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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/navigation_mode_test/1_chassis.pb.txt
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engine_started: true
engine_rpm: 1550.25
speed_mps: 9.86944484711
odometer_m: 0.0
fuel_range_m: 0
throttle_percentage: 22.0416564941
brake_percentage: 14.0566110611
steering_percentage: -0.0425531901419
steering_torque_nm: 0.375
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1518218588.45
module_name: "chassis"
sequence_num: 238704
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.4124346667
longitude: -122.009781333
gps_valid: true
year: 18
month: 2
day: 9
hours: 23
minutes: 23
seconds: 7
compass_direction: 180.0
pdop: 0.6
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 195.1
hdop: 1.2
vdop: 1.4
quality: FIX_3D
num_satellites: 10
gps_speed: 9.83488
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/navigation_mode_test/result_cruise_0.pb.txt
|
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decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
right_of_way_status: UNPROTECTED
lane_id {
id: "0_Path from lane markers."
}
engage_advice {
advice: READY_TO_ENGAGE
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/navigation_mode_test/1_relative_map.pb.txt
|
header {
timestamp_sec: 1519174358.51
module_name: "RelativeMap"
sequence_num: 5
}
hdmap {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/navigation_mode_test/1_localization.pb.txt
|
header {
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measurement_time: 1518218588.46
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/common/history_02.pb.txt
|
header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/common/history_01.pb.txt
|
header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/common/sample_prediction.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/1_routing.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_nudge_0.pb.txt
|
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decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1505164877.88
module_name: "routing"
}
right_of_way_status: UNPROTECTED
lane_id {
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}
lane_id {
id: "144_1_-1"
}
lane_id {
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}
engage_advice {
advice: KEEP_ENGAGED
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_01_0.pb.txt
|
header {
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lidar_timestamp: 0
camera_timestamp: 0
radar_timestamp: 0
}
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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v: 0
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trajectory_point {
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v: 0
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relative_time: 2.800000000000002
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decision {
main_decision {
stop {
reason_code: STOP_REASON_SIGNAL
reason: "stop by TL_1084"
stop_point {
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y: 4141445.1240310683
}
stop_heading: -0.37491178220310695
change_lane_type: FORWARD
}
}
object_decision {
decision {
id: "1573_0"
perception_id: 1573
object_decision {
follow {
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fence_point {
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y: 4141430.2454887815
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}
fence_heading: -1.5415243974474286
}
}
}
decision {
id: "TL_1084"
perception_id: -1364908909
object_decision {
stop {
reason_code: STOP_REASON_SIGNAL
distance_s: -1
stop_point {
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z: 0
}
stop_heading: -0.37491178220310695
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}
}
decision {
id: "TL_1083"
perception_id: -272827151
object_decision {
stop {
reason_code: STOP_REASON_SIGNAL
distance_s: -1
stop_point {
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y: 4141445.1240310683
z: 0
}
stop_heading: -0.37491178220310695
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}
}
}
vehicle_signal {
turn_signal: TURN_RIGHT
}
}
routing_header {
timestamp_sec: 1505880682.2605283
module_name: "routing"
}
right_of_way_status: UNPROTECTED
lane_id {
id: "39_1_-3"
}
lane_id {
id: "37_1_-4"
}
lane_id {
id: "38_1_-4"
}
lane_id {
id: "84_1_-1"
}
lane_id {
id: "58_1_-2"
}
engage_advice {
advice: KEEP_ENGAGED
}
trajectory_type: SPEED_FALLBACK
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/9_routing.pb.txt
|
header {
timestamp_sec: 1508187644.72
module_name: "routing"
sequence_num: 8
}
road {
id: "57"
passage {
segment {
id: "57_1_-2"
start_s: 57.3733578839
end_s: 499.125604709
}
change_lane_type: LEFT
}
passage {
segment {
id: "57_1_-1"
start_s: 57.3664843274
end_s: 499.065807476
}
change_lane_type: RIGHT
}
passage {
segment {
id: "57_1_-2"
start_s: 57.3733578839
end_s: 499.125604709
}
can_exit: true
change_lane_type: FORWARD
}
}
measurement {
distance: 181.759695552
}
routing_request {
header {
timestamp_sec: 1508187644.71
module_name: "dreamview"
sequence_num: 1
}
waypoint {
id: "57_1_-2"
s: 57.3733578839
pose {
x: 587560.113842
y: 4140769.19481
}
}
waypoint {
id: "57_1_-1"
s: 239.094404344
pose {
x: 587601.413356
y: 4140946.25464
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}
waypoint {
id: "57_1_-2"
s: 499.125604709
pose {
x: 587669.07405
y: 4141197.23744
}
}
}
map_version: "1.000000"
status {
error_code: OK
msg: "Success!"
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/7_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 1.7111111
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.410087
brake_percentage: 21.004044
steering_percentage: 1.7872341
steering_torque_nm: 0.0625
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1505249218.2989933
module_name: "chassis"
sequence_num: 67811
}
signal {
turn_signal: TURN_NONE
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/6_routing.pb.txt
|
header {
timestamp_sec: 1505426824.2902567
module_name: "routing"
}
road {
id: "23-21-144-140-747-141-12-22-906-88-13-9-133"
passage {
can_exit: true
segment {
id: "144_1_-1"
start_s: 6.6810589573790908
end_s: 46.5655
}
segment {
id: "140_1_-1"
start_s: 0
end_s: 146.337
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segment {
id: "747_1_-1"
start_s: 0
end_s: 15.6326
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segment {
id: "141_1_-2"
start_s: 0
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segment {
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start_s: 0
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segment {
id: "9_1_-2"
start_s: 0
end_s: 161.962
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segment {
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start_s: 0
end_s: 35.3398
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segment {
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segment {
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end_s: 3.63182
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segment {
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segment {
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segment {
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start_s: 0
end_s: 31.9409
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segment {
id: "23_1_-1"
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}
measurement {
distance: 775.20876104262084
}
routing_request {
header {
timestamp_sec: 1505426824.2442551
module_name: "dreamview"
sequence_num: 1
}
waypoint {
id: "144_1_-1"
s: 6.6810589573790908
pose {
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waypoint {
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pose {
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map_version: "1.400000"
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/13_prediction.pb.txt
|
header {
timestamp_sec: 1511824052.1502516
module_name: "prediction"
sequence_num: 10630
}
perception_error_code: OK
start_timestamp: 1511824052.1502366
end_timestamp: 1511824052.1502514
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/8_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 5.45
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.336843
brake_percentage: 21.664759
steering_percentage: -1.4893616
steering_torque_nm: -0.6875
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1505249480.0773075
module_name: "chassis"
sequence_num: 93986
}
signal {
turn_signal: TURN_NONE
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/1_chassis.pb.txt
|
engine_started: true
engine_rpm: 2008.0
speed_mps: 5.42222213745
odometer_m: 0.0
fuel_range_m: 0
throttle_percentage: 25.3147182465
brake_percentage: 13.5301742554
steering_percentage: -11.8297872543
steering_torque_nm: -0.0625
parking_brake: false
driving_mode: COMPLETE_MANUAL
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1503436434.97
module_name: "chassis"
sequence_num: 129707
}
signal {
turn_signal: TURN_RIGHT
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/9_chassis.pb.txt
|
engine_started: true
speed_mps: 0.0
throttle_percentage: 0.0
brake_percentage: 0.0
driving_mode: COMPLETE_AUTO_DRIVE
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1508187638.77
module_name: "SimControl"
sequence_num: 1727
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/7_routing.pb.txt
|
header {
timestamp_sec: 1505427398.4920573
module_name: "routing"
}
road {
id: "21-133-13-22-88-9-906-23-12-141"
passage {
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segment {
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segment {
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segment {
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segment {
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segment {
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segment {
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segment {
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segment {
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segment {
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segment {
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measurement {
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routing_request {
header {
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module_name: "dreamview"
sequence_num: 2
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waypoint {
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waypoint {
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map_version: "1.400000"
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/12_prediction.pb.txt
|
header {
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sequence_num: 1259
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perception_error_code: OK
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/6_chassis.pb.txt
|
engine_started: true
engine_rpm: 1094
speed_mps: 4.6
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 15.336843
brake_percentage: 24.867628
steering_percentage: 0.89361703
steering_torque_nm: -0.25
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1505249215.1190002
module_name: "chassis"
sequence_num: 67493
}
signal {
turn_signal: TURN_NONE
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/8_routing.pb.txt
|
header {
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measurement {
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routing_request {
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waypoint {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/4_chassis.pb.txt
|
engine_started: true
engine_rpm: 0.0
speed_mps: 11.0111112595
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throttle_percentage: 24.6952018738
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parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1505164963.47
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sequence_num: 151191
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signal {
turn_signal: TURN_NONE
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/2_routing.pb.txt
|
header {
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road {
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road {
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road {
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road {
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road {
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road {
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routing_request {
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waypoint {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_cruise_0.pb.txt
|
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object_decision {
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vehicle_signal {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/3_chassis.pb.txt
|
engine_started: true
engine_rpm: 563
speed_mps: 7.1
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 17.999542
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steering_percentage: -14.234042
steering_torque_nm: -0.375
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1504824839.5287924
module_name: "chassis"
sequence_num: 42382
}
signal {
turn_signal: TURN_NONE
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/11_prediction.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/5_routing.pb.txt
|
header {
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routing_request {
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sequence_num: 8
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waypoint {
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map_version: "1.400000"
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/8_prediction.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/4_routing.pb.txt
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| 0
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_follow_01_0.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/2_chassis.pb.txt
|
engine_started: true
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speed_mps: 2.7111111
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steering_torque_nm: -1.625
parking_brake: false
driving_mode: COMPLETE_MANUAL
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1504137801.1602917
module_name: "chassis"
sequence_num: 8582
}
signal {
turn_signal: TURN_RIGHT
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/10_prediction.pb.txt
|
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/3_routing.pb.txt
|
header {
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passage {
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module_name: "dreamview"
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map_version: "1.400000"
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/5_chassis.pb.txt
|
engine_started: true
engine_rpm: 2304
speed_mps: 6.061111
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 33.894867
brake_percentage: 14.399939
steering_percentage: -14.212766
steering_torque_nm: -0.1875
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1505249805.229634
module_name: "chassis"
sequence_num: 126499
}
signal {
turn_signal: TURN_RIGHT
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/9_prediction.pb.txt
|
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/9_localization.pb.txt
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/12_routing.pb.txt
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status {
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msg: "Success!"
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_stop_0.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/8_localization.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_0.pb.txt
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decision {
main_decision {
cruise {
change_lane_type: FORWARD
}
}
object_decision {
}
vehicle_signal {
turn_signal: TURN_NONE
}
}
routing_header {
timestamp_sec: 1508187644.72
module_name: "routing"
sequence_num: 8
}
right_of_way_status: UNPROTECTED
lane_id {
id: "57_1_-2"
}
engage_advice {
advice: KEEP_ENGAGED
}
trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/5_prediction.pb.txt
|
header {
timestamp_sec: 1505249805.2115178
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sequence_num: 12579
}
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
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trajectory_point {
path_point {
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}
}
perception_error_code: OK
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/13_chassis.pb.txt
|
engine_started: true
engine_rpm: 0
speed_mps: 15.091666
odometer_m: 0
fuel_range_m: 0
throttle_percentage: 22.04776
brake_percentage: 14.166476
steering_percentage: -1.6595745
steering_torque_nm: 1.375
parking_brake: false
driving_mode: COMPLETE_AUTO_DRIVE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1511824052.2331398
module_name: "chassis"
sequence_num: 108886
}
signal {
turn_signal: TURN_NONE
horn: false
}
chassis_gps {
latitude: 37.41185866666666
longitude: -122.01947733333333
gps_valid: true
year: 17
month: 11
day: 27
hours: 23
minutes: 7
seconds: 30
compass_direction: 90
pdop: 1
is_gps_fault: false
is_inferred: false
altitude: -42.5
heading: 104.53
hdop: 0.60000000000000009
vdop: 0.8
quality: FIX_3D
num_satellites: 18
gps_speed: 15.6464
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/12_chassis.pb.txt
|
engine_started: true
speed_mps: 4.8822846
throttle_percentage: 0
brake_percentage: 0
driving_mode: COMPLETE_AUTO_DRIVE
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1509683642.6190894
module_name: "SimControl"
sequence_num: 32397
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/1_prediction.pb.txt
|
header {
timestamp_sec: 1503436434.94
module_name: "prediction"
sequence_num: 3699
}
prediction_obstacle {
perception_obstacle {
id: 683
position {
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perception_error_code: OK
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/4_prediction.pb.txt
|
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perception_error_code: OK
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/13_routing.pb.txt
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header {
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata
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perception_error_code: OK
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/11_routing.pb.txt
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status {
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msg: "Success!"
