Perception: done with lidar common. (#497)

modules/perception/common/sensor_manager/sensor_manager.cc

@@ -15,17 +15,16 @@
  *****************************************************************************/
 #include "modules/perception/common/sensor_manager/sensor_manager.h"
 
-#include <google/protobuf/text_format.h>
-
 #include <string>
 #include <utility>
 
 #include "cybertron/common/log.h"
+#include "google/protobuf/text_format.h"
+
+#include "modules/perception/proto/sensor_meta_schema.pb.h"
 
-// #include "modules/perception/common/io/io_util.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/io/file_util.h"
-#include "modules/perception/proto/sensor_meta_schema.pb.h"
 
 namespace apollo {
 namespace perception {
@@ -36,9 +35,7 @@ using apollo::perception::base::SensorInfo;
 using apollo::perception::base::SensorOrientation;
 using apollo::perception::base::SensorType;
 
-SensorManager::SensorManager() {
-  CHECK_EQ(this->Init(), true);
-}
+SensorManager::SensorManager() { CHECK_EQ(this->Init(), true); }
 
 bool SensorManager::Init() {
   std::lock_guard<std::mutex> lock(mutex_);
@@ -59,7 +56,7 @@ bool SensorManager::Init() {
   std::string content;
   if (!lib::FileUtil::GetFileContent(file_path, &content)) {
     AERROR << "Failed to get SensorManager config path: "
-              << FLAGS_obs_sensor_meta_path;
+           << FLAGS_obs_sensor_meta_path;
     return false;
   }
 
@@ -95,10 +92,9 @@ bool SensorManager::Init() {
         return false;
       }
       */
-      distort_model_map_.insert(
-          make_pair(sensor_meta_proto.name(),
-                    std::dynamic_pointer_cast<BaseCameraDistortionModel>(
-                        distort_model)));
+      distort_model_map_.insert(make_pair(
+          sensor_meta_proto.name(),
+          std::dynamic_pointer_cast<BaseCameraDistortionModel>(distort_model)));
       undistort_model_map_.insert(make_pair(sensor_meta_proto.name(),
                                             distort_model->get_camera_model()));
     }
@@ -173,8 +169,7 @@ bool SensorManager::IsHdLidar(const std::string& name) const {
 }
 
 bool SensorManager::IsHdLidar(const SensorType& type) const {
-  return type == SensorType::VELODYNE_64 ||
-         type == SensorType::VELODYNE_32 ||
+  return type == SensorType::VELODYNE_64 || type == SensorType::VELODYNE_32 ||
          type == SensorType::VELODYNE_16;
 }
 
@@ -189,8 +184,7 @@ bool SensorManager::IsLdLidar(const std::string& name) const {
 }
 
 bool SensorManager::IsLdLidar(const SensorType& type) const {
-  return type == SensorType::LDLIDAR_4 ||
-         type == SensorType::LDLIDAR_1;
+  return type == SensorType::LDLIDAR_4 || type == SensorType::LDLIDAR_1;
 }
 
 bool SensorManager::IsLidar(const std::string& name) const {

modules/perception/common/sensor_manager/sensor_manager.h

@@ -23,8 +23,8 @@
 #include <vector>
 
 #include "modules/perception/base/camera.h"
-#include "modules/perception/base/sensor_meta.h"
 #include "modules/perception/base/distortion_model.h"
+#include "modules/perception/base/sensor_meta.h"
 #include "modules/perception/common/perception_gflags.h"
 #include "modules/perception/lib/singleton/singleton.h"
 
@@ -87,12 +87,12 @@ class SensorManager {
   std::mutex mutex_;
   bool inited_ = false;
 
-  std::unordered_map<std::string,
-      apollo::perception::base::SensorInfo> sensor_info_map_;
-  std::unordered_map<std::string,
-      std::shared_ptr<BaseCameraDistortionModel>> distort_model_map_;
-  std::unordered_map<std::string,
-      std::shared_ptr<BaseCameraModel>> undistort_model_map_;
+  std::unordered_map<std::string, apollo::perception::base::SensorInfo>
+      sensor_info_map_;
+  std::unordered_map<std::string, std::shared_ptr<BaseCameraDistortionModel>>
+      distort_model_map_;
+  std::unordered_map<std::string, std::shared_ptr<BaseCameraModel>>
+      undistort_model_map_;
 };
 
 }  // namespace common

modules/perception/lidar/common/BUILD

@@ -2,6 +2,19 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "common",
+    deps = [
+        ":cloud_mask",
+        ":lidar_frame",
+        ":lidar_log",
+        ":lidar_object_util",
+        ":lidar_point_label",
+        ":lidar_timer",
+        ":pcl_util",
+    ],
+)
+
 cc_library(
     name = "cloud_mask",
     srcs = [
@@ -77,6 +90,20 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "lidar_point_label",
+    hdrs = [
+        "lidar_point_label.h",
+    ],
+)
+
+cc_library(
+    name = "lidar_timer",
+    hdrs = [
+        "lidar_timer.h",
+    ],
+)
+
 cc_library(
     name = "pcl_util",
     hdrs = [

modules/perception/lidar/common/lidar_timer.h

@@ -13,8 +13,8 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-#ifndef PERCEPITON_LIDAR_COMMON_LIDAR_TIMER_H_
-#define PERCEPITON_LIDAR_COMMON_LIDAR_TIMER_H_
+#ifndef MODULES_PERCEPTION_LIDAR_COMMON_LIDAR_TIMER_H_
+#define MODULES_PERCEPTION_LIDAR_COMMON_LIDAR_TIMER_H_
 
