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ApolloAuto / apollo

An open autonomous driving platform
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Prediction: prediction trajectory points sometimes more than prediction_trajectory_time_length defined #13758

Open johnnyleeRH opened 3 years ago

johnnyleeRH commented 3 years ago

Describe the bug refer to the default configuration prediction_conf.pb.txt, obstacle_conf { obstacle_type: VEHICLE obstacle_status: ON_LANE priority_type: CAUTION evaluator_type: SEMANTIC_LSTM_EVALUATOR predictor_type: EXTRAPOLATION_PREDICTOR } If use lstm evaluator and extrapolation predictor, trajector points size will be 81, when prediction_trajectory_time_length is 8.0 and prediction_trajectory_time_resolution is 0.1

To Reproduce refer to description, cyber recorder bags can reproduce this issue

Expected behavior trajector points size = prediction_trajectory_time_length / prediction_trajectory_time_resolution, about the default case, trajector size shall equal to 80

Desktop (please complete the following information):

johnnyleeRH commented 3 years ago

point->set_relative_time(static_cast<double>(i) * FLAGS_prediction_trajectory_time_resolution); I think in semantic_lstm_evaluator.cc, it shall be changed to point->set_relative_time(static_cast<double>(i + 1) * FLAGS_prediction_trajectory_time_resolution);