#include <lane_scanning_evaluator.h>

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

apollo::prediction::LaneScanningEvaluator 的协作图:

Public 成员函数
	LaneScanningEvaluator ()
	Constructor

virtual	~LaneScanningEvaluator ()=default
	Destructor

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

bool	Evaluate (Obstacle obstacle_ptr, ObstaclesContainer obstacles_container, std::vector< Obstacle * > dynamic_env) override
	Override Evaluate

bool	ExtractFeatures (const Obstacle obstacle_ptr, const LaneGraph lane_graph_ptr, std::vector< double > *feature_values)
	Extract features for learning model's input

bool	ExtractStringFeatures (const LaneGraph &lane_graph, std::vector< std::string > *const string_feature_values)

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 (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 lane_scanning_evaluator.h 第 31 行定义.

构造及析构函数说明

◆ LaneScanningEvaluator()

apollo::prediction::LaneScanningEvaluator::LaneScanningEvaluator ( )

Constructor

在文件 lane_scanning_evaluator.cc 第 39 行定义.

                                             : device_(torch::kCPU) {
  evaluator_type_ = ObstacleConf::LANE_SCANNING_EVALUATOR;
  LoadModel();
}

◆ ~LaneScanningEvaluator()

virtual apollo::prediction::LaneScanningEvaluator::~LaneScanningEvaluator ( )

virtualdefault

Destructor

成员函数说明

◆ Evaluate() [1/2]

bool apollo::prediction::LaneScanningEvaluator::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 lane_scanning_evaluator.cc 第 44 行定义.

                                                                              {
  std::vector<Obstacle*> dummy_dynamic_env;
  Evaluate(obstacle_ptr, obstacles_container, dummy_dynamic_env);
  return true;
}

◆ Evaluate() [2/2]

bool apollo::prediction::LaneScanningEvaluator::Evaluate	(	Obstacle *	obstacle_ptr,
		ObstaclesContainer *	obstacles_container,
		std::vector< Obstacle * >	dynamic_env
	)

overridevirtual

Override Evaluate

参数

Obstacle	pointer
Obstacles	container
vector	of all Obstacles

重载 apollo::prediction::Evaluator .

在文件 lane_scanning_evaluator.cc 第 51 行定义.

                                                                       {
  // Sanity checks.
  omp_set_num_threads(1);
  CHECK_NOTNULL(obstacle_ptr);
 
  obstacle_ptr->SetEvaluatorType(evaluator_type_);
 
  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);
  if (!latest_feature_ptr->has_lane() ||
      !latest_feature_ptr->lane().has_lane_graph_ordered()) {
    AERROR << "Obstacle [" << id << "] has no lane graph.";
    return false;
  }
  LaneGraph* lane_graph_ptr =
      latest_feature_ptr->mutable_lane()->mutable_lane_graph_ordered();
  CHECK_NOTNULL(lane_graph_ptr);
  if (lane_graph_ptr->lane_sequence().empty()) {
    AERROR << "Obstacle [" << id << "] has no lane sequences.";
    return false;
  }
  ADEBUG << "There are " << lane_graph_ptr->lane_sequence_size()
         << " lane sequences to scan.";
 
  // Extract features, and:
  //  - if in offline mode, save it locally for training.
  //  - if in online mode, pass it through trained model to evaluate.
  std::vector<double> feature_values;
  ExtractFeatures(obstacle_ptr, lane_graph_ptr, &feature_values);
  std::vector<std::string> string_feature_values;
  ExtractStringFeatures(*lane_graph_ptr, &string_feature_values);
 
  std::vector<double> labels = {0.0};
  if (FLAGS_prediction_offline_mode ==
      PredictionConstants::kDumpDataForLearning) {
    std::string learning_data_tag = "vehicle_cruise";
    if (latest_feature_ptr->has_junction_feature()) {
      learning_data_tag = "vehicle_junction";
    }
    FeatureOutput::InsertDataForLearning(*latest_feature_ptr, feature_values,
                                         string_feature_values,
                                         learning_data_tag, nullptr);
    ADEBUG << "Save extracted features for learning locally.";
    return true;
  }
 
  feature_values.push_back(static_cast<double>(MAX_NUM_LANE));
 
  std::vector<torch::jit::IValue> torch_inputs;
  torch::Tensor torch_input =
      torch::zeros({1, static_cast<int>(feature_values.size())});
  for (size_t i = 0; i < feature_values.size(); ++i) {
    torch_input[0][i] = static_cast<float>(feature_values[i]);
  }
  torch_inputs.push_back(std::move(torch_input));
  ModelInference(torch_inputs, torch_lane_scanning_model_, latest_feature_ptr);
  return true;
}

