Prediction: set type in frame env obstacle history

kechxu · HongyiSun · commit 40d7f1609164 · 2020-03-26T20:38:45.000-07:00
diff --git a/modules/prediction/evaluator/evaluator_manager.cc b/modules/prediction/evaluator/evaluator_manager.cc
@@ -178,7 +178,7 @@ void EvaluatorManager::Init(const PredictionConf& config) {
 
   if (FLAGS_enable_semantic_map) {
     SemanticMap::Instance()->Init();
-    AINFO << "Init SemanticMap instance.";
+    ADEBUG << "Init SemanticMap instance.";
   }
 }
 
@@ -329,6 +329,7 @@ void EvaluatorManager::BuildObstacleIdHistoryMap(
       Feature feature;
       feature.set_id(obstacle_feature.id());
       feature.set_timestamp(obstacle_feature.timestamp());
+      feature.set_type(obstacle_feature.type());
       feature.mutable_position()->CopyFrom(obstacle_feature.position());
       feature.set_theta(obstacle_feature.velocity_heading());
       if (obstacle_feature.id() != FLAGS_ego_vehicle_id) {

Original file line number	Diff line number	Diff line change
`@@ -178,7 +178,7 @@ void EvaluatorManager::Init(const PredictionConf& config) {`
`178`	`178`
`179`	`179`	`if (FLAGS_enable_semantic_map) {`
`180`	`180`	`SemanticMap::Instance()->Init();`
`181`		`- AINFO << "Init SemanticMap instance.";`
	`181`	`+ ADEBUG << "Init SemanticMap instance.";`
`182`	`182`	`}`
`183`	`183`	`}`
`184`	`184`
`@@ -329,6 +329,7 @@ void EvaluatorManager::BuildObstacleIdHistoryMap(`
`329`	`329`	`Feature feature;`
`330`	`330`	`feature.set_id(obstacle_feature.id());`
`331`	`331`	`feature.set_timestamp(obstacle_feature.timestamp());`
	`332`	`+ feature.set_type(obstacle_feature.type());`
`332`	`333`	`feature.mutable_position()->CopyFrom(obstacle_feature.position());`
`333`	`334`	`feature.set_theta(obstacle_feature.velocity_heading());`
`334`	`335`	`if (obstacle_feature.id() != FLAGS_ego_vehicle_id) {`