 #include <chrono>
 
@@ -43,4 +43,4 @@ class Timer {
 }  // namespace perception
 }  // namespace apollo
 
-#endif  // PERCEPITON_LIDAR_COMMON_LIDAR_TIMER_H_
+#endif  // MODULES_PERCEPTION_LIDAR_COMMON_LIDAR_TIMER_H_

modules/perception/onboard/transform_wrapper/transform_wrapper.cc

@@ -68,7 +68,7 @@ bool TransformCache::QueryTransform(double timestamp,
   double delt = timestamp - transforms_.back().timestamp;
   if (delt > max_duration) {
     AINFO << "ERROR: query timestamp is " << delt
-             << "s later than cached timestamp";
+          << "s later than cached timestamp";
     return false;
   } else if (delt < 0.0) {
     AINFO << "ERROR: query earlier timestamp than transform cache";
@@ -79,9 +79,8 @@ bool TransformCache::QueryTransform(double timestamp,
   if (size == 1) {
     (*transform) = transforms_.back();
     transform->timestamp = timestamp;
-    AINFO << "use transform at "
-             << std::to_string(transforms_.back().timestamp) << " for "
-             << std::to_string(timestamp);
+    AINFO << "use transform at " << std::to_string(transforms_.back().timestamp)
+          << " for " << std::to_string(timestamp);
   } else {
     double ratio =
         (timestamp - transforms_[size - 2].timestamp) /
@@ -101,9 +100,9 @@ bool TransformCache::QueryTransform(double timestamp,
         transforms_[size - 1].translation.z() * ratio;
 
     AINFO << "estimate pose at " << std::to_string(timestamp)
-             << " from poses at "
-             << std::to_string(transforms_[size - 2].timestamp) << " and "
-             << std::to_string(transforms_[size - 1].timestamp);
+          << " from poses at "
+          << std::to_string(transforms_[size - 2].timestamp) << " and "
+          << std::to_string(transforms_[size - 1].timestamp);
   }
   return true;
 }
@@ -137,7 +136,7 @@ bool TransformWrapper::GetSensor2worldTrans(
     Eigen::Affine3d* novatel2world_trans) {
   if (!inited_) {
     AERROR << "TransformWrapper not Initialized,"
-              << " unable to call GetSensor2worldTrans.";
+           << " unable to call GetSensor2worldTrans.";
     return false;
   }
 
@@ -180,8 +179,8 @@ bool TransformWrapper::GetSensor2worldTrans(
     *novatel2world_trans = novatel2world;
   }
   AINFO << "Get pose timestamp: " << std::to_string(timestamp)
-           << ", pose: " << std::endl
-           << (*sensor2world_trans).matrix();
+        << ", pose: " << std::endl
+        << (*sensor2world_trans).matrix();
   return true;
 }
 
@@ -224,9 +223,8 @@ bool TransformWrapper::QueryTrans(double timestamp, StampedTransform* trans,
   if (!tf2_buffer_->canTransform(frame_id, child_frame_id, query_time,
                                  FLAGS_obs_tf2_buff_size, &err_string)) {
     AERROR << "Can not find transform. " << std::to_string(timestamp)
-              << " frame_id: " << frame_id
-              << " child_frame_id: " << child_frame_id
-              << " Error info: " << err_string;
+           << " frame_id: " << frame_id << " child_frame_id: " << child_frame_id
+           << " Error info: " << err_string;
     return false;
   }
 

modules/perception/onboard/transform_wrapper/transform_wrapper.h

@@ -16,11 +16,13 @@
 #ifndef MODULES_PERCEPTION_ONBOARD_TRANSFORM_WRAPPER_H_
 #define MODULES_PERCEPTION_ONBOARD_TRANSFORM_WRAPPER_H_
 
-#include <Eigen/Core>
-#include <Eigen/Dense>
 #include <deque>
+#include <memory>
 #include <string>
 
+#include "Eigen/Core"
+#include "Eigen/Dense"
+
 #include "modules/transform/buffer.h"
 
 namespace apollo {

modules/planning/BUILD

@@ -35,15 +35,15 @@ cc_test(
         "//modules/planning:planning_testdata",
     ],
     deps = [
-        "@gtest//:main",
         ":planning_component_lib",
+        "@gtest//:main",
     ],
 )
 
 cc_binary(
     name = "libplanning_component.so",
-    deps = [":planning_component_lib"],
     linkshared = True,
+    deps = [":planning_component_lib"],
 )
 
 cc_library(
@@ -58,6 +58,7 @@ cc_library(
         "planning_base.h",
         "std_planning.h",
     ],
+    copts = ["-DMODULE_NAME=\\\"planning\\\""],
     deps = [
         "//modules/common",
         "//modules/common/configs:config_gflags",
@@ -79,7 +80,6 @@ cc_library(
         "//modules/planning/toolkits/deciders",
         "//modules/prediction/proto:prediction_proto",
     ],
-    copts = ["-DMODULE_NAME=\\\"planning\\\""],
 )
 
 filegroup(