perception: add lidar_output_component build target.

modules/perception/base/box.h

@@ -161,6 +161,14 @@ struct BBox2D {
   T ymax = 0;  // bottom-right
 };
 
+typedef Rect<int> RectI;
+typedef Rect<float> RectF;
+typedef Rect<double> RectD;
+
+typedef BBox2D<int> BBox2DI;
+typedef BBox2D<float> BBox2DF;
+typedef BBox2D<double> BBox2DD;
+
 }  // namespace base
 }  // namespace perception
 }  // namespace apollo

modules/perception/base/hdmap_struct.h

@@ -42,9 +42,8 @@ struct alignas(16) HdmapStruct {
   std::vector<PointCloud<PointD>> junction_polygons;
 };
 
-// TODO(all): tp remove
-// typedef std::shared_ptr<HdmapStruct> HdmapStructPtr;
-// typedef std::shared_ptr<const HdmapStruct> HdmapStructConstPtr;
+using HdmapStructPtr = std::shared_ptr<HdmapStruct>;
+using HdmapStructConstPtr = std::shared_ptr<const HdmapStruct>;
 
 }  // namespace base
 }  // namespace perception

modules/perception/base/object.h

@@ -112,6 +112,9 @@ struct alignas(16) Object {
   FusionObjectSupplement fusion_supplement;
 };
 
+using ObjectPtr = std::shared_ptr<Object>;
+using ObjectConstPtr = std::shared_ptr<const Object>;
+
 }  // namespace base
 }  // namespace perception
 }  // namespace apollo

modules/perception/lib/utils/BUILD

@@ -2,6 +2,14 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "utils",
+    deps = [
+        ":perception_timer",
+        ":perception_time_util",
+    ],
+)
+
 cc_library(
     name = "perception_perf",
     hdrs = ["perf.h"],

modules/perception/onboard/component/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "lidar_output_component",
+    srcs = [
+        "lidar_output_component.cc",
+    ],
+    hdrs = [
+        "lidar_output_component.h",
+    ],
+    deps = [
+        "@eigen",
+        "//framework:cybertron",
+        "//modules/drivers/proto:sensor_proto",
+        "//modules/perception/proto:perception_proto",
+        "//modules/perception/base",
+        "//modules/perception/onboard/inner_component_messages",
+        "//modules/perception/onboard/msg_serializer",
+    ],
+)
+
+cpplint()

modules/perception/onboard/inner_component_messages/BUILD

+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "inner_component_messages",
+    hdrs = [
+        "inner_component_messages.h",
+    ],
+    deps = [
+    ],
+)
+
+cpplint()