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apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/3_localization.pb.txt
|
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_follow_03_0.pb.txt
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engage_advice {
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trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_follow_02_0.pb.txt
|
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perception_id: 2271
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vehicle_signal {
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routing_header {
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module_name: "routing"
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right_of_way_status: UNPROTECTED
lane_id {
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lane_id {
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lane_id {
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lane_id {
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lane_id {
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engage_advice {
advice: KEEP_ENGAGED
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trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/10_chassis.pb.txt
|
engine_started: true
speed_mps: 0
throttle_percentage: 0
brake_percentage: 0
driving_mode: COMPLETE_AUTO_DRIVE
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1509506440.1766765
module_name: "SimControl"
sequence_num: 33425
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_mission_complete_0.pb.txt
|
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/7_prediction.pb.txt
|
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| 0
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/1_localization.pb.txt
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_rightturn_with_red_light_0.pb.txt
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/11_localization.pb.txt
|
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/7_localization.pb.txt
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/8_traffic_light.pb.txt
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_slowdown_01_0.pb.txt
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module_name: "routing"
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lane_id {
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lane_id {
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trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/6_localization.pb.txt
|
header {
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}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/3_prediction.pb.txt
|
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perception_error_code: OK
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_qp_path_failure_0.pb.txt
|
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vehicle_signal {
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routing_header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/10_localization.pb.txt
|
header {
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orientation {
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linear_acceleration {
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angular_velocity {
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heading: 1.3203319788735257
linear_acceleration_vrf {
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angular_velocity_vrf {
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y: 0
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}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/11_chassis.pb.txt
|
engine_started: true
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steering_torque_nm: 0.8125
parking_brake: false
driving_mode: EMERGENCY_MODE
error_code: NO_ERROR
gear_location: GEAR_DRIVE
header {
timestamp_sec: 1509472155.5446076
module_name: "chassis"
sequence_num: 43656
}
signal {
turn_signal: TURN_NONE
horn: false
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/10_routing.pb.txt
|
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routing_request {
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module_name: "dreamview"
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map_version: "1.000000"
status {
error_code: OK
msg: "Success!"
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_avoid_change_left_0.pb.txt
|
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decision {
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cruise {
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}
object_decision {
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vehicle_signal {
turn_signal: TURN_NONE
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}
routing_header {
timestamp_sec: 1509400518.88418
module_name: "routing"
sequence_num: 2
}
right_of_way_status: UNPROTECTED
lane_id {
id: "40_1_-3"
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engage_advice {
advice: READY_TO_ENGAGE
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trajectory_type: NORMAL
replan_reason: "replan for no previous trajectory."
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/5_localization.pb.txt
|
header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/13_localization.pb.txt
|
header {
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}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/result_change_lane_failback_0.pb.txt
|
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decision {
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routing_header {
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/6_prediction.pb.txt
|
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/12_localization.pb.txt
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header {
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apollo_public_repos/apollo/modules/planning/testdata
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apollo_public_repos/apollo/modules/planning/testdata/sunnyvale_loop_test/4_localization.pb.txt
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header {
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|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/model_inference_test/test_libtorch_inference_task_config.pb.txt
|
model_type: CNN
cpu_model_file: "/apollo/modules/planning/data/model/cpu_test_model_cnn.pt"
gpu_model_file: "/apollo/modules/planning/data/model/gpu_test_model_cnn.pt"
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/model_inference_test/test_tensorrt_inference_task_config.pb.txt
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model_type: CONV_RNN
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| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/garage_map/base_map.txt
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width: 1.7497228487262257
}
right_sample {
s: 145.29371378194418
width: 1.7497291120473517
}
right_sample {
s: 145.49268039775822
width: 1.7497353753685934
}
right_sample {
s: 145.69164701357218
width: 1.7497416386898283
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right_sample {
s: 145.89061362938617
width: 1.7497479020110285
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right_sample {
s: 146.08958024520015
width: 1.7497541653322937
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right_sample {
s: 146.2885468610142
width: 1.7497604286535788
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right_sample {
s: 146.48751347682824
width: 1.7497666919748485
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right_sample {
s: 146.6864800926422
width: 1.7497729552960832
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right_sample {
s: 146.88544670845624
width: 1.7497792186172991
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right_sample {
s: 147.08441332427023
width: 1.7497854819387064
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right_sample {
s: 147.28337994008416
width: 1.7497917452599281
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right_sample {
s: 147.4823465558982
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right_sample {
s: 147.68131317171219
width: 1.7498042719022744
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right_sample {
s: 147.88027978752615
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right_sample {
s: 148.07924640334028
width: 1.7498167985447162
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right_sample {
s: 148.27821301915421
width: 1.7498230618661583
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right_sample {
s: 148.47717963496819
width: 1.7498293251872907
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right_sample {
s: 148.67614625078212
width: 1.7498355885085106
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right_sample {
s: 148.87511286659617
width: 1.7498418518297498
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right_sample {
s: 149.07407948241027
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right_sample {
s: 149.2730460982242
width: 1.7498543784720642
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right_sample {
s: 149.47201271403819
width: 1.7498606417932008
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right_sample {
s: 149.67097932985217
width: 1.7498669051144884
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right_sample {
s: 149.86994594566625
width: 1.7498731684357609
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right_sample {
s: 150.06891256148012
width: 1.7498794317569155
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right_sample {
s: 150.26787917729413
width: 1.749885695078027
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right_sample {
s: 150.46684579310806
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right_sample {
s: 150.66581240892205
width: 1.7498982217205836
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right_sample {
s: 150.86477902473598
width: 1.7499044850417922
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right_sample {
s: 151.06374564054997
width: 1.7499107483627707
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right_sample {
s: 151.26271225636395
width: 1.7499170116839913
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right_sample {
s: 151.46167887217788
width: 1.7499232750052252
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right_sample {
s: 151.66064548799187
width: 1.749929538326344
}
right_sample {
s: 151.85961210380577
width: 1.7499358016475619
}
right_sample {
s: 152.0585787196197
width: 1.7499420649687962
}
right_sample {
s: 152.25754533543369
width: 1.7499483282899493
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right_sample {
s: 152.45651195124751
width: 1.7499545916111396
}
right_sample {
s: 152.65547856706155
width: 1.7499608549320564
}
right_sample {
s: 152.85444518287542
width: 1.7499671182533481
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right_sample {
s: 153.05341179868932
width: 1.7499733815744833
}
right_sample {
s: 153.25237841450328
width: 1.7499796448954572
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right_sample {
s: 153.45134503031719
width: 1.7499859082165838
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right_sample {
s: 153.65031164613103
width: 1.7499921715377003
}
right_sample {
s: 153.87421245705966
width: 1.7499999965673967
}
}
stop_sign {
id {
id: "2"
}
stop_line {
segment {
line_segment {
point {
x: 586365.90892295539
y: 4140785.417460287
}
point {
x: 586367.59595983266
y: 4140784.9523852509
}
point {
x: 586369.28299449442
y: 4140784.4873108254
}
}
}
}
overlap_id {
id: "1_-1_and_2"
}
}
overlap {
id {
id: "1_-1_and_2"
}
object {
id {
id: "1_-1"
}
lane_overlap_info {
start_s: 152.57964692253393
end_s: 152.57964692253393
}
}
object {
id {
id: "2"
}
}
}
| 0
|
apollo_public_repos/apollo/modules/planning/testdata
|
apollo_public_repos/apollo/modules/planning/testdata/conf/open_space_standard_parking_lot.pb.txt
|
delta_t : 0.5
is_near_destination_threshold : 0.05
roi_config : {
roi_longitudinal_range_start : 15.0
roi_longitudinal_range_end : 15.0
parking_start_range : 12.0
parking_inwards : false
}
warm_start_config : {
xy_grid_resolution : 0.3
phi_grid_resolution : 0.1
next_node_num : 10
step_size : 0.5
traj_forward_penalty : 1.0
traj_back_penalty : 1.0
traj_gear_switch_penalty : 10.0
traj_steer_penalty : 0.0
traj_steer_change_penalty : 0.0
grid_a_star_xy_resolution : 1.0
node_radius : 0.5
}
dual_variable_warm_start_config : {
weight_d : 1.0
ipopt_config : {
ipopt_print_level : 0
mumps_mem_percent : 6000
mumps_pivtol : 1e-6
ipopt_max_iter : 100
ipopt_tol : 1e-5
ipopt_acceptable_constr_viol_tol : 1e-1
ipopt_min_hessian_perturbation : 1e-12
ipopt_jacobian_regularization_value : 1e-7
ipopt_print_timing_statistics : "yes"
ipopt_alpha_for_y : "min"
ipopt_recalc_y : "yes"
}
qp_format: OSQP
min_safety_distance: 0.0
}
distance_approach_config : {
weight_steer : 0.0
weight_a : 0.0
weight_steer_rate : 0.02
weight_a_rate : 0.02
weight_x : 1.0
weight_y : 1.0
weight_phi : 2.0
weight_v : 0.0
weight_steer_stitching : 0.02
weight_a_stitching : 0.02
weight_first_order_time : 8.0
weight_second_order_time : 16.0
min_safety_distance : 0.0
max_speed_forward : 2.0
max_speed_reverse : 1.0
max_acceleration_forward : 2.0
max_acceleration_reverse : 1.0
min_time_sample_scaling : 0.8
max_time_sample_scaling : 1.2
use_fix_time : false
ipopt_config : {
ipopt_print_level : 0
mumps_mem_percent : 6000
mumps_pivtol : 1e-6
ipopt_max_iter : 1000
ipopt_tol : 1e-4
ipopt_acceptable_constr_viol_tol : 1e-1
ipopt_min_hessian_perturbation : 1e-12
ipopt_jacobian_regularization_value : 1e-7
ipopt_print_timing_statistics : "yes"
ipopt_alpha_for_y : "min"
ipopt_recalc_y : "yes"
}
}
trajectory_partition_config : {
interpolated_pieces_num : 50
initial_gear_check_horizon : 3
heading_searching_range : 0.3
gear_shift_period_duration : 2.0
gear_shift_max_t : 3.0
gear_shift_unit_t : 0.02
}
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/pipeline/evaluator.h
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <chrono>
#include <string>
#include "modules/planning/common/trajectory_evaluator.h"
#include "modules/planning/proto/learning_data.pb.h"
namespace apollo {
namespace planning {
class Evaluator {
public:
void Init();
void Close();
void Evaluate(const std::string& source_file);
private:
void WriteOutData(const std::string& source_filename,
const LearningData& learning_data);
private:
std::chrono::time_point<std::chrono::system_clock> start_time_;
LearningData learning_data_;
TrajectoryEvaluator trajectory_evaluator_;
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/pipeline/evaluator_logger.h
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#pragma once
#include <fstream>
#include "modules/planning/common/planning_gflags.h"
namespace apollo {
namespace planning {
class EvaluatorLogger {
public:
static std::ofstream& GetStream() {
static std::ofstream log_file(
FLAGS_planning_data_dir + "/output_data_evaluated.log",
std::ios_base::out | std::ios_base::app);
return log_file;
}
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/pipeline/record_to_learning_data.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include <boost/filesystem.hpp>
