From 27ee9084de8896c71e406abea0e8d2bd754cbc54 Mon Sep 17 00:00:00 2001 From: Dong Li Date: Tue, 25 Sep 2018 15:50:05 -0700 Subject: [PATCH] perception: change log.h to cybertron log --- modules/perception/common/io/io_util.cc | 2 +- modules/perception/fusion/base/fusion_log.h | 2 +- modules/perception/fusion/base/sensor.cc | 2 +- .../fusion/base/sensor_data_manager.cc | 2 +- .../perception/fusion/common/dst_evidence.cc | 2 +- .../perception/fusion/common/kalman_filter.cc | 2 +- .../test/fusion_common_camera_util_test.cc | 2 +- .../test/fusion_common_dst_evidence_test.cc | 2 +- .../fusion_common_information_filter_test.cc | 2 +- .../test/fusion_common_kalman_filter_test.cc | 2 +- .../inference/tensorrt/batch_stream.cc | 2 +- .../perception/inference/tensorrt/rt_net.cc | 2 +- .../test/inference_batch_stream_test.cc | 2 +- .../test/inference_entropy_calibrator_test.cc | 2 +- .../segmentation/cnnseg/cnn_segmentation.cc | 2 +- .../hm_tracker/gnn_bipartite_graph_matcher.cc | 2 +- .../lib/tracker/hm_tracker/kalman_filter.cc | 2 +- .../multi_hm_bipartite_graph_matcher.cc | 2 +- .../lidar/lib/tracker/hm_tracker/tracker.cc | 2 +- ...hm_tracker_bipartite_graph_matcher_test.cc | 2 +- modules/perception/map/hdmap/BUILD | 5 +++- modules/perception/map/hdmap/hdmap_input.cc | 12 ++++++---- .../perception/map/hdmap/hdmap_input_test.cc | 24 +++++++++++-------- .../onboard/msg_buffer/msg_buffer.h | 2 +- .../onboard/msg_serializer/msg_serializer.cc | 2 +- .../transform_wrapper/transform_wrapper.cc | 2 +- modules/perception/proto/BUILD | 2 +- 27 files changed, 49 insertions(+), 40 deletions(-) diff --git a/modules/perception/common/io/io_util.cc b/modules/perception/common/io/io_util.cc index d23d8ee9c5..5af24a9088 100644 --- a/modules/perception/common/io/io_util.cc +++ b/modules/perception/common/io/io_util.cc @@ -27,7 +27,7 @@ #include #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 { diff --git a/modules/perception/fusion/base/fusion_log.h b/modules/perception/fusion/base/fusion_log.h index bbb98d94b1..5eb99b9943 100644 --- a/modules/perception/fusion/base/fusion_log.h +++ b/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 diff --git a/modules/perception/fusion/base/sensor.cc b/modules/perception/fusion/base/sensor.cc index 1e5a91beb0..8a166981b8 100644 --- a/modules/perception/fusion/base/sensor.cc +++ b/modules/perception/fusion/base/sensor.cc @@ -17,7 +17,7 @@ #include -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" namespace apollo { namespace perception { diff --git a/modules/perception/fusion/base/sensor_data_manager.cc b/modules/perception/fusion/base/sensor_data_manager.cc index 81935473f9..2a1791da0e 100644 --- a/modules/perception/fusion/base/sensor_data_manager.cc +++ b/modules/perception/fusion/base/sensor_data_manager.cc @@ -17,7 +17,7 @@ #include -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" namespace apollo { namespace perception { diff --git a/modules/perception/fusion/common/dst_evidence.cc b/modules/perception/fusion/common/dst_evidence.cc index 7251dc917d..c65590969c 100644 --- a/modules/perception/fusion/common/dst_evidence.cc +++ b/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 { diff --git a/modules/perception/fusion/common/kalman_filter.cc b/modules/perception/fusion/common/kalman_filter.cc index cae775bf21..3d33967f9d 100644 --- a/modules/perception/fusion/common/kalman_filter.cc +++ b/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 { diff --git a/modules/perception/fusion/test/fusion_common_camera_util_test.cc b/modules/perception/fusion/test/fusion_common_camera_util_test.cc index 16d7e65720..ee98df24c1 100644 --- a/modules/perception/fusion/test/fusion_common_camera_util_test.cc +++ b/modules/perception/fusion/test/fusion_common_camera_util_test.cc @@ -16,7 +16,7 @@ #include #include #include -#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" diff --git a/modules/perception/fusion/test/fusion_common_dst_evidence_test.cc b/modules/perception/fusion/test/fusion_common_dst_evidence_test.cc index 5d075294d1..44fdca22a5 100644 --- a/modules/perception/fusion/test/fusion_common_dst_evidence_test.cc +++ b/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" diff --git a/modules/perception/fusion/test/fusion_common_information_filter_test.cc b/modules/perception/fusion/test/fusion_common_information_filter_test.cc index ea51f14a6c..01c87cd9c9 100644 --- a/modules/perception/fusion/test/fusion_common_information_filter_test.cc +++ b/modules/perception/fusion/test/fusion_common_information_filter_test.cc @@ -15,7 +15,7 @@ *****************************************************************************/ #include #include -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" #include "modules/perception/fusion/common/information_filter.h" namespace apollo { diff --git a/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc b/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc index 5c1848cf7d..265027ddb8 100644 --- a/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc +++ b/modules/perception/fusion/test/fusion_common_kalman_filter_test.cc @@ -17,7 +17,7 @@ #include #include #define private public -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" #include "modules/perception/fusion/common/kalman_filter.h" namespace apollo { diff --git a/modules/perception/inference/tensorrt/batch_stream.cc b/modules/perception/inference/tensorrt/batch_stream.cc index 462051579f..e8ad9d143f 100644 --- a/modules/perception/inference/tensorrt/batch_stream.cc +++ b/modules/perception/inference/tensorrt/batch_stream.cc @@ -17,7 +17,7 @@ #include #include #include -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" namespace apollo { namespace perception { diff --git a/modules/perception/inference/tensorrt/rt_net.cc b/modules/perception/inference/tensorrt/rt_net.cc index 7997fc4ea7..38a9203216 100644 --- a/modules/perception/inference/tensorrt/rt_net.cc +++ b/modules/perception/inference/tensorrt/rt_net.cc @@ -19,7 +19,7 @@ #include #include -#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" diff --git a/modules/perception/inference/test/inference_batch_stream_test.cc b/modules/perception/inference/test/inference_batch_stream_test.cc index e4a16a97a7..a3460f946f 100644 --- a/modules/perception/inference/test/inference_batch_stream_test.cc +++ b/modules/perception/inference/test/inference_batch_stream_test.cc @@ -18,7 +18,7 @@ #include #include #include "gtest/gtest.h" -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" #define private public diff --git a/modules/perception/inference/test/inference_entropy_calibrator_test.cc b/modules/perception/inference/test/inference_entropy_calibrator_test.cc index bf2ef25e9e..8c9ee53c9a 100644 --- a/modules/perception/inference/test/inference_entropy_calibrator_test.cc +++ b/modules/perception/inference/test/inference_entropy_calibrator_test.cc @@ -18,7 +18,7 @@ #include #include #include "gtest/gtest.h" -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" #define private public diff --git a/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc b/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc index 6a21f0ae9e..96d2252913 100644 --- a/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc +++ b/modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation.cc @@ -17,7 +17,7 @@ #include #include -#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" diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc b/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc index c9347b3eed..729b733fab 100644 --- a/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc +++ b/modules/perception/lidar/lib/tracker/hm_tracker/gnn_bipartite_graph_matcher.cc @@ -17,7 +17,7 @@ #include #include #include -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" namespace apollo { namespace perception { diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc b/modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc index fa4b3f4ff8..94a40c808c 100644 --- a/modules/perception/lidar/lib/tracker/hm_tracker/kalman_filter.cc +++ b/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" diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc b/modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc index 503fd66ce8..73c170e75e 100644 --- a/modules/perception/lidar/lib/tracker/hm_tracker/multi_hm_bipartite_graph_matcher.cc +++ b/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 -#include "modules/perception/base/log.h" +#include "cybertron/common/log.h" #include "modules/perception/common/graph/gated_hungarian_bigraph_matcher.h" namespace apollo { diff --git a/modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc b/modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc index 0ddaab1c0d..4d90c94536 100644 --- a/modules/perception/lidar/lib/tracker/hm_tracker/tracker.cc +++ b/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" diff --git a/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc b/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc index 91f0b65702..5371facf12 100644 --- a/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc +++ b/modules/perception/lidar/test/lidar_lib_hm_tracker_bipartite_graph_matcher_test.cc @@ -14,7 +14,7 @@ * limitations under the License. *****************************************************************************/ #include -#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" diff --git a/modules/perception/map/hdmap/BUILD b/modules/perception/map/hdmap/BUILD index 2b241280d2..26ba6205cb 100644 --- a/modules/perception/map/hdmap/BUILD +++ b/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", ], ) diff --git a/modules/perception/map/hdmap/hdmap_input.cc b/modules/perception/map/hdmap/hdmap_input.cc index 9094d62433..0dc45f0689 100644 --- a/modules/perception/map/hdmap/hdmap_input.cc +++ b/modules/perception/map/hdmap/hdmap_input.cc @@ -17,8 +17,11 @@ #include "modules/perception/map/hdmap/hdmap_input.h" #include -// #include "modules/perception/base/log.h" -// #include "modules/perception/common/geometry/common.h" +#include +#include +#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 hdmap_struct_prt) { // lib::MutexLock lock(&mutex_); // CHECK_NOTNULL(hdmap_.get()); diff --git a/modules/perception/map/hdmap/hdmap_input_test.cc b/modules/perception/map/hdmap/hdmap_input_test.cc index acee5aac84..c5105dd79c 100644 --- a/modules/perception/map/hdmap/hdmap_input_test.cc +++ b/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 #include -// #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::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::get_instance(); + // ASSERT_TRUE(config_manager_ != NULL); } protected: diff --git a/modules/perception/onboard/msg_buffer/msg_buffer.h b/modules/perception/onboard/msg_buffer/msg_buffer.h index 9b7170816e..845a89928e 100644 --- a/modules/perception/onboard/msg_buffer/msg_buffer.h +++ b/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 { diff --git a/modules/perception/onboard/msg_serializer/msg_serializer.cc b/modules/perception/onboard/msg_serializer/msg_serializer.cc index e4a861d84f..cbdf23e887 100644 --- a/modules/perception/onboard/msg_serializer/msg_serializer.cc +++ b/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 { diff --git a/modules/perception/onboard/transform_wrapper/transform_wrapper.cc b/modules/perception/onboard/transform_wrapper/transform_wrapper.cc index ef8e55a511..8939982e87 100644 --- a/modules/perception/onboard/transform_wrapper/transform_wrapper.cc +++ b/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 { diff --git a/modules/perception/proto/BUILD b/modules/perception/proto/BUILD index 11cf574137..90742c709a 100644 --- a/modules/perception/proto/BUILD +++ b/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", ], ) -- GitLab