◆ ExtractFeatures()

bool apollo::prediction::LaneScanningEvaluator::ExtractFeatures	(	const Obstacle *	obstacle_ptr,
		const LaneGraph *	lane_graph_ptr,
		std::vector< double > *	feature_values
	)

Extract features for learning model's input

参数

Obstacle	pointer
Lane	Graph pointer
To	be filled up with extracted features

在文件 lane_scanning_evaluator.cc 第 130 行定义.

                                       {
  // Sanity checks.
  CHECK_NOTNULL(obstacle_ptr);
  int id = obstacle_ptr->id();
  CHECK_NOTNULL(lane_graph_ptr);
 
  // Extract obstacle related features.
  std::vector<double> obstacle_feature_values;
  if (!ExtractObstacleFeatures(obstacle_ptr, &obstacle_feature_values)) {
    ADEBUG << "Failed to extract obstacle features for obs_id = " << id;
  }
  if (obstacle_feature_values.size() != OBSTACLE_FEATURE_SIZE) {
    ADEBUG << "Obstacle [" << id << "] has fewer than "
           << "expected obstacle feature_values "
           << obstacle_feature_values.size() << ".";
    return false;
  }
  ADEBUG << "Obstacle feature size = " << obstacle_feature_values.size();
  feature_values->insert(feature_values->end(), obstacle_feature_values.begin(),
                         obstacle_feature_values.end());
 
  // Extract static environmental (lane-related) features.
  std::vector<double> static_feature_values;
  std::vector<int> lane_sequence_idx_to_remove;
  if (!ExtractStaticEnvFeatures(obstacle_ptr, lane_graph_ptr,
                                &static_feature_values,
                                &lane_sequence_idx_to_remove)) {
    AERROR << "Failed to extract static environmental features around obs_id = "
           << id;
  }
  if (static_feature_values.size() %
          (SINGLE_LANE_FEATURE_SIZE *
           (LANE_POINTS_SIZE + BACKWARD_LANE_POINTS_SIZE)) !=
      0) {
    AERROR << "Obstacle [" << id << "] has incorrect static env feature size: "
           << static_feature_values.size() << ".";
    return false;
  }
  feature_values->insert(feature_values->end(), static_feature_values.begin(),
                         static_feature_values.end());
 
  return true;
}

◆ ExtractStringFeatures()

bool apollo::prediction::LaneScanningEvaluator::ExtractStringFeatures	(	const LaneGraph &	lane_graph,
		std::vector< std::string > *const	string_feature_values
	)

在文件 lane_scanning_evaluator.cc 第 117 行定义.

                                                       {
  for (const LaneSequence& lane_sequence : lane_graph.lane_sequence()) {
    string_feature_values->push_back("|");
    for (int i = lane_sequence.adc_lane_segment_idx();
         i < static_cast<int>(lane_sequence.lane_segment_size()); ++i) {
      string_feature_values->push_back(lane_sequence.lane_segment(i).lane_id());
    }
  }
  return true;
}

◆ GetName()

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

inlineoverridevirtual

Get the name of evaluator.

实现了 apollo::prediction::Evaluator.

在文件 lane_scanning_evaluator.h 第 77 行定义.

77{ return "LANE_SCANNING_EVALUATOR"; }

该类的文档由以下文件生成:

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

Public 成员函数

额外继承的成员函数

详细描述

构造及析构函数说明

◆ LaneScanningEvaluator()

◆ ~LaneScanningEvaluator()

成员函数说明

◆ Evaluate() [1/2]

◆ Evaluate() [2/2]

◆ ExtractFeatures()

◆ ExtractStringFeatures()

◆ GetName()