#include "absl/strings/str_split.h"
#include "cyber/common/file.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/planning/common/feature_output.h"
#include "modules/planning/common/message_process.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/common/util/util.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/common/util/data_extraction.h"
namespace apollo {
namespace planning {
void GenerateLearningData() {
AINFO << "map_dir: " << FLAGS_map_dir;
if (FLAGS_planning_offline_bags.empty()) {
return;
}
if (!FeatureOutput::Ready()) {
AERROR << "Feature output is not ready.";
return;
}
const std::string planning_config_file =
"/apollo/modules/planning/conf/planning_config.pb.txt";
PlanningConfig planning_config;
ACHECK(
cyber::common::GetProtoFromFile(planning_config_file, &planning_config))
<< "failed to load planning config file " << planning_config_file;
MessageProcess message_process;
if (!message_process.Init(planning_config)) {
return;
}
const std::vector<std::string> inputs =
absl::StrSplit(FLAGS_planning_offline_bags, ':');
for (const auto& input : inputs) {
std::vector<std::string> offline_bags;
util::GetFilesByPath(boost::filesystem::path(input), &offline_bags);
std::sort(offline_bags.begin(), offline_bags.end());
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 + 1 << " / " << offline_bags.size()
<< " ]: " << offline_bags[i];
message_process.ProcessOfflineData(offline_bags[i]);
FeatureOutput::WriteRemainderiLearningData(offline_bags[i]);
}
}
message_process.Close();
}
} // namespace planning
} // namespace apollo
int main(int argc, char* argv[]) {
google::ParseCommandLineFlags(&argc, &argv, true);
apollo::planning::GenerateLearningData();
return 0;
}
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/pipeline/evaluator.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/pipeline/evaluator.h"
#include <limits>
#include <vector>
#include "cyber/common/file.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/common/trajectory_evaluator.h"
#include "modules/planning/pipeline/evaluator_logger.h"
DEFINE_double(trajectory_delta_t, 0.2,
"delta time(sec) between trajectory points");
namespace apollo {
namespace planning {
void Evaluator::Init() {
start_time_ = std::chrono::system_clock::now();
std::time_t now = std::time(nullptr);
EvaluatorLogger::GetStream()
<< "UTC date and time: " << std::asctime(std::gmtime(&now))
<< "Local date and time: " << std::asctime(std::localtime(&now));
}
void Evaluator::Close() {
auto end_time = std::chrono::system_clock::now();
std::chrono::duration<double> elapsed_seconds = end_time - start_time_;
EvaluatorLogger::GetStream()
<< "Time elapsed(sec): " << elapsed_seconds.count() << std::endl
<< std::endl;
}
void Evaluator::Evaluate(const std::string& source_file) {
EvaluatorLogger::GetStream() << "Processing: " << source_file << std::endl;
const std::string& source_filename =
source_file.substr(source_file.find_last_of("/") + 1);
cyber::common::GetProtoFromFile(source_file, &learning_data_);
for (int i = 0; i < learning_data_.learning_data_frame_size(); ++i) {
auto learning_data_frame = learning_data_.mutable_learning_data_frame(i);
if (learning_data_frame->adc_trajectory_point_size() <= 0) {
continue;
}
const double start_point_timestamp_sec =
learning_data_frame
->adc_trajectory_point(
learning_data_frame->adc_trajectory_point_size() - 1)
.timestamp_sec();
// evaluate adc trajectory
trajectory_evaluator_.EvaluateADCTrajectory(start_point_timestamp_sec,
FLAGS_trajectory_delta_t,
learning_data_frame);
// evaluate adc future trajectory
std::vector<TrajectoryPointFeature> adc_future_trajectory;
for (const auto& tp : learning_data_.learning_data_frame(i)
.output()
.adc_future_trajectory_point()) {
adc_future_trajectory.push_back(tp);
}
std::vector<TrajectoryPointFeature> evaluated_adc_future_trajectory;
trajectory_evaluator_.EvaluateADCFutureTrajectory(
learning_data_.learning_data_frame(i).frame_num(),
adc_future_trajectory, start_point_timestamp_sec,
FLAGS_trajectory_delta_t, &evaluated_adc_future_trajectory);
learning_data_frame->mutable_output()->clear_adc_future_trajectory_point();
for (const auto& tp : evaluated_adc_future_trajectory) {
auto adc_future_trajectory_point =
learning_data_frame->mutable_output()
->add_adc_future_trajectory_point();
adc_future_trajectory_point->set_timestamp_sec(tp.timestamp_sec());
adc_future_trajectory_point->mutable_trajectory_point()->CopyFrom(
tp.trajectory_point());
}
// evaluate obstacle trajectory
trajectory_evaluator_.EvaluateObstacleTrajectory(start_point_timestamp_sec,
FLAGS_trajectory_delta_t,
learning_data_frame);
// evaluate obstacle prediction trajectory
trajectory_evaluator_.EvaluateObstaclePredictionTrajectory(
start_point_timestamp_sec, FLAGS_trajectory_delta_t,
learning_data_frame);
}
WriteOutData(source_filename, learning_data_);
}
void Evaluator::WriteOutData(const std::string& source_filename,
const LearningData& learning_data) {
const std::string file = FLAGS_planning_data_dir + "/" + source_filename;
cyber::common::SetProtoToBinaryFile(learning_data, file);
// cyber::common::SetProtoToASCIIFile(learning_data, file + ".txt");
learning_data_.Clear();
}
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/pipeline/evaluate_trajectory.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include <boost/filesystem.hpp>
#include "absl/strings/str_split.h"
#include "cyber/common/file.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/planning/common/util/util.h"
#include "modules/planning/pipeline/evaluator.h"
DEFINE_string(planning_source_dirs, "",
"a list of source files or directories for offline mode. "
"The items need to be separated by colon ':'. ");
namespace apollo {
namespace planning {
void EvaluateTrajectory() {
const std::vector<std::string> inputs =
absl::StrSplit(FLAGS_planning_source_dirs, ':');
Evaluator evaluator;
evaluator.Init();
for (const auto& input : inputs) {
std::vector<std::string> source_files;
util::GetFilesByPath(boost::filesystem::path(input), &source_files);
auto it = source_files.begin();
while (it != source_files.end()) {
if ((*it).substr((*it).size() - 4) != ".bin") {
it = source_files.erase(it);
} else {
++it;
}
}
AINFO << "For input " << input << ", found " << source_files.size()
<< " files to process";
for (std::size_t i = 0; i < source_files.size(); ++i) {
AINFO << "\tProcessing: [ " << i + 1 << " / " << source_files.size()
<< " ]: " << source_files[i];
evaluator.Evaluate(source_files[i]);
}
}
evaluator.Close();
}
} // namespace planning
} // namespace apollo
int main(int argc, char* argv[]) {
google::ParseCommandLineFlags(&argc, &argv, true);
apollo::planning::EvaluateTrajectory();
return 0;
}
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/pipeline/BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
PLANNING_COPTS = ["-DMODULE_NAME=\\\"planning\\\""]
cc_library(
name = "evaluator",
srcs = ["evaluator.cc"],
hdrs = ["evaluator.h"],
copts = PLANNING_COPTS,
deps = [
":evaluator_logger",
"//cyber",
"//modules/planning/common:planning_gflags",
"//modules/planning/common:trajectory_evaluator",
"//modules/planning/common/util:util_lib",
"//modules/planning/proto:learning_data_cc_proto",
],
)
cc_library(
name = "evaluator_logger",
hdrs = ["evaluator_logger.h"],
copts = PLANNING_COPTS,
deps = [
"//cyber",
"//modules/planning/common:planning_gflags",
],
)
cc_binary(
name = "evaluate_trajectory",
srcs = ["evaluate_trajectory.cc"],
copts = PLANNING_COPTS,
deps = [
":evaluator",
],
)
cc_binary(
name = "record_to_learning_data",
srcs = ["record_to_learning_data.cc"],
copts = PLANNING_COPTS,
deps = [
"//modules/planning/common:feature_output",
"//modules/planning/common:message_process",
"//modules/planning/common:planning_gflags",
],
)
cpplint()
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/model_inference/trajectory_imitation_libtorch_inference.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/learning_based/model_inference/trajectory_imitation_libtorch_inference.h"
#include <string>
#include <utility>
#include <vector>
#include "opencv2/opencv.hpp"
#include "cyber/common/log.h"
#include "modules/common/math/math_utils.h"
#include "modules/common/math/vec2d.h"
#include "modules/planning/common/util/math_util.h"
#include "modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.h"
namespace apollo {
namespace planning {
TrajectoryImitationLibtorchInference::TrajectoryImitationLibtorchInference(
const LearningModelInferenceTaskConfig& config)
: ModelInference(config), device_(torch::kCPU) {}
bool TrajectoryImitationLibtorchInference::LoadCNNModel() {
// run a fake inference at init time as first inference is relative slow
torch::Tensor input_feature_tensor = torch::zeros({1, 12, 200, 200});
std::vector<torch::jit::IValue> torch_inputs;
torch_inputs.push_back(input_feature_tensor.to(device_));
try {
auto torch_output_tensor =
model_.forward(torch_inputs).toTensor().to(torch::kCPU);
} catch (const c10::Error& e) {
AERROR << "Fail to do initial inference on CNN Model";
return false;
}
return true;
}
bool TrajectoryImitationLibtorchInference::LoadCNNLSTMModel() {
// run a fake inference at init time as first inference is relative slow
torch::Tensor input_feature_tensor = torch::zeros({1, 12, 200, 200});
torch::Tensor current_v = torch::zeros({1, 1});
std::vector<torch::jit::IValue> torch_inputs;
torch_inputs.push_back(
c10::ivalue::Tuple::create({std::move(input_feature_tensor.to(device_)),
std::move(current_v.to(device_))}));
try {
auto torch_output_tensor =
model_.forward(torch_inputs).toTensor().to(torch::kCPU);
} catch (const c10::Error& e) {
AERROR << "Fail to do initial inference on HISTORY_UNCONDITIONED_CNN_LSTM "
"Model";
return false;
}
return true;
}
bool TrajectoryImitationLibtorchInference::LoadModel() {
if (config_.use_cuda() && torch::cuda::is_available()) {
ADEBUG << "CUDA is available";
device_ = torch::Device(torch::kCUDA);
try {
model_ = torch::jit::load(config_.gpu_model_file(), device_);
} catch (const c10::Error& e) {
AERROR << "Failed to load model on to device";
return false;
}
} else {
model_ = torch::jit::load(config_.cpu_model_file(), device_);
}
torch::set_num_threads(1);
switch (config_.model_type()) {
case LearningModelInferenceTaskConfig::CNN: {
if (!LoadCNNModel()) {
return false;
}
break;
}
case LearningModelInferenceTaskConfig::CNN_LSTM: {
if (!LoadCNNLSTMModel()) {
return false;
}
break;
}
default: {
AERROR << "Configured model type not defined and implemented";
break;
}
}
return true;
}
void TrajectoryImitationLibtorchInference::output_postprocessing(
const at::Tensor& torch_output_tensor,
LearningDataFrame* const learning_data_frame) {
const int past_points_size = learning_data_frame->adc_trajectory_point_size();
const auto& cur_traj_point =
learning_data_frame->adc_trajectory_point(past_points_size - 1);
const double cur_time_sec = cur_traj_point.timestamp_sec();
const auto& cur_path_point = cur_traj_point.trajectory_point().path_point();
const double cur_x = cur_path_point.x();
const double cur_y = cur_path_point.y();
const double cur_heading = cur_path_point.theta();
ADEBUG << "cur_x[" << cur_x << "], cur_y[" << cur_y << "], cur_heading["
<< cur_heading << "], cur_v[" << cur_traj_point.trajectory_point().v()
<< "]";
learning_data_frame->mutable_output()->clear_adc_future_trajectory_point();
const double delta_t = config_.trajectory_delta_t();
auto torch_output = torch_output_tensor.accessor<float, 3>();
for (int i = 0; i < torch_output_tensor.size(1); ++i) {
const double dx = static_cast<double>(torch_output[0][i][0]);
const double dy = static_cast<double>(torch_output[0][i][1]);
const double dtheta = static_cast<double>(torch_output[0][i][2]);
const double v = static_cast<double>(torch_output[0][i][3]);
ADEBUG << "dx[" << dx << "], dy[" << dy << "], dtheta[" << dtheta << "], v["
<< v << "]";
const double time_sec = cur_time_sec + delta_t * (i + 1);
apollo::common::math::Vec2d offset(dx, dy);
apollo::common::math::Vec2d rotated_offset = offset.rotate(cur_heading);
const double x = cur_x + rotated_offset.x();
const double y = cur_y + rotated_offset.y();
const double heading =
apollo::common::math::NormalizeAngle(dtheta + cur_heading);
auto* traj_point = learning_data_frame->mutable_output()
->add_adc_future_trajectory_point();
traj_point->set_timestamp_sec(time_sec);
traj_point->mutable_trajectory_point()->mutable_path_point()->set_x(x);
traj_point->mutable_trajectory_point()->mutable_path_point()->set_y(y);
traj_point->mutable_trajectory_point()->mutable_path_point()->set_theta(
heading);
traj_point->mutable_trajectory_point()->set_v(v);
traj_point->mutable_trajectory_point()->set_relative_time(delta_t *
(i + 1));
}
}
bool TrajectoryImitationLibtorchInference::DoCNNMODELInference(
LearningDataFrame* const learning_data_frame) {
const int past_points_size = learning_data_frame->adc_trajectory_point_size();
if (past_points_size == 0) {
AERROR << "No current trajectory point status";
return false;
}
auto input_renderering_start_time = std::chrono::system_clock::now();
cv::Mat input_feature;
if (!BirdviewImgFeatureRenderer::Instance()->RenderMultiChannelEnv(
*learning_data_frame, &input_feature)) {
AERROR << "Render multi-channel input image failed";
return false;
}
auto input_renderering_end_time = std::chrono::system_clock::now();
std::chrono::duration<double> rendering_diff =
input_renderering_end_time - input_renderering_start_time;
ADEBUG << "trajectory imitation model input renderer used time: "
<< rendering_diff.count() * 1000 << " ms.";
auto input_preprocessing_start_time = std::chrono::system_clock::now();
cv::Mat input_feature_float;
input_feature.convertTo(input_feature_float, CV_32F, 1.0 / 255);
torch::Tensor input_feature_tensor =
torch::from_blob(input_feature_float.data,
{1, input_feature_float.rows, input_feature_float.cols,
input_feature_float.channels()});
input_feature_tensor = input_feature_tensor.permute({0, 3, 1, 2});
for (int i = 0; i < input_feature_float.channels(); ++i) {
input_feature_tensor[0][i] = input_feature_tensor[0][i].sub(0.5).div(0.5);
}
auto input_preprocessing_end_time = std::chrono::system_clock::now();
std::chrono::duration<double> preprocessing_diff =
input_preprocessing_end_time - input_preprocessing_start_time;
ADEBUG << "trajectory imitation model input preprocessing used time: "
<< preprocessing_diff.count() * 1000 << " ms.";
auto inference_start_time = std::chrono::system_clock::now();
std::vector<torch::jit::IValue> torch_inputs;
torch_inputs.push_back(input_feature_tensor.to(device_));
at::Tensor torch_output_tensor =
model_.forward(torch_inputs).toTensor().to(torch::kCPU);
auto inference_end_time = std::chrono::system_clock::now();
std::chrono::duration<double> inference_diff =
inference_end_time - inference_start_time;
ADEBUG << "trajectory imitation model inference used time: "
<< inference_diff.count() * 1000 << " ms.";
output_postprocessing(torch_output_tensor, learning_data_frame);
return true;
}
bool TrajectoryImitationLibtorchInference::DoCNNLSTMMODELInference(
LearningDataFrame* const learning_data_frame) {
const int past_points_size = learning_data_frame->adc_trajectory_point_size();
if (past_points_size == 0) {
AERROR << "No current trajectory point status";
