perception: change log.h to cybertron log

modules/perception/common/io/io_util.cc

@@ -27,7 +27,7 @@
 #include <iomanip>
 
 #include "modules/perception/base/camera.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/lib/io/file_util.h"
 
 namespace apollo {

modules/perception/fusion/base/fusion_log.h

@@ -15,7 +15,7 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_FUSION_BASE_LOG_H_
 #define MODULES_PERCEPTION_FUSION_BASE_LOG_H_
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 // 500-599 reserve for fusion module error
 #define FUSION_GET_POSE_ERROR 500          // get pose error
 #define FUSION_GET_HDMAP_ERROR 501         // get hdmap error

modules/perception/fusion/base/sensor.cc

@@ -17,7 +17,7 @@
 
 #include <assert.h>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {

modules/perception/fusion/base/sensor_data_manager.cc

@@ -17,7 +17,7 @@
 
 #include <utility>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {

modules/perception/fusion/common/dst_evidence.cc

@@ -20,7 +20,7 @@
 
 #include "boost/format.hpp"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {

modules/perception/fusion/common/kalman_filter.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/fusion/common/kalman_filter.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {

modules/perception/fusion/test/fusion_common_camera_util_test.cc

@@ -16,7 +16,7 @@
 #include <gtest/gtest.h>
 #include <iostream>
 #include <vector>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/fusion/base/sensor_data_manager.h"
 #include "modules/perception/fusion/common/camera_util.h"
 

modules/perception/fusion/test/fusion_common_dst_evidence_test.cc

@@ -21,7 +21,7 @@
 
 #include "boost/format.hpp"
 #include "gtest/gtest.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 #include "modules/perception/fusion/common/dst_evidence.h"
 

modules/perception/fusion/test/fusion_common_information_filter_test.cc

@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include <gtest/gtest.h>
 #include <iostream>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/fusion/common/information_filter.h"
 
 namespace apollo {

modules/perception/fusion/test/fusion_common_kalman_filter_test.cc

@@ -17,7 +17,7 @@
 #include <iostream>
 #include <vector>
 #define private public
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/fusion/common/kalman_filter.h"
 
 namespace apollo {

modules/perception/inference/tensorrt/batch_stream.cc

@@ -17,7 +17,7 @@
 #include <algorithm>
 #include <cstdio>
 #include <string>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {

modules/perception/inference/tensorrt/rt_net.cc

@@ -19,7 +19,7 @@
 #include <set>
 #include <vector>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/inference/tensorrt/plugins/argmax_plugin.h"
 #include "modules/perception/inference/tensorrt/plugins/slice_plugin.h"
 #include "modules/perception/inference/tensorrt/plugins/softmax_plugin.h"

modules/perception/inference/test/inference_batch_stream_test.cc

@@ -18,7 +18,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include "gtest/gtest.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 #define private public
 

modules/perception/inference/test/inference_entropy_calibrator_test.cc

@@ -18,7 +18,7 @@
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/imgproc/imgproc.hpp>
 #include "gtest/gtest.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 #define private public
 

modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc

@@ -17,7 +17,7 @@
 #include <string>
 #include <vector>
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/base/object_pool_types.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/io/file_util.h"

modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc

@@ -17,7 +17,7 @@
 #include <algorithm>
 #include <iostream>
 #include <vector>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {

modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc

@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/geometry/basic.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/io/file_util.h"

modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc

@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.h"
 #include <Eigen/Core>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/graph/gated_hungarian_bigraph_matcher.h"
 
 namespace apollo {

modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc

@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/lidar/lib/tracker/hm_tracker/tracker.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/io/file_util.h"
 #include "modules/perception/lib/io/protobuf_util.h"

modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 #include <gtest/gtest.h>
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/graph/secure_matrix.h"
 #include "modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.h"
 #include "modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.h"

modules/perception/map/hdmap/BUILD

@@ -13,7 +13,10 @@ cc_library(
     deps = [
         "//modules/perception/base:base_type",
         "//modules/perception/base:point_cloud",
+        "//modules/perception/common/geometry:common",
+        "//modules/perception/lib/config_manager",
         "//modules/perception/lib/singleton",
+        "//modules/perception/proto:perception_config_schema_proto",
     ],
 )
 
