Build adjustment: explicit deps over implicit linkopts

modules/dreamview/backend/handlers/BUILD

@@ -22,17 +22,13 @@ cc_library(
     srcs = ["image_handler.cc"],
     hdrs = ["image_handler.h"],
     copts = ['-DMODULE_NAME=\\"dreamview\\"'],
-    linkopts = [
-        "-lopencv_core",
-        "-lopencv_highgui",
-        "-lopencv_imgproc",
-    ],
     deps = [
         "//cyber",
         "//modules/common/adapters:adapter_gflags",
         "//modules/common/configs:config_gflags",
         "//modules/drivers/proto:sensor_image_cc_proto",
         "@civetweb//:civetweb++",
+        "@opencv",
     ],
 )
 

modules/dreamview/backend/perception_camera_updater/BUILD

@@ -8,11 +8,6 @@ cc_library(
     srcs = ["perception_camera_updater.cc"],
     hdrs = ["perception_camera_updater.h"],
     copts = ['-DMODULE_NAME=\\"dreamview\\"'],
-    linkopts = [
-        "-lopencv_core",
-        "-lopencv_highgui",
-        "-lopencv_imgproc",
-    ],
     deps = [
         "//cyber",
         "//modules/common/adapters:adapter_gflags",
@@ -24,6 +19,7 @@ cc_library(
         "//modules/transform:tf2_buffer_lib",
         "//modules/transform/proto:transform_cc_proto",
         "@eigen",
+        "@opencv",
     ],
 )
 

modules/localization/msf/local_pyramid_map/base_map/BUILD

@@ -28,14 +28,12 @@ cc_library(
     ],
     linkopts = [
         "-lz",
-        "-lopencv_core",
-        "-lopencv_highgui",
-        "-lopencv_imgproc",
     ],
     deps = [
         "//cyber/common",
         "@com_google_glog//:glog",
         "@eigen",
+        "@opencv",
     ],
 )
 

modules/perception/camera/test/BUILD

@@ -7,9 +7,6 @@ cc_test(
     name = "camera_app_obstacle_camera_perception_test",
     size = "medium",
     srcs = ["camera_app_obstacle_camera_perception_test.cc"],
-    linkopts = [
-        "-lnvinfer_plugin",
-    ],
     deps = [
         "//modules/perception/camera/app:obstacle_camera_perception",
         "//modules/perception/common:perception_gflags",
@@ -27,9 +24,6 @@ cc_test(
 #cc_test(
 #    name = "camera_app_traffic_light_camera_perception_test",
 #    srcs = ["camera_app_traffic_light_camera_perception_test.cc"],
-#    linkopts = [
-#        "-lnvinfer_plugin",
-#    ],
 #    deps = [
 #        "//modules/perception/camera/app:traffic_light_camera_perception",
 #        "//modules/perception/inference:inference_factory",
@@ -64,9 +58,6 @@ cc_test(
     name = "camera_common_data_provider_test",
     size = "small",
     srcs = ["camera_common_data_provider_test.cc"],
-    linkopts = [
-        "-lnvinfer_plugin",
-    ],
     deps = [
         ":camera_common_io_util",
         "//modules/perception/camera/common:data_provider",
@@ -86,9 +77,6 @@ cc_test(
     name = "camera_common_twod_threed_util_test",
     size = "small",
     srcs = ["camera_common_twod_threed_util_test.cc"],
-    linkopts = [
-        "-lnvinfer_plugin",
-    ],
     deps = [
         "//modules/perception/camera/common:twod_threed_util",
         "//modules/perception/common/i_lib/algorithm:i_sort",
@@ -118,9 +106,6 @@ cc_library(
 #cc_test(
 #    name = "camera_common_undistortion_handler_test",
 #    srcs = ["camera_common_undistortion_handler_test.cc"],
-#    linkopts = [
-#        "-lnvinfer_plugin",
-#    ],
 #    deps = [
 #        ":camera_common_io_util",
 #        ":camera_common_undistortion",
@@ -140,9 +125,6 @@ cc_test(
     name = "camera_common_util_test",
     size = "small",
     srcs = ["camera_common_util_test.cc"],
-    linkopts = [
-        "-lnvinfer_plugin",
-    ],
     deps = [
         ":camera_common_io_util",
         "//modules/perception/camera/common:data_provider",
@@ -164,9 +146,6 @@ cc_test(
     name = "camera_common_veh_template_test",
     size = "small",
     srcs = ["camera_common_veh_template_test.cc"],
-    linkopts = [
-        "-lnvinfer_plugin",
-    ],
     deps = [
         "//modules/perception/camera/common:object_template_manager",
         "//modules/perception/inference:inference_factory",
@@ -527,9 +506,6 @@ cc_test(
 # cc_test(
 #     name = "camera_lib_traffic_light_detector_detection_test",
 #     srcs = ["camera_lib_traffic_light_detector_detection_test.cc"],
-#     linkopts = [
-#         "-lnvinfer_plugin",
-#     ],
 #     deps = [
 #         "//modules/perception/camera/lib/traffic_light/detector/detection:detection",
 #         "//modules/perception/inference:inference_factory",
@@ -546,9 +522,6 @@ cc_test(
 #cc_test(
 #    name = "camera_lib_traffic_light_detector_recognition_test",
 #    srcs = ["camera_lib_traffic_light_detector_recognition_test.cc"],
-#    linkopts = [
-#        "-lnvinfer_plugin",
-#    ],
 #    deps = [
 #        "//modules/perception/camera/lib/traffic_light/detector/recognition:recognition",
 #        "//modules/perception/inference:inference_factory",
@@ -583,9 +556,6 @@ cc_test(
 #cc_test(
 #    name = "camera_lib_traffic_light_preprocessor_test",
 #    srcs = ["camera_lib_traffic_light_preprocessor_test.cc"],
-#    linkopts = [
-#        "-lnvinfer_plugin",
-#    ],
 #    deps = [
 #        "//modules/perception/camera/lib/traffic_light/preprocessor:tl_preprocessor",
 #        "//modules/perception/common/sensor_manager:sensor_manager",
@@ -604,9 +574,6 @@ cc_test(
     name = "camera_lib_traffic_light_tracker_test",
     size = "small",
     srcs = ["camera_lib_traffic_light_tracker_test.cc"],
-    linkopts = [
-        "-lnvinfer_plugin",
-    ],
     deps = [
         "//cyber",
         "//modules/perception/base:distortion_model",