return false;
}
auto input_renderering_start_time = std::chrono::system_clock::now();
cv::Mat input_feature;
if (!BirdviewImgFeatureRenderer::Instance()->RenderMultiChannelEnv(
*learning_data_frame, &input_feature)) {
AERROR << "Render multi-channel input image failed";
return false;
}
auto input_renderering_end_time = std::chrono::system_clock::now();
std::chrono::duration<double> rendering_diff =
input_renderering_end_time - input_renderering_start_time;
ADEBUG << "trajectory imitation model input renderer used time: "
<< rendering_diff.count() * 1000 << " ms.";
auto input_preprocessing_start_time = std::chrono::system_clock::now();
cv::Mat input_feature_float;
input_feature.convertTo(input_feature_float, CV_32F, 1.0 / 255);
torch::Tensor input_feature_tensor =
torch::from_blob(input_feature_float.data,
{1, input_feature_float.rows, input_feature_float.cols,
input_feature_float.channels()});
input_feature_tensor = input_feature_tensor.permute({0, 3, 1, 2});
for (int i = 0; i < input_feature_float.channels(); ++i) {
input_feature_tensor[0][i] = input_feature_tensor[0][i].sub(0.5).div(0.5);
}
const auto& current_traj_point =
learning_data_frame
->adc_trajectory_point(
learning_data_frame->adc_trajectory_point_size() - 1)
.trajectory_point();
torch::Tensor current_v_tensor = torch::zeros({1, 1});
const double current_v = current_traj_point.v();
current_v_tensor[0][0] = current_v;
auto input_preprocessing_end_time = std::chrono::system_clock::now();
std::chrono::duration<double> preprocessing_diff =
input_preprocessing_end_time - input_preprocessing_start_time;
ADEBUG << "trajectory imitation model input preprocessing used time: "
<< preprocessing_diff.count() * 1000 << " ms.";
auto inference_start_time = std::chrono::system_clock::now();
std::vector<torch::jit::IValue> torch_inputs;
torch_inputs.push_back(
c10::ivalue::Tuple::create({std::move(input_feature_tensor.to(device_)),
std::move(current_v_tensor.to(device_))}));
at::Tensor torch_output_tensor =
model_.forward(torch_inputs).toTensor().to(torch::kCPU);
auto inference_end_time = std::chrono::system_clock::now();
std::chrono::duration<double> inference_diff =
inference_end_time - inference_start_time;
ADEBUG << "trajectory imitation model inference used time: "
<< inference_diff.count() * 1000 << " ms.";
output_postprocessing(torch_output_tensor, learning_data_frame);
return true;
}
bool TrajectoryImitationLibtorchInference::DoInference(
LearningDataFrame* const learning_data_frame) {
switch (config_.model_type()) {
case LearningModelInferenceTaskConfig::CNN: {
if (!DoCNNMODELInference(learning_data_frame)) {
return false;
}
break;
}
case LearningModelInferenceTaskConfig::CNN_LSTM: {
if (!DoCNNLSTMMODELInference(learning_data_frame)) {
return false;
}
break;
}
default: {
AERROR << "Configured model type not defined and implemented";
break;
}
}
return true;
}
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/model_inference/model_inference_test.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "gtest/gtest.h"
#include "gflags/gflags.h"
#include "modules/planning/proto/learning_data.pb.h"
#include "modules/planning/proto/planning_semantic_map_config.pb.h"
#include "modules/planning/proto/task_config.pb.h"
#include "cyber/common/file.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/planning/common/planning_gflags.h"
#include "modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.h"
#include "modules/planning/learning_based/model_inference/trajectory_imitation_libtorch_inference.h"
namespace apollo {
namespace planning {
DECLARE_string(test_model_inference_task_config_file);
DECLARE_string(test_data_frame_file);
DEFINE_string(test_model_inference_task_config_file, "",
"inference task config");
DEFINE_string(test_data_frame_file, "", "test data frame");
/**
* @class ModelInferenceTest
* @brief This is an unit test testing on inference function
*/
class ModelInferenceTest : public ::testing::Test {
public:
virtual ~ModelInferenceTest() = default;
virtual void SetUp() {
FLAGS_map_dir = "/apollo/modules/map/data/sunnyvale_with_two_offices";
FLAGS_base_map_filename = "base_map.bin";
}
};
TEST_F(ModelInferenceTest, trajectory_imitation_libtorch_inference) {
FLAGS_test_model_inference_task_config_file =
"/apollo/modules/planning/testdata/model_inference_test/"
"test_libtorch_inference_task_config.pb.txt";
FLAGS_test_data_frame_file =
"/apollo/modules/planning/testdata/model_inference_test/"
"learning_data_sunnyvale_with_two_offices.bin";
FLAGS_planning_birdview_img_feature_renderer_config_file =
"/apollo/modules/planning/conf/planning_semantic_map_config.pb.txt";
LearningModelInferenceTaskConfig config;
ACHECK(apollo::cyber::common::GetProtoFromFile(
FLAGS_test_model_inference_task_config_file, &config))
<< "Failed to load config file "
<< FLAGS_test_model_inference_task_config_file;
LearningDataFrame test_data_frame;
ACHECK(apollo::cyber::common::GetProtoFromFile(FLAGS_test_data_frame_file,
&test_data_frame))
<< "Failed to load data frame file " << FLAGS_test_data_frame_file;
PlanningSemanticMapConfig renderer_config;
ACHECK(apollo::cyber::common::GetProtoFromFile(
FLAGS_planning_birdview_img_feature_renderer_config_file,
&renderer_config))
<< "Failed to load renderer config"
<< FLAGS_planning_birdview_img_feature_renderer_config_file;
BirdviewImgFeatureRenderer::Instance()->Init(renderer_config);
std::unique_ptr<ModelInference> trajectory_imitation_libtorch_inference =
std::unique_ptr<ModelInference>(
new TrajectoryImitationLibtorchInference(config));
ACHECK(trajectory_imitation_libtorch_inference->LoadModel())
<< "Failed to load model in libtorch inference";
ACHECK(trajectory_imitation_libtorch_inference->DoInference(&test_data_frame))
<< "Failed to inference trajectory_imitation_model";
}
} // namespace planning
} // namespace apollo
int main(int argc, char** argv) {
::testing::InitGoogleTest(&argc, argv);
::google::ParseCommandLineFlags(&argc, &argv, true);
return RUN_ALL_TESTS();
}
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/model_inference/model_inference.h
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
* @brief Define the model inference base class
*/
#pragma once
#include <string>
#include "modules/planning/proto/learning_data.pb.h"
#include "modules/planning/proto/task_config.pb.h"
namespace apollo {
namespace planning {
class ModelInference {
public:
/**
* @brief Constructor
*/
explicit ModelInference(const LearningModelInferenceTaskConfig& config)
: config_(config) {}
/**
* @brief Destructor
*/
virtual ~ModelInference() = default;
/**
* @brief Get the name of model inference
*/
virtual std::string GetName() = 0;
/**
* @brief load a learned model
*/
virtual bool LoadModel() = 0;
/**
* @brief inference a learned model
*/
virtual bool DoInference(LearningDataFrame* learning_data_frame) = 0;
protected:
LearningModelInferenceTaskConfig config_;
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/model_inference/BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
PLANNING_COPTS = ["-DMODULE_NAME=\\\"planning\\\""]
cc_library(
name = "model_inference",
hdrs = ["model_inference.h"],
copts = PLANNING_COPTS,
deps = [
"//modules/planning/proto:learning_data_cc_proto",
"//modules/planning/proto:task_config_cc_proto",
],
)
cc_library(
name = "trajectory_imitation_libtorch_inference",
srcs = ["trajectory_imitation_libtorch_inference.cc"],
hdrs = ["trajectory_imitation_libtorch_inference.h"],
copts = PLANNING_COPTS,
deps = [
":model_inference",
"//modules/common/math",
"//modules/common/util",
"//modules/planning/common/util:math_util_lib",
"//modules/planning/learning_based/img_feature_renderer:birdview_img_feature_renderer",
"//third_party:libtorch",
"@opencv//:core",
],
)
cc_test(
name = "model_inference_test",
size = "medium",
srcs = ["model_inference_test.cc"],
copts = PLANNING_COPTS,
deps = [
":model_inference",
":trajectory_imitation_libtorch_inference",
"//modules/common/configs:config_gflags",
"//modules/planning/common:planning_gflags",
"//modules/planning/learning_based/img_feature_renderer:birdview_img_feature_renderer",
"@com_google_googletest//:gtest",
],
linkstatic = True,
tags = ["exclude"]
)
cpplint()
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/model_inference/trajectory_imitation_libtorch_inference.h
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
* @brief Define the trajectory_imitation_libtorch_inference class
*/
#pragma once
#include <string>
#include "torch/extension.h"
#include "torch/script.h"
#include "modules/planning/learning_based/model_inference/model_inference.h"
namespace apollo {
namespace planning {
class TrajectoryImitationLibtorchInference : public ModelInference {
public:
/**
* @brief Constructor
*/
explicit TrajectoryImitationLibtorchInference(
const LearningModelInferenceTaskConfig& config);
/**
* @brief Destructor
*/
virtual ~TrajectoryImitationLibtorchInference() = default;
/**
* @brief Get the name of model inference
*/
std::string GetName() override { return "TRAJECTORY_IMITATION_INFERENCE"; };
/**
* @brief load a learned model
*/
bool LoadModel() override;
/**
* @brief inference a learned model
* @param learning_data_frame input and output intermediate for inference
*/
bool DoInference(LearningDataFrame* const learning_data_frame) override;
private:
/**
* @brief load a CNN model
*/
bool LoadCNNModel();
/**
* @brief load a CNN_LSTM like model
*/
bool LoadCNNLSTMModel();
/**
* @brief inference a CNN model
* @param learning_data_frame input and output intermediate for inference
*/
bool DoCNNMODELInference(LearningDataFrame* const learning_data_frame);
/**
* @brief inference a CNN_LSTM like model
* @param learning_data_frame input and output intermediate for inference
*/
bool DoCNNLSTMMODELInference(LearningDataFrame* const learning_data_frame);
/**
* @brief postprocessing model trajectory output
*/
void output_postprocessing(const at::Tensor& torch_output_tensor,
LearningDataFrame* const learning_data_frame);
torch::jit::script::Module model_;
torch::Device device_;
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.h
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
* @brief Define the birdview img feature renderer class
*/
#pragma once
#include <string>
#include <utility>
#include <vector>
#include "cyber/common/macros.h"
#include "modules/common/configs/vehicle_config_helper.h"
#include "modules/planning/proto/learning_data.pb.h"
#include "modules/planning/proto/planning_semantic_map_config.pb.h"
#include "opencv2/opencv.hpp"
namespace apollo {
namespace planning {
class BirdviewImgFeatureRenderer {
public:
/**
* @brief Destructor
*/
virtual ~BirdviewImgFeatureRenderer() = default;
/**
* @brief initialize renderer
* @param config configuration
*/
bool Init(const PlanningSemanticMapConfig& config);
/**
* @brief generate multi-channel img as input feature for certain model
* @param learning_data_frame a proto message containing info for renderering
* @param img_feature a pointer to opencv img to render on
*/
bool RenderMultiChannelEnv(const LearningDataFrame& learning_data_frame,
cv::Mat* img_feature);
/**
* @brief generate bgr img as input feature for certain model
* @param learning_data_frame a proto message containing info for renderering
* @param img_feature a pointer to opencv img to render on
*/
bool RenderBGREnv(const LearningDataFrame& learning_data_frame,
cv::Mat* img_feature);
/**
* @brief generate a two channel img, one for cur box, one for cur point
* @param learning_data_frame a proto message containing info for renderering
* @param img_feature a pointer to opencv img to render on
*/
bool RenderCurrentEgoStatus(const LearningDataFrame& learning_data_frame,
cv::Mat* img_feature);
/**
* @brief generate a single channel img
* @param learning_data_frame a proto message containing info for renderering
* @param img_feature a pointer to opencv img to render on
*/
bool RenderCurrentEgoPoint(const LearningDataFrame& learning_data_frame,
cv::Mat* img_feature);
/**
* @brief generate a single channel img
* @param learning_data_frame a proto message containing info for renderering
* @param img_feature a pointer to opencv img to render on
*/
bool RenderCurrentEgoBox(const LearningDataFrame& learning_data_frame,
cv::Mat* img_feature);
private:
/**
* @brief load a rgb road map from current map
* @param map_file complete map file name
*/
bool LoadRoadMap(const std::string& map_file);
/**
* @brief crop a rgb speed limit map from current map
* @param map_file complete map file name
*/
bool LoadSpeedlimitMap(const std::string& map_file);
/**
* @brief crop local roadmap around ego position from base img
* @param ego_current_x current ego vehicle x coordinates
* @param ego_current_y current ego vehicle y coordinates
* @param ego_current_heading current ego vehicle heading
* @param img_feature a pointer to opencv img to render on
*/
bool RenderLocalRoadMap(const double ego_current_x,
const double ego_current_y,
const double ego_current_heading,
cv::Mat* img_feature);
/**
* @brief crop local speedlimit around ego position from base img
* @param ego_current_x current ego vehicle x coordinates
* @param ego_current_y current ego vehicle y coordinates
* @param ego_current_heading current ego vehicle heading
* @param img_feature a pointer to opencv img to render on
*/
bool RenderLocalSpeedlimitMap(const double ego_current_x,
const double ego_current_y,
const double ego_current_heading,
cv::Mat* img_feature);
/**
* @brief generate a single channel img, current position is highlighted
* @param img_feature a pointer to opencv img to render on
* @param gray_scale color value if img_feature is 1 channel
* @param bgr_color color value if img_feature is 3 channel bgr
*/
bool RenderEgoCurrentPoint(cv::Mat* img_feature,
const cv::Scalar& gray_scale = cv::Scalar(255),
const cv::Scalar& bgr_color = cv::Scalar(255, 255,
255));
/**
* @brief generate a single channel img, current vehicle box is highlighted
* @param img_feature a pointer to opencv img to render on
* @param gray_scale color value if img_feature is 1 channel
* @param bgr_color color value if img_feature is 3 channel bgr
*/
bool RenderEgoCurrentBox(cv::Mat* img_feature,
const cv::Scalar& gray_scale = cv::Scalar(255),
const cv::Scalar& bgr_color = cv::Scalar(255, 255,
255));
/**
* @brief generate a single channel img, past point is highlighted
* @param learning_data_frame a proto message containing info for renderering
* @param current_time_sec current ego time in second
* @param ego_current_x current ego vehicle x coordinates
* @param ego_current_y current ego vehicle y coordinates
* @param ego_current_heading current ego vehicle heading
* @param img_feature a pointer to opencv img to render on
* @param gray_scale color value if img_feature is 1 channel
* @param bgr_color color value if img_feature is 3 channel bgr
*/
bool RenderEgoPastPoint(
const LearningDataFrame& learning_data_frame,
const double current_time_sec, const double ego_current_x,
const double ego_current_y, const double ego_current_heading,
cv::Mat* img_feature, const cv::Scalar& gray_scale = cv::Scalar(255),
const cv::Scalar& bgr_color = cv::Scalar(255, 255, 255));
/**
* @brief generate a single channel img, past obstacle box is highlighted.
