Prediction: remove pedestrian interaction evaluator

wuqunyong · May 12, 2020 · 35e1f75 · 35e1f75
1 parent 9c00e4b
commit 35e1f75
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Showing 3 changed files with 1 addition and 8 deletions.
diff --git a/modules/prediction/evaluator/BUILD b/modules/prediction/evaluator/BUILD
@@ -17,7 +17,6 @@ cc_library(
         "//modules/prediction/common:semantic_map",
         "//modules/prediction/container/obstacles:obstacles_container",
         "//modules/prediction/evaluator/cyclist:cyclist_keep_lane_evaluator",
-        "//modules/prediction/evaluator/pedestrian:pedestrian_interaction_evaluator",
         "//modules/prediction/evaluator/vehicle:cost_evaluator",
         "//modules/prediction/evaluator/vehicle:cruise_mlp_evaluator",
         "//modules/prediction/evaluator/vehicle:junction_map_evaluator",

diff --git a/modules/prediction/evaluator/evaluator_manager.cc b/modules/prediction/evaluator/evaluator_manager.cc
@@ -28,7 +28,6 @@
 #include "modules/prediction/container/container_manager.h"
 #include "modules/prediction/container/obstacles/obstacles_container.h"
 #include "modules/prediction/evaluator/cyclist/cyclist_keep_lane_evaluator.h"
-#include "modules/prediction/evaluator/pedestrian/pedestrian_interaction_evaluator.h"
 #include "modules/prediction/evaluator/vehicle/cost_evaluator.h"
 #include "modules/prediction/evaluator/vehicle/cruise_mlp_evaluator.h"
 #include "modules/prediction/evaluator/vehicle/junction_map_evaluator.h"
@@ -104,7 +103,6 @@ void EvaluatorManager::RegisterEvaluators() {
   RegisterEvaluator(ObstacleConf::CYCLIST_KEEP_LANE_EVALUATOR);
   RegisterEvaluator(ObstacleConf::LANE_SCANNING_EVALUATOR);
   RegisterEvaluator(ObstacleConf::LANE_AGGREGATING_EVALUATOR);
-  RegisterEvaluator(ObstacleConf::PEDESTRIAN_INTERACTION_EVALUATOR);
   RegisterEvaluator(ObstacleConf::JUNCTION_MAP_EVALUATOR);
   RegisterEvaluator(ObstacleConf::SEMANTIC_LSTM_EVALUATOR);
 }
@@ -399,10 +397,6 @@ std::unique_ptr<Evaluator> EvaluatorManager::CreateEvaluator(
       evaluator_ptr.reset(new LaneAggregatingEvaluator());
       break;
     }
-    case ObstacleConf::PEDESTRIAN_INTERACTION_EVALUATOR: {
-      evaluator_ptr.reset(new PedestrianInteractionEvaluator());
-      break;
-    }
     case ObstacleConf::JUNCTION_MAP_EVALUATOR: {
       evaluator_ptr.reset(new JunctionMapEvaluator());
       break;

diff --git a/modules/prediction/evaluator/evaluator_manager.h b/modules/prediction/evaluator/evaluator_manager.h
@@ -117,7 +117,7 @@ class EvaluatorManager {
       ObstacleConf::CYCLIST_KEEP_LANE_EVALUATOR;
 
   ObstacleConf::EvaluatorType pedestrian_evaluator_ =
-      ObstacleConf::PEDESTRIAN_INTERACTION_EVALUATOR;
+      ObstacleConf::SEMANTIC_LSTM_EVALUATOR;
 
   ObstacleConf::EvaluatorType default_on_lane_evaluator_ =
       ObstacleConf::MLP_EVALUATOR;