apollo::prediction::ModelManager类 参考

#include <model_manager.h>

apollo::prediction::ModelManager 的协作图:

Public 成员函数
	ModelManager ()
	~ModelManager ()
bool	Init ()
	init model manager add load all defined plugin
std::shared_ptr< ModelBase >	SelectModel (const Model::Backend &backend, const ObstacleConf::EvaluatorType &evaluator_type, const apollo::perception::PerceptionObstacle::Type &obstacle_type)
	select the best model

详细描述

在文件 model_manager.h 第 35 行定义.

构造及析构函数说明

ModelManager()

apollo::prediction::ModelManager::ModelManager

(

)

在文件 model_manager.cc 第 29 行定义.

                           {
  PredictionConf prediciton_conf;
  if (!cyber::common::GetProtoFromFile(
      FLAGS_prediction_conf_file, &prediciton_conf)) {
    AERROR << "Unable to load prediction conf file: "
            << FLAGS_prediction_conf_file;
    ACHECK(false);
  }
  evaluator_model_conf_ = prediciton_conf.evaluator_model_conf();
  models_ = std::map<std::string, std::vector<std::shared_ptr<ModelBase>>>{};
}

~ModelManager()

apollo::prediction::ModelManager::~ModelManager ( )

inline

在文件 model_manager.h 第 38 行定义.

{}

成员函数说明

Init()

bool apollo::prediction::ModelManager::Init

(

)

init model manager add load all defined plugin

返回

init result, true for success

在文件 model_manager.cc 第 41 行定义.

                        {
  static const std::string class_namespace = "apollo::prediction::";
  std::map<std::string, std::vector<Model>> m;
  for (auto& model_conf : evaluator_model_conf_.model()) {
    auto key = to_string(model_conf);
    if (model_conf.priority() == 0) {
      // priority = 0 means this plugin only applicable to arm arch
      #ifndef __aarch64__
      continue;
      #endif
    }
    if (m.find(key) != m.end()) {
      m[key].push_back(model_conf);
    } else {
      m[key] = std::vector<Model>{model_conf};
    }
  }
 
  // sort the model based on priority
  for (auto& p : m) {
    sort(m[p.first].begin(), m[p.first].end(),
      [](Model& a, Model& b){return a.priority() < b.priority();});
  }
 
  for (auto& p : m) {
    auto key = p.first;
    auto& model_conf_vec = p.second;
    models_[key] = std::vector<std::shared_ptr<ModelBase>>{};
    for (auto model_conf : model_conf_vec) {
      std::string class_name = model_conf.type();
      if (class_name.find("::") == std::string::npos) {
        class_name = class_namespace + class_name;
      }
      auto model_ptr =
        apollo::cyber::plugin_manager::PluginManager::Instance()
          ->CreateInstance<ModelBase>(class_name);
      models_[key].push_back(model_ptr);
    }
  }
 
  return true;
}

SelectModel()

std::shared_ptr< ModelBase > apollo::prediction::ModelManager::SelectModel	(	const Model::Backend &	backend,
		const ObstacleConf::EvaluatorType &	evaluator_type,
		const apollo::perception::PerceptionObstacle::Type &	obstacle_type
	)

select the best model

参数

backend	inference backend of model
evaluator_type	the type of evaluator
obstacle_type	the type of obstacle

返回

shared ptr of the model

在文件 model_manager.cc 第 100 行定义.

                                 {
  auto key = to_string(backend, evaluator_type, obstacle_type);
  if (models_.find(key) == models_.end()) {
    AERROR << "Can't find model with attribute: evaluator_type("
      << evaluator_type << ") " << "obstacle_type(" << obstacle_type
      << ") " << "backend(" << backend << ")";
    ACHECK(false);
  }
  return models_[key][0];
}

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该类的文档由以下文件生成:

• modules/prediction/evaluator/model_manager/model_manager.h
• modules/prediction/evaluator/model_manager/model_manager.cc