obstacles are assumed to be in ego vehicle coordiantes where ego car faces
toward EAST, so rotation to NORTH is done
* @param learning_data_frame a proto message containing info for renderering
* @param current_time_sec current ego time in second
* @param img_feature a pointer to opencv img to render on
* @param gray_scale color value if img_feature is 1 channel
* @param bgr_color color value if img_feature is 3 channel bgr
*/
bool RenderObsPastBox(const LearningDataFrame& learning_data_frame,
const double current_time_sec, cv::Mat* img_feature,
const cv::Scalar& gray_scale = cv::Scalar(255),
const cv::Scalar& bgr_color = cv::Scalar(0, 255, 0));
/**
* @brief generate a single channel img, predicted obstacle box is
highlighted. obstacles are assumed to be in ego vehicle coordiantes where
ego car faces toward EAST, so rotation to NORTH is done
* @param learning_data_frame a proto message containing info for renderering
* @param current_time_sec current ego time in second
* @param img_feature a pointer to opencv img to render on
* @param gray_scale color value if img_feature is 1 channel
* @param bgr_color color value if img_feature is 3 channel bgr
*/
bool RenderObsFutureBox(const LearningDataFrame& learning_data_frame,
const double current_time_sec, cv::Mat* img_feature,
const cv::Scalar& gray_scale = cv::Scalar(255),
const cv::Scalar& bgr_color = cv::Scalar(0, 0, 255));
/**
* @brief generate a single channel img, trafficlight related lanes are
* highlighted
* @param learning_data_frame a proto message containing info for renderering
* @param ego_current_x current ego vehicle x coordinates
* @param ego_current_y current ego vehicle y coordinates
* @param ego_current_heading current ego vehicle heading
* @param img_feature a pointer to opencv img to render on
* @param gray_scale color value if img_feature is 1 channel
* @param bgr_color color value if img_feature is 3 channel bgr
*/
bool RenderTrafficLight(
const LearningDataFrame& learning_data_frame, const double ego_current_x,
const double ego_current_y, const double ego_current_heading,
cv::Mat* img_feature, const cv::Scalar& gray_scale = cv::Scalar(255),
const cv::Scalar& bgr_color = cv::Scalar(255, 255, 255));
/**
* @brief generate a single channel img, close routing lanes are highlighted
* @param learning_data_frame a proto message containing info for renderering
* @param ego_current_x current ego vehicle x coordinates
* @param ego_current_y current ego vehicle y coordinates
* @param ego_current_heading current ego vehicle heading
* @param img_feature a pointer to opencv img to render on
* @param gray_scale color value if img_feature is 1 channel
* @param bgr_color color value if img_feature is 3 channel bgr
*/
bool RenderRouting(const LearningDataFrame& learning_data_frame,
const double ego_current_x, const double ego_current_y,
const double ego_current_heading, cv::Mat* img_feature,
const cv::Scalar& gray_scale = cv::Scalar(255),
const cv::Scalar& bgr_color = cv::Scalar(255, 255, 255));
/**
* @brief crop a img by ego around ego position from base img
* @param ego_x ego point x coordinates
* @param ego_y ego point y coordinates
* @param ego_heading ego point heading
* @param base_map the large map to crop on
* @param img_feature a pointer to opencv img to render on
*/
bool CropByPose(const double ego_x, const double ego_y,
const double ego_heading, const cv::Mat& base_map,
cv::Mat* img_feature);
/**
* @brief transform a relative x,y double coordinates in "y axis point up"
* axis to img "y axis point down" integer coordinates
* @param local_point_x relative x coordinates
* @param local_point_y relative y coordinates
* @param center_point_idx_x relative x coordinates
* @param center_point_idx_y relative y coordinates
* @return local_point indexes on the image in cv::Point2i
*/
cv::Point2i GetPointImgIdx(const double local_point_x,
const double local_point_y,
const int center_point_idx_x,
const int center_point_idx_y);
/**
* @brief translate a point wrt to a center and rotate around it
* @param point_x world x coordinates
* @param point_y world y coordinates
* @param center_x center world x coordinates
* @param center_y center world y coordinates
* @param theta rotation angle wrt to center
* @return affined local_point indexes on the image
*/
cv::Point2i GetAffinedPointImgIdx(const double point_x, const double point_y,
const double center_x,
const double center_y, const double theta);
/**
* @brief translate a box wrt to a center and rotate around it
* @param box_center_x box center world x coordinates
* @param box_center_y box center world y coordinates
* @param box_theta rotation angle for box
* @param box_corner_points east oriented box corner coordinates relative to
* box center
* @param center_x center world x coordinates
* @param center_y center world y coordinates
* @param theta rotation angle wrt to center
* @return affined local_box indexes on the image
*/
std::vector<cv::Point2i> GetAffinedBoxImgIdx(
const double box_center_x, const double box_center_y,
const double box_theta,
const std::vector<std::pair<double, double>>& box_corner_points,
const double center_x, const double center_y, const double theta);
PlanningSemanticMapConfig config_;
common::VehicleConfig ego_vehicle_config_;
cv::Mat base_roadmap_img_;
cv::Mat base_speedlimit_img_;
double map_bottom_left_point_x_ = 0.0;
double map_bottom_left_point_y_ = 0.0;
cv::Mat ego_cur_point_img_;
cv::Mat ego_cur_box_img_;
cv::Mat stacked_ego_cur_status_img_;
DECLARE_SINGLETON(BirdviewImgFeatureRenderer)
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/img_feature_renderer/BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "birdview_img_feature_renderer",
srcs = ["birdview_img_feature_renderer.cc"],
hdrs = ["birdview_img_feature_renderer.h"],
copts = ["-DMODULE_NAME=\\\"planning\\\""],
deps = [
"//cyber",
"//modules/common/configs:vehicle_config_helper",
"//modules/common/util",
"//modules/map/hdmap:hdmap_util",
"//modules/common_msgs/perception_msgs:traffic_light_detection_cc_proto",
"//modules/planning/proto:learning_data_cc_proto",
"//modules/planning/proto:planning_semantic_map_config_cc_proto",
"@opencv//:imgcodecs",
],
)
cpplint()
| 0
|
apollo_public_repos/apollo/modules/planning/learning_based
|
apollo_public_repos/apollo/modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.h"
#include <string>
#include <utility>
#include <vector>
#include "cyber/common/log.h"
#include "modules/common/configs/config_gflags.h"
#include "modules/map/hdmap/hdmap_util.h"
#include "modules/common_msgs/perception_msgs/traffic_light_detection.pb.h"
namespace apollo {
namespace planning {
// TODO(Jinyun): take map name from upstream and move to conf
static const char ROADMAP_IMG_PATH[] =
"/apollo/modules/planning/data/semantic_map/sunnyvale_with_two_offices.png";
static const char SPEEDLIMITMAP_IMG_PATH[] =
"/apollo/modules/planning/data/semantic_map/"
"sunnyvale_with_two_offices_speedlimit.png";
BirdviewImgFeatureRenderer::BirdviewImgFeatureRenderer() {}
bool BirdviewImgFeatureRenderer::Init(const PlanningSemanticMapConfig& config) {
config_ = config;
ego_vehicle_config_ = common::VehicleConfigHelper::GetConfig();
// a redundant call to HDMapUtil::BaseMap() to save time for renderering when
// the basemap is not yet initialized in HDMapUtil
apollo::hdmap::HDMapUtil::BaseMap();
const std::string map_name =
FLAGS_map_dir.substr(FLAGS_map_dir.find_last_of("/") + 1);
if (map_name != "sunnyvale_with_two_offices" && map_name != "sunnyvale") {
AERROR << "Map other than sunnyvale_with_two_offices are not supported";
}
// TODO(Jinyun): add sunnyvale map or draw basemap online
if (map_name == "sunnyvale") {
AWARN << "use sunnyvale_with_two_offices for sunnyvale for now";
}
// TODO(Jinyun): move to a more managable place
map_bottom_left_point_x_ = 585875.3316302994;
map_bottom_left_point_y_ = 4139916.6342316796;
bool roadmap_img_status = LoadRoadMap(ROADMAP_IMG_PATH);
bool speedlimit_img_status = LoadSpeedlimitMap(SPEEDLIMITMAP_IMG_PATH);
if (!roadmap_img_status || !speedlimit_img_status) {
AERROR << "Base map image read failed";
return false;
}
ego_cur_point_img_ =
cv::Mat(config_.height(), config_.width(), CV_8UC1, cv::Scalar(0));
ego_cur_box_img_ =
cv::Mat(config_.height(), config_.width(), CV_8UC1, cv::Scalar(0));
bool render_ego_point_status = RenderEgoCurrentPoint(&ego_cur_point_img_);
bool render_ego_box_status = RenderEgoCurrentBox(&ego_cur_box_img_);
if (!render_ego_point_status || !render_ego_box_status) {
AERROR << "Ego point or box img rendering failed";
return false;
}
if (base_roadmap_img_.size[0] != base_speedlimit_img_.size[0] ||
base_roadmap_img_.size[1] != base_speedlimit_img_.size[1]) {
AERROR << "base map sizes doesn't match";
return false;
}
std::vector<cv::Mat> merge_imgs = {ego_cur_point_img_, ego_cur_box_img_};
cv::merge(merge_imgs, stacked_ego_cur_status_img_);
return true;
}
bool BirdviewImgFeatureRenderer::RenderMultiChannelEnv(
const LearningDataFrame& learning_data_frame, cv::Mat* img_feature) {
int ego_trajectory_point_history_size =
learning_data_frame.adc_trajectory_point_size();
if (ego_trajectory_point_history_size < 1) {
AERROR << "Ego past history is empty";
return false;
}
cv::Mat ego_past =
cv::Mat(config_.height(), config_.width(), CV_8UC1, cv::Scalar(0));
cv::Mat obs_past =
cv::Mat(config_.height(), config_.width(), CV_8UC1, cv::Scalar(0));
cv::Mat obs_future =
cv::Mat(config_.height(), config_.width(), CV_8UC1, cv::Scalar(0));
cv::Mat road_map =
cv::Mat(config_.height(), config_.width(), CV_8UC3, cv::Scalar(0, 0, 0));
cv::Mat routing =
cv::Mat(config_.height(), config_.width(), CV_8UC1, cv::Scalar(0));
cv::Mat speed_limit =
cv::Mat(config_.height(), config_.width(), CV_8UC3, cv::Scalar(0, 0, 0));
cv::Mat traffic_light =
cv::Mat(config_.height(), config_.width(), CV_8UC1, cv::Scalar(0));
const auto& current_traj_point = learning_data_frame.adc_trajectory_point(
ego_trajectory_point_history_size - 1);
const double current_time_sec = current_traj_point.timestamp_sec();
const auto& current_path_point =
current_traj_point.trajectory_point().path_point();
const double current_x = current_path_point.x();
const double current_y = current_path_point.y();
const double current_heading = current_path_point.theta();
if (!RenderEgoPastPoint(learning_data_frame, current_time_sec, current_x,
current_y, current_heading, &ego_past)) {
AERROR << "RenderEgoPastPoint failed";
return false;
}
if (!RenderObsPastBox(learning_data_frame, current_time_sec, &obs_past)) {
AERROR << "RenderObsPastBox failed";
return false;
}
if (!RenderObsFutureBox(learning_data_frame, current_time_sec, &obs_future)) {
AERROR << "RenderObsFutureBox failed";
return false;
}
if (!RenderLocalRoadMap(current_x, current_y, current_heading, &road_map)) {
AERROR << "RenderLocalRoadMap failed";
return false;
}
if (!RenderRouting(learning_data_frame, current_x, current_y, current_heading,
&routing)) {
AERROR << "RenderRouting failed";
return false;
}
if (!RenderLocalSpeedlimitMap(current_x, current_y, current_heading,
&speed_limit)) {
AERROR << "RenderLocalSpeedlimitMap failed";
return false;
}
if (!RenderTrafficLight(learning_data_frame, current_x, current_y,
current_heading, &traffic_light)) {
AERROR << "RenderTrafficLight failed";
return false;
}
std::vector<cv::Mat> merge_imgs = {ego_cur_box_img_, ego_past, obs_past,
obs_future, road_map, routing,
speed_limit, traffic_light};
cv::merge(merge_imgs, *img_feature);
return true;
}
bool BirdviewImgFeatureRenderer::RenderBGREnv(
const LearningDataFrame& learning_data_frame, cv::Mat* img_feature) {
int ego_trajectory_point_history_size =
learning_data_frame.adc_trajectory_point_size();
if (ego_trajectory_point_history_size < 1) {
AERROR << "Ego past history is empty";
