pedestrian_interaction_evaluator.h

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/******************************************************************************
 * Copyright 2019 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 <string>
#include <unordered_map>
#include <vector>

#include "torch/script.h"
#include "torch/torch.h"

#include "modules/prediction/evaluator/evaluator.h"

namespace apollo {
namespace prediction {

class PedestrianInteractionEvaluator : public Evaluator {
 public:
  PedestrianInteractionEvaluator();

  virtual ~PedestrianInteractionEvaluator() = default;

  bool Evaluate(Obstacle* obstacle_ptr,
                ObstaclesContainer* obstacles_container) override;

  bool ExtractFeatures(const Obstacle* obstacle_ptr,
                       std::vector<double>* feature_values);

  std::string GetName() override { return "PEDESTRIAN_INTERACTION_EVALUATOR"; }

 private:
  struct LSTMState {
    double timestamp;
    torch::Tensor ct;
    torch::Tensor ht;
    int frame_count = 0;
  };

  // void Clear();

  void LoadModel();

  torch::Tensor GetSocialPooling();

 private:
  std::unordered_map<int, LSTMState> obstacle_id_lstm_state_map_;
  torch::jit::script::Module torch_position_embedding_;
  torch::jit::script::Module torch_social_embedding_;
  torch::jit::script::Module torch_single_lstm_;
  torch::jit::script::Module torch_prediction_layer_;
  torch::Device device_;

  static const int kGridSize = 2;
  static const int kEmbeddingSize = 64;
  static const int kHiddenSize = 128;
};

}  // namespace prediction
}  // namespace apollo