modules/perception/camera/tools/lane_detection/BUILD

@@ -17,11 +17,6 @@ cc_library(
 cc_binary(
     name = "lane_denseline_eval",
     srcs = ["lane_denseline_eval.cc"],
-    linkopts = [
-        "-lopencv_core",
-        "-lopencv_imgproc",
-        "-lopencv_highgui",
-    ],
     linkstatic = False,
     deps = [
         ":lane_common",
@@ -35,6 +30,7 @@ cc_binary(
         "//modules/perception/camera/lib/lane/postprocessor/denseline:denseline_lane_postprocessor",
         "//modules/perception/common/io:io_util",
         "@com_github_gflags_gflags//:gflags",
+        "@opencv",
     ],
 )
 

modules/perception/camera/tools/offline/BUILD

@@ -11,16 +11,12 @@ cc_library(
         "keycode.h",
         "visualizer.h",
     ],
-    linkopts = [
-        "-lopencv_core",
-        "-lopencv_imgproc",
-        "-lopencv_highgui",
-    ],
     deps = [
         ":transform_server",
         "//modules/perception/camera/app:cipv_camera",
         "//modules/perception/camera/common",
         "//modules/perception/proto:motion_service_cc_proto",
+        "@opencv",
     ],
 )
 

modules/perception/inference/caffe/BUILD

@@ -7,12 +7,12 @@ cc_library(
     name = "caffe_net_lib",
     srcs = ["caffe_net.cc"],
     hdrs = ["caffe_net.h"],
-    linkopts = ["-lnvinfer_plugin"],
     deps = [
         "//modules/perception/inference:inference_lib",
         "//third_party:boost",
         "@caffe",
         "@com_google_protobuf//:protobuf",
+        "@local_config_tensorrt//:tensorrt",
         "@opencv",
     ],
 )

modules/perception/inference/utils/BUILD

@@ -18,10 +18,10 @@ cc_library(
     name = "inference_cuda_util_lib",
     srcs = [":inference_cuda_util_cuda_lib"],
     hdrs = ["cuda_util.h"],
-    linkopts = ["-lnvinfer_plugin"],
     linkstatic = 1,
     deps = [
         "@caffe",
+        "@local_config_tensorrt//:tensorrt",
         "@opencv",
     ],
 )
@@ -45,7 +45,6 @@ cc_library(
         ":inference_util_cuda_lib",
     ],
     hdrs = ["util.h"],
-    linkopts = ["-lnvinfer_plugin"],
     linkstatic = 1,
     deps = [
         "//modules/perception/base:blob",
@@ -53,6 +52,7 @@ cc_library(
         "//modules/perception/base:image",
         "//modules/perception/base:point_cloud",
         "@caffe",
+        "@local_config_tensorrt//:tensorrt",
         "@opencv",
     ],
 )
@@ -75,10 +75,10 @@ cc_library(
     name = "inference_resize_lib",
     srcs = [":inference_resize_cuda_lib"],
     hdrs = ["resize.h"],
-    linkopts = ["-lnvinfer_plugin"],
     linkstatic = 1,
     deps = [
         "@caffe",
+        "@local_config_tensorrt//:tensorrt",
         "@opencv",
     ],
 )
@@ -101,10 +101,10 @@ cc_library(
     name = "inference_gemm_lib",
     srcs = [":inference_gemm_cuda_lib"],
     hdrs = ["gemm.h"],
-    linkopts = ["-lnvinfer_plugin"],
     linkstatic = 1,
     deps = [
         "@caffe",
+        "@local_config_tensorrt//:tensorrt",
         "@opencv",
     ],
 )
@@ -126,10 +126,10 @@ cc_library(
     name = "inference_binary_data_lib",
     srcs = ["binary_data.cc"],
     hdrs = ["binary_data.h"],
-    linkopts = ["-lnvinfer_plugin"],
     deps = [
         "//modules/perception/base:blob",
         "@caffe",
+        "@local_config_tensorrt//:tensorrt",
         "@opencv",
     ],
 )

what_works.sh

@@ -159,5 +159,8 @@ echo "########################### All check passed! ###########################"
 #          See https://docs.bazel.build/versions/master/be/python.html
 # TODO(Kecheng Xu): modules/tools/configurator/configurator.py: 2to3
 # TODO(storypku): cyber.aarch64 docker image
-# TODO(storypku): tools/workspace.bzl to re-org WORKSPACE.in
+# TODO(storypku): tools/workspace.bzl to re-org WORKSPACE
 # TODO(?): no break for cpu only build
+# TODO(?): Substitute implicit "-l" linkopts with explicit deps in BUILD files
+# find modules/ -name "BUILD" -exec grep -- "-l" {} +
+