return false;
}
cv::Mat bgr_canvas =
cv::Mat(config_.height(), config_.width(), CV_8UC3, cv::Scalar(0, 0, 0));
const auto& current_traj_point = learning_data_frame.adc_trajectory_point(
ego_trajectory_point_history_size - 1);
const double current_time_sec = current_traj_point.timestamp_sec();
const auto& current_path_point =
current_traj_point.trajectory_point().path_point();
const double current_x = current_path_point.x();
const double current_y = current_path_point.y();
const double current_heading = current_path_point.theta();
if (!RenderLocalRoadMap(current_x, current_y, current_heading, &bgr_canvas)) {
AERROR << "RenderLocalRoadMap failed";
return false;
}
if (!RenderRouting(learning_data_frame, current_x, current_y, current_heading,
&bgr_canvas)) {
AERROR << "RenderRouting failed";
return false;
}
if (!RenderTrafficLight(learning_data_frame, current_x, current_y,
current_heading, &bgr_canvas)) {
AERROR << "RenderTrafficLight failed";
return false;
}
if (!RenderObsPastBox(learning_data_frame, current_time_sec, &bgr_canvas)) {
AERROR << "RenderObsPastBox failed";
return false;
}
if (!RenderObsFutureBox(learning_data_frame, current_time_sec, &bgr_canvas)) {
AERROR << "RenderObsFutureBox failed";
return false;
}
if (!RenderEgoCurrentBox(&bgr_canvas)) {
AERROR << "RenderEgoCurrentBox failed";
return false;
}
if (!RenderEgoPastPoint(learning_data_frame, current_time_sec, current_x,
current_y, current_heading, &bgr_canvas)) {
AERROR << "RenderEgoPastPoint failed";
return false;
}
bgr_canvas.copyTo(*img_feature);
return true;
}
bool BirdviewImgFeatureRenderer::RenderCurrentEgoStatus(
const LearningDataFrame& learning_data_frame, cv::Mat* img_feature) {
stacked_ego_cur_status_img_.copyTo(*img_feature);
return true;
}
bool BirdviewImgFeatureRenderer::RenderCurrentEgoPoint(
const LearningDataFrame& learning_data_frame, cv::Mat* img_feature) {
ego_cur_point_img_.copyTo(*img_feature);
return true;
}
bool BirdviewImgFeatureRenderer::RenderCurrentEgoBox(
const LearningDataFrame& learning_data_frame, cv::Mat* img_feature) {
ego_cur_box_img_.copyTo(*img_feature);
return true;
}
bool BirdviewImgFeatureRenderer::LoadRoadMap(const std::string& map_file) {
base_roadmap_img_ = cv::imread(map_file);
return !base_roadmap_img_.empty();
}
bool BirdviewImgFeatureRenderer::LoadSpeedlimitMap(
const std::string& map_file) {
base_speedlimit_img_ = cv::imread(map_file);
return !base_speedlimit_img_.empty();
}
bool BirdviewImgFeatureRenderer::RenderLocalRoadMap(
const double ego_current_x, const double ego_current_y,
const double ego_current_heading, cv::Mat* img_feature) {
return CropByPose(ego_current_x, ego_current_y, ego_current_heading,
base_roadmap_img_, img_feature);
}
bool BirdviewImgFeatureRenderer::RenderLocalSpeedlimitMap(
const double ego_current_x, const double ego_current_y,
const double ego_current_heading, cv::Mat* img_feature) {
return CropByPose(ego_current_x, ego_current_y, ego_current_heading,
base_speedlimit_img_, img_feature);
}
bool BirdviewImgFeatureRenderer::RenderEgoCurrentPoint(
cv::Mat* img_feature, const cv::Scalar& gray_scale,
const cv::Scalar& bgr_color) {
cv::Scalar color;
if ((*img_feature).channels() == 3) {
color = bgr_color;
} else {
color = gray_scale;
}
(*img_feature).at<uchar>(config_.ego_idx_y(), config_.ego_idx_x()) = color[0];
return true;
}
bool BirdviewImgFeatureRenderer::RenderEgoCurrentBox(
cv::Mat* img_feature, const cv::Scalar& gray_scale,
const cv::Scalar& bgr_color) {
cv::Scalar color;
if ((*img_feature).channels() == 3) {
color = bgr_color;
} else {
color = gray_scale;
}
const auto& param = ego_vehicle_config_.vehicle_param();
std::vector<cv::Point2i> box_corner_points =
GetAffinedBoxImgIdx(0.0, 0.0, M_PI_2,
{
std::make_pair(param.front_edge_to_center(),
param.left_edge_to_center()),
std::make_pair(param.front_edge_to_center(),
-param.right_edge_to_center()),
std::make_pair(-param.back_edge_to_center(),
-param.right_edge_to_center()),
std::make_pair(-param.back_edge_to_center(),
param.left_edge_to_center()),
},
0.0, 0.0, 0.0);
cv::fillPoly(
*img_feature,
std::vector<std::vector<cv::Point>>({std::move(box_corner_points)}),
color);
return true;
}
bool BirdviewImgFeatureRenderer::RenderEgoPastPoint(
const LearningDataFrame& learning_data_frame, const double current_time_sec,
const double ego_current_x, const double ego_current_y,
const double ego_current_heading, cv::Mat* img_feature,
const cv::Scalar& gray_scale, const cv::Scalar& bgr_color) {
cv::Scalar color;
if ((*img_feature).channels() == 3) {
color = bgr_color;
} else {
color = gray_scale;
}
const auto& ego_past = learning_data_frame.adc_trajectory_point();
cv::Scalar gradual_change_color;
for (const auto& ego_past_point : ego_past) {
const double relative_time =
current_time_sec - ego_past_point.timestamp_sec();
if (relative_time > config_.max_ego_past_horizon()) {
continue;
}
gradual_change_color =
color * (1 - relative_time / config_.max_ego_past_horizon());
cv::circle(*img_feature,
GetAffinedPointImgIdx(
ego_past_point.trajectory_point().path_point().x(),
ego_past_point.trajectory_point().path_point().y(),
ego_current_x, ego_current_y, M_PI_2 - ego_current_heading),
2, gradual_change_color, -1);
}
return true;
}
bool BirdviewImgFeatureRenderer::RenderObsPastBox(
const LearningDataFrame& learning_data_frame, const double current_time_sec,
cv::Mat* img_feature, const cv::Scalar& gray_scale,
const cv::Scalar& bgr_color) {
cv::Scalar color;
if ((*img_feature).channels() == 3) {
color = bgr_color;
} else {
color = gray_scale;
}
for (const auto& obstacle : learning_data_frame.obstacle()) {
if (obstacle.obstacle_trajectory().evaluated_trajectory_point_size() == 0) {
continue;
}
const double obstacle_box_length = obstacle.length();
const double obstacle_box_width = obstacle.width();
const auto& past_traj =
obstacle.obstacle_trajectory().evaluated_trajectory_point();
cv::Scalar gradual_change_color;
for (const auto& traj_point : past_traj) {
const double relative_time =
current_time_sec - traj_point.timestamp_sec();
if (relative_time > config_.max_obs_past_horizon()) {
continue;
}
gradual_change_color =
color * (1 - relative_time / config_.max_obs_past_horizon());
const auto& path_point = traj_point.trajectory_point().path_point();
std::vector<cv::Point2i> box_corner_points = GetAffinedBoxImgIdx(
path_point.x(), path_point.y(), M_PI_2 + path_point.theta(),
{
std::make_pair(obstacle_box_length / 2, obstacle_box_width / 2),
std::make_pair(obstacle_box_length / 2, -obstacle_box_width / 2),
std::make_pair(-obstacle_box_length / 2, -obstacle_box_width / 2),
std::make_pair(-obstacle_box_length / 2, obstacle_box_width / 2),
},
0.0, 0.0, M_PI_2);
cv::fillPoly(
*img_feature,
std::vector<std::vector<cv::Point>>({std::move(box_corner_points)}),
color);
}
}
return true;
}
bool BirdviewImgFeatureRenderer::RenderObsFutureBox(
const LearningDataFrame& learning_data_frame, const double current_time_sec,
cv::Mat* img_feature, const cv::Scalar& gray_scale,
const cv::Scalar& bgr_color) {
cv::Scalar color;
if ((*img_feature).channels() == 3) {
color = bgr_color;
} else {
color = gray_scale;
}
for (const auto& obstacle : learning_data_frame.obstacle()) {
const double obstacle_box_length = obstacle.length();
const double obstacle_box_width = obstacle.width();
if (obstacle.obstacle_prediction().is_static()) {
const auto& past_traj_points_size =
obstacle.obstacle_trajectory().evaluated_trajectory_point_size();
if (past_traj_points_size == 0) {
AERROR << "obstacle[" << obstacle.id()
<< "] is static without tracking history points";
return false;
}
const auto& last_past_traj_point =
obstacle.obstacle_trajectory().evaluated_trajectory_point(
past_traj_points_size - 1);
const auto& path_point =
last_past_traj_point.trajectory_point().path_point();
std::vector<cv::Point2i> box_corner_points = GetAffinedBoxImgIdx(
path_point.x(), path_point.y(), M_PI_2 + path_point.theta(),
{
std::make_pair(obstacle_box_length / 2, obstacle_box_width / 2),
std::make_pair(obstacle_box_length / 2, -obstacle_box_width / 2),
std::make_pair(-obstacle_box_length / 2, -obstacle_box_width / 2),
std::make_pair(-obstacle_box_length / 2, obstacle_box_width / 2),
},
0.0, 0.0, M_PI_2);
cv::fillPoly(
*img_feature,
std::vector<std::vector<cv::Point>>({std::move(box_corner_points)}),
color);
continue;
}
const auto& predicted_traj_size =
obstacle.obstacle_prediction().trajectory_size();
if (predicted_traj_size == 0) {
AWARN << "obstacle[" << obstacle.id() << "] has no prediction trajectory";
continue;
}
int max_prob = 0;
int max_prob_idx = 0;
for (int i = 0; i < predicted_traj_size; ++i) {
const auto& trajectory = obstacle.obstacle_prediction().trajectory(i);
if (trajectory.probability() > max_prob) {
max_prob = trajectory.probability();
max_prob_idx = i;
}
}
const auto& predicted_traj = obstacle.obstacle_prediction()
.trajectory(max_prob_idx)
.trajectory_point();
cv::Scalar gradual_change_color;
for (const auto& traj_point : predicted_traj) {
const double relative_time =
traj_point.timestamp_sec() - current_time_sec;
if (relative_time > config_.max_obs_future_horizon()) {
break;
}
gradual_change_color =
color * relative_time / config_.max_obs_past_horizon();
const auto& path_point = traj_point.trajectory_point().path_point();
std::vector<cv::Point2i> box_corner_points = GetAffinedBoxImgIdx(
path_point.x(), path_point.y(), M_PI_2 + path_point.theta(),
{
std::make_pair(obstacle_box_length / 2, obstacle_box_width / 2),
std::make_pair(obstacle_box_length / 2, -obstacle_box_width / 2),
std::make_pair(-obstacle_box_length / 2, -obstacle_box_width / 2),
std::make_pair(-obstacle_box_length / 2, obstacle_box_width / 2),
},
0.0, 0.0, M_PI_2);
cv::fillPoly(
*img_feature,
std::vector<std::vector<cv::Point>>({std::move(box_corner_points)}),
color);
}
}
return true;
}
bool BirdviewImgFeatureRenderer::RenderTrafficLight(
const LearningDataFrame& learning_data_frame, const double ego_current_x,
const double ego_current_y, const double ego_current_heading,
cv::Mat* img_feature, const cv::Scalar& gray_scale,
const cv::Scalar& bgr_color) {
cv::Scalar color;
if ((*img_feature).channels() == 3) {
color = bgr_color;
} else {
color = gray_scale;
}
for (const auto& traffic_light_status :
learning_data_frame.traffic_light_detection().traffic_light()) {
const auto& traffic_light =
apollo::hdmap::HDMapUtil::BaseMap().GetSignalById(
hdmap::MakeMapId(traffic_light_status.id()));
if (traffic_light == nullptr) {
AERROR << "traffic_light [" << traffic_light_status.id() << "] not found";
return false;
}
if (traffic_light_status.color() == perception::TrafficLight::RED) {
color = cv::Scalar(255);
} else if (traffic_light_status.color() ==
perception::TrafficLight::YELLOW) {
color = cv::Scalar(192);
} else {
color = cv::Scalar(128);
}
for (const auto& overlap_id : traffic_light->signal().overlap_id()) {
const auto& overlap =
apollo::hdmap::HDMapUtil::BaseMap().GetOverlapById(overlap_id);
if (overlap == nullptr) {
AERROR << "overlap [" << overlap_id.id() << "] not found";
return false;
}
for (const auto& overlap_object : overlap->overlap().object()) {
if (!overlap_object.has_lane_overlap_info()) {
continue;
}
const auto& lane = apollo::hdmap::HDMapUtil::BaseMap().GetLaneById(
overlap_object.id());
if (lane == nullptr) {
AERROR << "lane [" << overlap_object.id().id() << "] not found";
return false;
}
for (const auto& segment : lane->lane().central_curve().segment()) {
const int segment_point_size = segment.line_segment().point_size();
for (int i = 0; i < segment_point_size - 1; ++i) {
const auto& p0 = GetAffinedPointImgIdx(
segment.line_segment().point(i).x(),
segment.line_segment().point(i).y(), ego_current_x,
ego_current_y, M_PI_2 - ego_current_heading);
const auto& p1 = GetAffinedPointImgIdx(
