Clear obstacle feature map

在文件 junction_map_evaluator.cc 第 39 行定义.

39{}

◆ Evaluate()

bool apollo::prediction::JunctionMapEvaluator::Evaluate	(	Obstacle *	obstacle_ptr,
		ObstaclesContainer *	obstacles_container
	)

overridevirtual

Override Evaluate

参数

Obstacle	pointer
Obstacles	container

实现了 apollo::prediction::Evaluator.

在文件 junction_map_evaluator.cc 第 41 行定义.

                                                                             {
  // Sanity checks.
  omp_set_num_threads(1);
 
  obstacle_ptr->SetEvaluatorType(evaluator_type_);
 
  Clear();
  CHECK_NOTNULL(obstacle_ptr);
  int id = obstacle_ptr->id();
  if (!obstacle_ptr->latest_feature().IsInitialized()) {
    AERROR << "Obstacle [" << id << "] has no latest feature.";
    return false;
  }
  Feature* latest_feature_ptr = obstacle_ptr->mutable_latest_feature();
  CHECK_NOTNULL(latest_feature_ptr);
 
  // Assume obstacle is NOT closed to any junction exit
  if (!latest_feature_ptr->has_junction_feature() ||
      latest_feature_ptr->junction_feature().junction_exit_size() < 2) {
    ADEBUG << "Obstacle [" << id << "] has less than two junction_exits.";
    return false;
  }
  // Extract features of junction_exit_mask
  std::vector<double> feature_values;
  if (!ExtractFeatureValues(obstacle_ptr, &feature_values)) {
    ADEBUG << "Obstacle [" << id << "] failed to extract junction exit mask";
    return false;
  }
 
  if (!FLAGS_enable_semantic_map) {
    ADEBUG << "Not enable semantic map, exit junction_map_evaluator.";
    return false;
  }
  cv::Mat feature_map;
  if (!semantic_map_->GetMapById(id, &feature_map)) {
    return false;
  }
 
  // Build input features for torch
  std::vector<torch::jit::IValue> torch_inputs;
  // Process the feature_map
  cv::cvtColor(feature_map, feature_map, cv::COLOR_BGR2RGB);
  cv::Mat img_float;
  feature_map.convertTo(img_float, CV_32F, 1.0 / 255);
  torch::Tensor img_tensor = torch::from_blob(img_float.data, {1, 224, 224, 3});
  img_tensor = img_tensor.permute({0, 3, 1, 2});
  img_tensor[0][0] = img_tensor[0][0].sub(0.485).div(0.229);
  img_tensor[0][1] = img_tensor[0][1].sub(0.456).div(0.224);
  img_tensor[0][2] = img_tensor[0][2].sub(0.406).div(0.225);
  // Process junction_exit_mask
  torch::Tensor junction_exit_mask =
      torch::zeros({1, static_cast<int>(feature_values.size())});
  for (size_t i = 0; i < feature_values.size(); ++i) {
    junction_exit_mask[0][i] = static_cast<float>(feature_values[i]);
  }
 
  torch_inputs.push_back(
      c10::ivalue::Tuple::create({std::move(img_tensor.to(device_)),
                                  std::move(junction_exit_mask.to(device_))}));
 
  // Compute probability
  std::vector<double> probability;
  at::Tensor torch_output_tensor =
      torch_model_.forward(torch_inputs).toTensor().to(torch::kCPU);
  auto torch_output = torch_output_tensor.accessor<float, 2>();
  for (int i = 0; i < torch_output.size(1); ++i) {
    probability.push_back(static_cast<double>(torch_output[0][i]));
  }
 
  std::unordered_map<std::string, double> junction_exit_prob;
  for (const JunctionExit& junction_exit :
       latest_feature_ptr->junction_feature().junction_exit()) {
    double x =
        junction_exit.exit_position().x() - latest_feature_ptr->position().x();
    double y =
        junction_exit.exit_position().y() - latest_feature_ptr->position().y();
    double angle =
        std::atan2(y, x) - std::atan2(latest_feature_ptr->raw_velocity().y(),
                                      latest_feature_ptr->raw_velocity().x());
    double d_idx = (angle / (2.0 * M_PI) + 1.0 / 24.0) * 12.0;
    int idx = static_cast<int>(floor(d_idx >= 0 ? d_idx : d_idx + 12));
    junction_exit_prob[junction_exit.exit_lane_id()] = probability[idx];
  }
 