@@ -24,8 +27,8 @@ cc_test(
         "hdmap_input_test.cc",
     ],
     deps = [
-        "@gtest//:main",
         ":hdmap_input",
+        "@gtest//:main",
     ],
 )
 

modules/perception/map/hdmap/hdmap_input.cc

@@ -17,8 +17,11 @@
 #include "modules/perception/map/hdmap/hdmap_input.h"
 
 #include <algorithm>
-// #include "modules/perception/base/log.h"
-// #include "modules/perception/common/geometry/common.h"
+#include <string>
+#include <vector>
+#include "cybertron/common/log.h"
+#include "modules/perception/common/geometry/common.h"
+
 // #include "hdmap_definitions.h"  // NOLINT
 // #include "hdmap_trajectory.h"  // NOLINT
 // #include "modules/perception/base/object_pool_types.h"
@@ -40,8 +43,8 @@ namespace map {
 // using lib::ConfigManager;
 // using base::PolygonDType;
 
-using base::RoadBoundary;
 using base::PointD;
+using base::RoadBoundary;
 // using base::PointDCloud;
 // using base::PointDCloudPtr;
 // HDMapInput
@@ -100,8 +103,7 @@ bool HDMapInput::InitHDMap() {
 }
 
 bool HDMapInput::GetRoiHDMapStruct(
-    const base::PointD& pointd,
-    const double distance,
+    const base::PointD& pointd, const double distance,
     std::shared_ptr<base::HdmapStruct> hdmap_struct_prt) {
   // lib::MutexLock lock(&mutex_);
   // CHECK_NOTNULL(hdmap_.get());

modules/perception/map/hdmap/hdmap_input_test.cc

@@ -14,11 +14,15 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include "modules/perception/map/hdmap/hdmap_input.h"
+
 #include <gflags/gflags.h>
 #include <gtest/gtest.h>
-// #include "modules/perception/base/log.h"
-// #include "modules/perception/lib/config_manager/config_manager.h"
-#include "modules/perception/map/hdmap/hdmap_input.h"
+
+#include "cybertron/common/log.h"
+
+#include "modules/perception/lib/config_manager/config_manager.h"
+
 namespace apollo {
 namespace perception {
 namespace lib {
@@ -32,13 +36,13 @@ namespace map {
 class HDMapInputTest : public testing::Test {
  protected:
   virtual void SetUp() {
-//    char* cybertron_path = "CYBERTRON_PATH=";
-//    putenv(cybertron_path);
-//    char* module_path = "MODULE_PATH=";
-//    putenv(module_path);
-//    lib::FLAGS_config_manager_path = "./map_test_data/hdmap/conf";
-//    config_manager_ = lib::Singleton<ConfigManager>::get_instance();
-//    ASSERT_TRUE(config_manager_ != NULL);
+    //    char* cybertron_path = "CYBERTRON_PATH=";
+    //    putenv(cybertron_path);
+    //    char* module_path = "MODULE_PATH=";
+    //    putenv(module_path);
+    //    lib::FLAGS_config_manager_path = "./map_test_data/hdmap/conf";
+    //    config_manager_ = lib::Singleton<ConfigManager>::get_instance();
+    //    ASSERT_TRUE(config_manager_ != NULL);
   }
 
  protected:

modules/perception/onboard/msg_buffer/msg_buffer.h

@@ -25,7 +25,7 @@
 
 #include "cybertron/component/component.h"
 #include "float.h"
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {

modules/perception/onboard/msg_serializer/msg_serializer.cc

@@ -16,7 +16,7 @@
 #include "modules/perception/onboard/msg_serializer/msg_serializer.h"
 #include "modules/perception/onboard/common_flags/common_flags.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/lib/utils/time_util.h"
 
 namespace apollo {

modules/perception/onboard/transform_wrapper/transform_wrapper.cc

@@ -15,7 +15,7 @@
  *****************************************************************************/
 #include "modules/perception/onboard/transform_wrapper/transform_wrapper.h"
 
-#include "modules/perception/base/log.h"
+#include "cybertron/common/log.h"
 #include "modules/perception/common/sensor_manager/sensor_manager.h"
 
 namespace apollo {

modules/perception/proto/BUILD

@@ -16,10 +16,10 @@ proto_library(
         "traffic_light_detection.proto",
     ],
     deps = [
-        "//modules/map/proto:map_proto_lib",
         "//modules/common/proto:error_code_proto_lib",
         "//modules/common/proto:geometry_proto_lib",
         "//modules/common/proto:header_proto_lib",
+        "//modules/map/proto:map_proto_lib",
     ],
 )