segment.line_segment().point(i + 1).x(),
segment.line_segment().point(i + 1).y(), ego_current_x,
ego_current_y, M_PI_2 - ego_current_heading);
cv::line(*img_feature, p0, p1, color, 4);
}
}
}
}
}
return true;
}
bool BirdviewImgFeatureRenderer::RenderRouting(
const LearningDataFrame& learning_data_frame, const double ego_current_x,
const double ego_current_y, const double ego_current_heading,
cv::Mat* img_feature, const cv::Scalar& gray_scale,
const cv::Scalar& bgr_color) {
cv::Scalar color;
if ((*img_feature).channels() == 3) {
color = bgr_color;
} else {
color = gray_scale;
}
const int routing_lanes_size =
learning_data_frame.routing().local_routing_lane_id_size();
if (routing_lanes_size == 0) {
AERROR << "routing is empty";
return false;
}
cv::Scalar color_gradient = color / routing_lanes_size;
for (int i = 0; i < routing_lanes_size; ++i) {
const cv::Scalar routing_color = color - color_gradient * i;
const auto& lane =
apollo::hdmap::HDMapUtil::BaseMap().GetLaneById(hdmap::MakeMapId(
learning_data_frame.routing().local_routing_lane_id(i)));
if (lane == nullptr) {
AERROR << "lane ["
<< learning_data_frame.routing().local_routing_lane_id(i)
<< "] not found";
return false;
}
for (const auto& segment : lane->lane().central_curve().segment()) {
const int segment_point_size = segment.line_segment().point_size();
for (int i = 0; i < segment_point_size - 1; ++i) {
const auto& p0 = GetAffinedPointImgIdx(
segment.line_segment().point(i).x(),
segment.line_segment().point(i).y(), ego_current_x, ego_current_y,
M_PI_2 - ego_current_heading);
const auto& p1 = GetAffinedPointImgIdx(
segment.line_segment().point(i + 1).x(),
segment.line_segment().point(i + 1).y(), ego_current_x,
ego_current_y, M_PI_2 - ego_current_heading);
cv::line(*img_feature, p0, p1, routing_color, 12);
}
}
}
return true;
}
bool BirdviewImgFeatureRenderer::CropByPose(const double ego_x,
const double ego_y,
const double ego_heading,
const cv::Mat& base_map,
cv::Mat* img_feature) {
// use dimension of base_roadmap_img as it's assumed that all base maps have
// the same size
cv::Point2i ego_img_idx = GetPointImgIdx(ego_x - map_bottom_left_point_x_,
ego_y - map_bottom_left_point_y_, 0,
base_roadmap_img_.size[0]);
if (ego_img_idx.x < 0 || ego_img_idx.x + 1 > base_roadmap_img_.size[1] ||
ego_img_idx.y < 0 || ego_img_idx.y + 1 > base_roadmap_img_.size[0]) {
AERROR << "ego vehicle position out of bound of base map";
return false;
}
const int rough_radius = static_cast<int>(sqrt(
config_.height() * config_.height() + config_.width() * config_.width()));
if (ego_img_idx.x - rough_radius < 0 || ego_img_idx.y - rough_radius < 0) {
AERROR << "cropping out of bound of base map";
return false;
}
cv::Rect rough_rect(ego_img_idx.x - rough_radius,
ego_img_idx.y - rough_radius, 2 * rough_radius,
2 * rough_radius);
cv::Mat rotation_matrix =
cv::getRotationMatrix2D(cv::Point2i(rough_radius, rough_radius),
90.0 - ego_heading * 180.0 / M_PI, 1.0);
cv::Mat rotated_mat;
cv::warpAffine(base_map(rough_rect), rotated_mat, rotation_matrix,
base_map(rough_rect).size());
cv::Rect fine_rect(rough_radius - config_.ego_idx_x(),
rough_radius - config_.ego_idx_y(), config_.height(),
config_.width());
rotated_mat(fine_rect).copyTo(*img_feature);
return true;
}
cv::Point2i BirdviewImgFeatureRenderer::GetPointImgIdx(
const double local_point_x, const double local_point_y,
const int center_point_idx_x, const int center_point_idx_y) {
return cv::Point2i(
center_point_idx_x +
static_cast<int>(local_point_x / config_.resolution()),
center_point_idx_y -
static_cast<int>(local_point_y / config_.resolution()));
}
cv::Point2i BirdviewImgFeatureRenderer::GetAffinedPointImgIdx(
const double point_x, const double point_y, const double center_x,
const double center_y, const double theta) {
const double local_x = point_x - center_x;
const double local_y = point_y - center_y;
const double rotated_local_x = local_x * cos(theta) - local_y * sin(theta);
const double rotated_local_y = local_x * sin(theta) + local_y * cos(theta);
return GetPointImgIdx(rotated_local_x, rotated_local_y, config_.ego_idx_x(),
config_.ego_idx_y());
}
std::vector<cv::Point2i> BirdviewImgFeatureRenderer::GetAffinedBoxImgIdx(
const double box_center_x, const double box_center_y,
const double box_theta,
const std::vector<std::pair<double, double>>& box_corner_points,
const double center_x, const double center_y, const double theta) {
const double local_box_center_x = box_center_x - center_x;
const double local_box_center_y = box_center_y - center_y;
const double affined_local_box_center_x =
local_box_center_x * cos(theta) - local_box_center_y * sin(theta);
const double affined_local_box_center_y =
local_box_center_x * sin(theta) + local_box_center_y * cos(theta);
std::vector<cv::Point2i> affined_box;
for (const auto& point : box_corner_points) {
const double affined_corner_x = point.first * cos(box_theta) -
point.second * sin(box_theta) +
affined_local_box_center_x;
const double affined_corner_y = point.first * sin(box_theta) +
point.second * cos(box_theta) +
affined_local_box_center_y;
affined_box.push_back(GetPointImgIdx(affined_corner_x, affined_corner_y,
config_.ego_idx_x(),
config_.ego_idx_y()));
}
return affined_box;
}
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/tasks/task.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <string>
#include "modules/common/status/status.h"
#include "modules/planning/common/dependency_injector.h"
#include "modules/planning/common/frame.h"
#include "modules/planning/common/reference_line_info.h"
#include "modules/planning/proto/planning_config.pb.h"
namespace apollo {
namespace planning {
class Task {
public:
explicit Task(const TaskConfig& config);
Task(const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector);
virtual ~Task() = default;
const std::string& Name() const;
const TaskConfig& Config() const { return config_; }
virtual common::Status Execute(Frame* frame,
ReferenceLineInfo* reference_line_info);
virtual common::Status Execute(Frame* frame);
protected:
Frame* frame_ = nullptr;
ReferenceLineInfo* reference_line_info_ = nullptr;
TaskConfig config_;
std::string name_;
std::shared_ptr<DependencyInjector> injector_;
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/tasks/task_factory.h
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include <unordered_map>
#include "modules/common/util/factory.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/tasks/task.h"
namespace apollo {
namespace planning {
class TaskFactory {
public:
static void Init(const PlanningConfig &config,
const std::shared_ptr<DependencyInjector> &injector);
static std::unique_ptr<Task> CreateTask(
const TaskConfig &task_config,
const std::shared_ptr<DependencyInjector> &injector);
private:
static apollo::common::util::Factory<
TaskConfig::TaskType, Task,
Task *(*)(const TaskConfig &config,
const std::shared_ptr<DependencyInjector> &injector),
std::unordered_map<
TaskConfig::TaskType,
Task *(*)(const TaskConfig &config,
const std::shared_ptr<DependencyInjector> &injector),
std::hash<int>>>
task_factory_;
static std::unordered_map<TaskConfig::TaskType, TaskConfig, std::hash<int>>
default_task_configs_;
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/tasks/task.cc
|
/******************************************************************************
* Copyright 2017 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/tasks/task.h"
#include <memory>
#include "modules/planning/proto/planning_config.pb.h"
namespace apollo {
namespace planning {
using apollo::common::Status;
Task::Task(const TaskConfig& config) : config_(config) {
name_ = TaskConfig::TaskType_Name(config_.task_type());
}
Task::Task(const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector)
: config_(config), injector_(injector) {
name_ = TaskConfig::TaskType_Name(config_.task_type());
}
const std::string& Task::Name() const { return name_; }
Status Task::Execute(Frame* frame, ReferenceLineInfo* reference_line_info) {
frame_ = frame;
reference_line_info_ = reference_line_info;
return Status::OK();
}
Status Task::Execute(Frame* frame) {
frame_ = frame;
return Status::OK();
}
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/tasks/BUILD
|
load("@rules_cc//cc:defs.bzl", "cc_library")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])
cc_library(
name = "task",
srcs = ["task.cc"],
hdrs = ["task.h"],
copts = ["-DMODULE_NAME=\\\"planning\\\""],
deps = [
"//modules/common/status",
"//modules/planning/common:dependency_injector",
"//modules/planning/common:frame",
"//modules/planning/common:reference_line_info",
"//modules/planning/common/trajectory:discretized_trajectory",
"//modules/planning/common/trajectory:publishable_trajectory",
"//modules/planning/proto:planning_config_cc_proto",
],
)
cc_library(
name = "task_factory",
srcs = ["task_factory.cc"],
hdrs = ["task_factory.h"],
copts = [
"-DMODULE_NAME=\\\"planning\\\"",
"-fopenmp",
],
deps = [
":task",
"//modules/planning/proto:planning_config_cc_proto",
"//modules/planning/tasks/deciders/creep_decider",
"//modules/planning/tasks/deciders/lane_change_decider",
"//modules/planning/tasks/deciders/open_space_decider:open_space_fallback_decider",
"//modules/planning/tasks/deciders/open_space_decider:open_space_pre_stop_decider",
"//modules/planning/tasks/deciders/open_space_decider:open_space_roi_decider",
"//modules/planning/tasks/deciders/path_assessment_decider",
"//modules/planning/tasks/deciders/path_bounds_decider",
"//modules/planning/tasks/deciders/path_decider",
"//modules/planning/tasks/deciders/path_lane_borrow_decider",
"//modules/planning/tasks/deciders/path_reference_decider",
"//modules/planning/tasks/deciders/path_reuse_decider",
"//modules/planning/tasks/deciders/rss_decider",
"//modules/planning/tasks/deciders/rule_based_stop_decider",
"//modules/planning/tasks/deciders/speed_bounds_decider",
"//modules/planning/tasks/deciders/speed_decider",
"//modules/planning/tasks/deciders/st_bounds_decider",
"//modules/planning/tasks/learning_model:learning_model_inference_task",
"//modules/planning/tasks/learning_model:learning_model_inference_trajectory_task",
"//modules/planning/tasks/optimizers/open_space_trajectory_generation:open_space_trajectory_provider",
"//modules/planning/tasks/optimizers/open_space_trajectory_partition",
"//modules/planning/tasks/optimizers/path_time_heuristic:path_time_heuristic_optimizer",
"//modules/planning/tasks/optimizers/piecewise_jerk_path:piecewise_jerk_path_optimizer",
"//modules/planning/tasks/optimizers/piecewise_jerk_speed:piecewise_jerk_speed_nonlinear_optimizer",
"//modules/planning/tasks/optimizers/piecewise_jerk_speed:piecewise_jerk_speed_optimizer",
],
)
cpplint()
| 0
|
apollo_public_repos/apollo/modules/planning
|
apollo_public_repos/apollo/modules/planning/tasks/task_factory.cc
|
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/tasks/task_factory.h"
#include "modules/common/status/status.h"
#include "modules/planning/proto/planning_config.pb.h"
#include "modules/planning/tasks/deciders/creep_decider/creep_decider.h"
#include "modules/planning/tasks/deciders/lane_change_decider/lane_change_decider.h"
#include "modules/planning/tasks/deciders/open_space_decider/open_space_fallback_decider.h"
#include "modules/planning/tasks/deciders/open_space_decider/open_space_pre_stop_decider.h"
#include "modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.h"
#include "modules/planning/tasks/deciders/path_assessment_decider/path_assessment_decider.h"
#include "modules/planning/tasks/deciders/path_bounds_decider/path_bounds_decider.h"
#include "modules/planning/tasks/deciders/path_decider/path_decider.h"
#include "modules/planning/tasks/deciders/path_lane_borrow_decider/path_lane_borrow_decider.h"