  // assign all lane_sequence probability
  LaneGraph* lane_graph_ptr =
      latest_feature_ptr->mutable_lane()->mutable_lane_graph();
  CHECK_NOTNULL(lane_graph_ptr);
  if (lane_graph_ptr->lane_sequence().empty()) {
    AERROR << "Obstacle [" << id << "] has no lane sequences.";
    return false;
  }
  for (int i = 0; i < lane_graph_ptr->lane_sequence_size(); ++i) {
    LaneSequence* lane_sequence_ptr = lane_graph_ptr->mutable_lane_sequence(i);
    CHECK_NOTNULL(lane_sequence_ptr);
    for (const LaneSegment& lane_segment : lane_sequence_ptr->lane_segment()) {
      if (junction_exit_prob.find(lane_segment.lane_id()) !=
          junction_exit_prob.end()) {
        lane_sequence_ptr->set_probability(
            junction_exit_prob[lane_segment.lane_id()]);
      }
    }
  }
  return true;
}

◆ ExtractFeatureValues()

bool apollo::prediction::JunctionMapEvaluator::ExtractFeatureValues	(	Obstacle *	obstacle_ptr,
		std::vector< double > *	feature_values
	)

Extract feature vector

参数

Obstacle pointer Feature container in a vector for receiving the feature values

在文件 junction_map_evaluator.cc 第 148 行定义.

                                                               {
  feature_values->clear();
  feature_values->resize(JUNCTION_FEATURE_SIZE, 0.0);
  Feature* feature_ptr = obstacle_ptr->mutable_latest_feature();
  if (!feature_ptr->has_position()) {
    ADEBUG << "Obstacle [" << obstacle_ptr->id() << "] has no position.";
    return false;
  }
  double heading = std::atan2(feature_ptr->raw_velocity().y(),
                              feature_ptr->raw_velocity().x());
  if (!feature_ptr->has_junction_feature()) {
    AERROR << "Obstacle [" << obstacle_ptr->id()
           << "] has no junction_feature.";
    return false;
  }
 
  int num_junction_exit = feature_ptr->junction_feature().junction_exit_size();
  for (int i = 0; i < num_junction_exit; ++i) {
    const JunctionExit& junction_exit =
        feature_ptr->junction_feature().junction_exit(i);
    double x = junction_exit.exit_position().x() - feature_ptr->position().x();
    double y = junction_exit.exit_position().y() - feature_ptr->position().y();
    double diff_x = std::cos(-heading) * x - std::sin(-heading) * y;
    double diff_y = std::sin(-heading) * x + std::cos(-heading) * y;
    double angle = std::atan2(diff_y, diff_x);
    double d_idx = (angle / (2.0 * M_PI) + 1.0 / 24.0) * 12.0;
    int idx = static_cast<int>(floor(d_idx >= 0 ? d_idx : d_idx + 12));
    feature_values->at(idx) = 1.0;
  }
  return true;
}

◆ GetName()

std::string apollo::prediction::JunctionMapEvaluator::GetName ( )

inlineoverridevirtual

Get the name of evaluator.

实现了 apollo::prediction::Evaluator.

在文件 junction_map_evaluator.h 第 69 行定义.

69{ return "JUNCTION_MAP_EVALUATOR"; }

该类的文档由以下文件生成:

modules/prediction/evaluator/vehicle/junction_map_evaluator.h
modules/prediction/evaluator/vehicle/junction_map_evaluator.cc

Public 成员函数

额外继承的成员函数