Updated model proto

Capri2014 · Jul 31, 2017 · 00a1d08 · 00a1d08
1 parent cacfd6f
commit 00a1d08
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Showing 4 changed files with 23 additions and 7 deletions.
diff --git a/modules/prediction/data/mlp_vehicle_model.bin b/modules/prediction/data/mlp_vehicle_model.bin
diff --git a/modules/prediction/evaluator/vehicle/mlp_evaluator.cc b/modules/prediction/evaluator/vehicle/mlp_evaluator.cc
@@ -15,7 +15,6 @@
  *****************************************************************************/
 
 #include <cmath>
-#include <fstream>
 #include <numeric>
 
 #include "modules/prediction/evaluator/vehicle/mlp_evaluator.h"
@@ -297,15 +296,15 @@ double MLPEvaluator::ComputeProbability() {
         double weight = layer.layer_input_weight().rows(row).columns(col);
         neuron_output += (layer_input[row] * weight);
       }
-      if (layer.layer_activation_type() == "relu") {
+      if (layer.layer_activation_func() == Layer::RELU) {
         neuron_output = apollo::prediction::util::Relu(neuron_output);
-      } else if (layer.layer_activation_type() == "sigmoid") {
+      } else if (layer.layer_activation_func() == Layer::SIGMOID) {
         neuron_output = apollo::prediction::util::Sigmoid(neuron_output);
-      } else if (layer.layer_activation_type() == "tanh") {
+      } else if (layer.layer_activation_func() == Layer::TANH) {
         neuron_output = std::tanh(neuron_output);
       } else {
-        AERROR << "Undefined activation type ["
-               << layer.layer_activation_type()
+        AERROR << "Undefined activation function ["
+               << layer.layer_activation_func()
                << "]. A default sigmoid will be used instead.";
         neuron_output = apollo::prediction::util::Sigmoid(neuron_output);
       }

diff --git a/modules/prediction/proto/BUILD b/modules/prediction/proto/BUILD
@@ -76,3 +76,14 @@ py_proto_compile(
         "//modules/perception/proto:perception_proto_pylib",
     ],
 )
+
+py_proto_compile(
+    name = "prediction_model_proto_pylib",
+    protos = [
+        "fnn_model_base.proto",
+        "fnn_vehicle_model.proto",
+    ],
+    deps = [
+        "//modules/common/proto:common_proto_pylib",
+    ]
+)
diff --git a/modules/prediction/proto/fnn_model_base.proto b/modules/prediction/proto/fnn_model_base.proto
@@ -11,9 +11,15 @@ message Matrix {
 }
 
 message Layer {
+    enum ActivationFunc {
+        RELU = 0;
+        TANH = 1;
+        SIGMOID = 2;
+    }
     optional int32 layer_input_dim = 1;
     optional int32 layer_output_dim = 2;
     optional Matrix layer_input_weight = 3;     // weight matrix of |input_dim| x |output_dim|
     optional Vector layer_bias = 4;             // vector of bias, size of |output_dim|
-    optional string layer_activation_type = 5;  // relu, tanh, or sigmoid
+    optional string layer_activation_type = 5 [deprecated = true];
+    optional ActivationFunc layer_activation_func = 6;
 }