#include "modules/planning/tasks/deciders/path_reference_decider/path_reference_decider.h"
#include "modules/planning/tasks/deciders/path_reuse_decider/path_reuse_decider.h"
#include "modules/planning/tasks/deciders/rss_decider/rss_decider.h"
#include "modules/planning/tasks/deciders/rule_based_stop_decider/rule_based_stop_decider.h"
#include "modules/planning/tasks/deciders/speed_bounds_decider/speed_bounds_decider.h"
#include "modules/planning/tasks/deciders/speed_decider/speed_decider.h"
#include "modules/planning/tasks/deciders/st_bounds_decider/st_bounds_decider.h"
#include "modules/planning/tasks/learning_model/learning_model_inference_task.h"
#include "modules/planning/tasks/learning_model/learning_model_inference_trajectory_task.h"
#include "modules/planning/tasks/optimizers/open_space_trajectory_generation/open_space_trajectory_provider.h"
#include "modules/planning/tasks/optimizers/open_space_trajectory_partition/open_space_trajectory_partition.h"
#include "modules/planning/tasks/optimizers/path_time_heuristic/path_time_heuristic_optimizer.h"
#include "modules/planning/tasks/optimizers/piecewise_jerk_path/piecewise_jerk_path_optimizer.h"
#include "modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_nonlinear_optimizer.h"
#include "modules/planning/tasks/optimizers/piecewise_jerk_speed/piecewise_jerk_speed_optimizer.h"
#include "modules/planning/tasks/task.h"
namespace apollo {
namespace planning {
apollo::common::util::Factory<
TaskConfig::TaskType, Task,
Task* (*)(const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector),
std::unordered_map<
TaskConfig::TaskType,
Task* (*)(const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector),
std::hash<int>>>
TaskFactory::task_factory_;
std::unordered_map<TaskConfig::TaskType, TaskConfig, std::hash<int>>
TaskFactory::default_task_configs_;
void TaskFactory::Init(const PlanningConfig& config,
const std::shared_ptr<DependencyInjector>& injector) {
///////////////////////////
// deciders
task_factory_.Register(
TaskConfig::CREEP_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new CreepDecider(config, injector);
});
task_factory_.Register(
TaskConfig::LANE_CHANGE_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new LaneChangeDecider(config, injector);
});
task_factory_.Register(
TaskConfig::OPEN_SPACE_FALLBACK_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new OpenSpaceFallbackDecider(config, injector);
});
task_factory_.Register(
TaskConfig::OPEN_SPACE_PRE_STOP_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new OpenSpacePreStopDecider(config, injector);
});
task_factory_.Register(
TaskConfig::OPEN_SPACE_ROI_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new OpenSpaceRoiDecider(config, injector);
});
task_factory_.Register(
TaskConfig::PATH_ASSESSMENT_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PathAssessmentDecider(config, injector);
});
task_factory_.Register(
TaskConfig::PATH_BOUNDS_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PathBoundsDecider(config, injector);
});
task_factory_.Register(
TaskConfig::PATH_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PathDecider(config, injector);
});
task_factory_.Register(
TaskConfig::PATH_LANE_BORROW_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PathLaneBorrowDecider(config, injector);
});
task_factory_.Register(
TaskConfig::PATH_REFERENCE_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PathReferenceDecider(config, injector);
});
task_factory_.Register(
TaskConfig::PATH_REUSE_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PathReuseDecider(config, injector);
});
task_factory_.Register(
TaskConfig::RSS_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new RssDecider(config);
});
task_factory_.Register(
TaskConfig::RULE_BASED_STOP_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new RuleBasedStopDecider(config, injector);
});
task_factory_.Register(
TaskConfig::SPEED_BOUNDS_PRIORI_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new SpeedBoundsDecider(config, injector);
});
task_factory_.Register(
TaskConfig::SPEED_BOUNDS_FINAL_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new SpeedBoundsDecider(config, injector);
});
task_factory_.Register(
TaskConfig::SPEED_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new SpeedDecider(config, injector);
});
task_factory_.Register(
TaskConfig::ST_BOUNDS_DECIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new STBoundsDecider(config, injector);
});
///////////////////////////
// optimizers
task_factory_.Register(
TaskConfig::OPEN_SPACE_TRAJECTORY_PARTITION,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new OpenSpaceTrajectoryPartition(config, injector);
});
task_factory_.Register(
TaskConfig::OPEN_SPACE_TRAJECTORY_PROVIDER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new OpenSpaceTrajectoryProvider(config, injector);
});
task_factory_.Register(
TaskConfig::PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PiecewiseJerkSpeedNonlinearOptimizer(config);
});
task_factory_.Register(
TaskConfig::PIECEWISE_JERK_PATH_OPTIMIZER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PiecewiseJerkPathOptimizer(config, injector);
});
task_factory_.Register(
TaskConfig::PIECEWISE_JERK_SPEED_OPTIMIZER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PiecewiseJerkSpeedOptimizer(config);
});
task_factory_.Register(
TaskConfig::SPEED_HEURISTIC_OPTIMIZER,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new PathTimeHeuristicOptimizer(config);
});
///////////////////////////
// other tasks
task_factory_.Register(
TaskConfig::LEARNING_MODEL_INFERENCE_TASK,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new LearningModelInferenceTask(config, injector);
});
task_factory_.Register(
TaskConfig::LEARNING_MODEL_INFERENCE_TRAJECTORY_TASK,
[](const TaskConfig& config,
const std::shared_ptr<DependencyInjector>& injector) -> Task* {
return new LearningModelInferenceTrajectoryTask(config, injector);
});
for (const auto& default_task_config : config.default_task_config()) {
default_task_configs_[default_task_config.task_type()] =
default_task_config;
}
}
std::unique_ptr<Task> TaskFactory::CreateTask(
const TaskConfig& task_config,
const std::shared_ptr<DependencyInjector>& injector) {
TaskConfig merged_config;
if (default_task_configs_.find(task_config.task_type()) !=
default_task_configs_.end()) {
merged_config = default_task_configs_[task_config.task_type()];
}
merged_config.MergeFrom(task_config);
return task_factory_.CreateObject(task_config.task_type(), merged_config,
injector);
}
} // namespace planning
} // namespace apollo
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|
apollo_public_repos/apollo/modules/planning/tasks
|
apollo_public_repos/apollo/modules/planning/tasks/learning_model/learning_model_inference_trajectory_task.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/tasks/learning_model/learning_model_inference_trajectory_task.h"
#include <string>
#include <vector>
namespace apollo {
namespace planning {
using apollo::common::ErrorCode;
using apollo::common::Status;
using apollo::common::TrajectoryPoint;
LearningModelInferenceTrajectoryTask::LearningModelInferenceTrajectoryTask(
const TaskConfig &config,
const std::shared_ptr<DependencyInjector> &injector)
: Task(config, injector) {
ACHECK(config.has_learning_model_inference_trajectory_task_config());
}
Status LearningModelInferenceTrajectoryTask::Execute(
Frame *frame, ReferenceLineInfo *reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
Task::Execute(frame, reference_line_info);
return Process(frame, reference_line_info);
}
Status LearningModelInferenceTrajectoryTask::Process(
Frame *frame, ReferenceLineInfo *reference_line_info) {
CHECK_NOTNULL(frame);
CHECK_NOTNULL(reference_line_info);
const auto &config =
config_.learning_model_inference_trajectory_task_config();
const std::vector<TrajectoryPoint> adc_future_trajectory_points
= injector_->learning_based_data()
->learning_data_adc_future_trajectory_points();
const double first_point_relative_time =
adc_future_trajectory_points.front().relative_time();
const double last_point_relative_time =
adc_future_trajectory_points.back().relative_time();
const auto learning_data_frame = injector_->learning_based_data()
->GetLatestLearningDataFrame();
const int frame_num =
learning_data_frame ? learning_data_frame->frame_num() : -1;
ADEBUG << "LearningModelInferenceTrajectoryTask: frame_num[" << frame_num
<< "] adc_future_trajectory_points_size["
<< adc_future_trajectory_points.size()
<< "] first_point_relative_time[" << first_point_relative_time
<< "] last_point_relative_time[" << last_point_relative_time << "]";
if (adc_future_trajectory_points.size() < 0 ||
first_point_relative_time < 0.0 ||
last_point_relative_time <
config.min_adc_future_trajectory_time_length()) {
const std::string msg =
absl::StrCat("adc_future_trajectory_point issue. size[",
adc_future_trajectory_points.size(),
"] first_point_relative_time[", first_point_relative_time,
"] last_point_relative_time[", last_point_relative_time);
AERROR << msg;
return Status(ErrorCode::PLANNING_ERROR, msg);
}
reference_line_info->SetTrajectory(
DiscretizedTrajectory(adc_future_trajectory_points));
return Status::OK();
}
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning/tasks
|
apollo_public_repos/apollo/modules/planning/tasks/learning_model/learning_model_inference_trajectory_task.h
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#pragma once
#include <memory>
#include "modules/planning/tasks/task.h"
namespace apollo {
namespace planning {
class LearningModelInferenceTrajectoryTask : public Task {
public:
LearningModelInferenceTrajectoryTask(
const TaskConfig &config,
const std::shared_ptr<DependencyInjector> &injector);
apollo::common::Status Execute(
Frame *frame, ReferenceLineInfo *reference_line_info) override;
private:
apollo::common::Status Process(Frame *frame,
ReferenceLineInfo *reference_line_info);
};
} // namespace planning
} // namespace apollo
| 0
|
apollo_public_repos/apollo/modules/planning/tasks
|
apollo_public_repos/apollo/modules/planning/tasks/learning_model/learning_model_inference_task_test.cc
|
/******************************************************************************
* Copyright 2020 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/tasks/learning_model/learning_model_inference_task.h"
#include "gtest/gtest.h"
#include "modules/planning/proto/planning_config.pb.h"
namespace apollo {
namespace planning {
DECLARE_string(test_model_inference_task_config_file);
DEFINE_string(test_model_inference_task_config_file, "",
"inference task config");
class LearningModelInferenceTaskTest : public ::testing::Test {
public:
virtual void SetUp() {
config_.set_task_type(TaskConfig::LEARNING_MODEL_INFERENCE_TASK);
auto* inference_config =
config_.mutable_learning_model_inference_task_config();
injector_ = std::make_shared<DependencyInjector>();
FLAGS_test_model_inference_task_config_file =
"/apollo/modules/planning/testdata/model_inference_test/"
"test_libtorch_inference_task_config.pb.txt";
ACHECK(apollo::cyber::common::GetProtoFromFile(
FLAGS_test_model_inference_task_config_file, inference_config))
<< "Failed to load config file "
<< FLAGS_test_model_inference_task_config_file;
}
virtual void TearDown() {}
protected:
TaskConfig config_;
std::shared_ptr<DependencyInjector> injector_;
};
TEST_F(LearningModelInferenceTaskTest, Init) {
LearningModelInferenceTask learning_model_inference_task(config_, injector_);
EXPECT_EQ(learning_model_inference_task.Name(),
TaskConfig::TaskType_Name(config_.task_type()));
}
} // namespace planning
} // namespace apollo
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|
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