perception: migrate omnidirectional_model/polynomial and tests

modules/perception/base/BUILD

@@ -165,6 +165,35 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "omnidirectional_model",
+    hdrs = [
+        "omnidirectional_model.h",
+    ],
+    srcs = [
+        "omnidirectional_model.cc",
+    ],
+    deps = [
+        ":camera",
+        ":distortion_model",
+        ":polynomial",
+        "//framework:cybertron",
+        "@eigen",
+    ],
+)
+
+cc_test(
+    name = "omnidirectional_model_test",
+    size = "small",
+    srcs = [
+        "omnidirectional_model_test.cc",
+    ],
+    deps = [
+        ":omnidirectional_model",
+        "@gtest//:main",
+    ],
+)
+
 cc_library(
     name = "point_cloud",
     hdrs = [
@@ -189,6 +218,30 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "polynomial",
+    hdrs = [
+        "polynomial.h",
+    ],
+    srcs = [
+        "polynomial.cc",
+    ],
+    deps = [
+    ],
+)
+
+cc_test(
+    name = "polynomial_test",
+    size = "small",
+    srcs = [
+        "polynomial_test.cc",
+    ],
+    deps = [
+        ":polynomial",
+        "@gtest//:main",
+    ],
+)
+
 cc_library(
     name = "syncedmem",
     srcs = [

modules/perception/base/distortion_model.cc

@@ -14,6 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/base/distortion_model.h"
+
 #include <cmath>
 
 #include "cybertron/common/log.h"

modules/perception/base/omnidirectional_model.cc

@@ -14,11 +14,13 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/base/omnidirectional_model.h"
-#include "modules/perception/base/camera.h"
-#include "polynomial.h"
 
 #include <cmath>
-#include "modules/perception/base/log.h"
+#include <limits>
+
+#include "cybertron/common/log.h"
+#include "modules/perception/base/camera.h"
+#include "modules/perception/base/polynomial.h"
 
 namespace apollo {
 namespace perception {
@@ -56,7 +58,7 @@ Eigen::Vector2f OmnidirectionalCameraDistortionModel::Project(
 
 std::shared_ptr<BaseCameraModel>
     OmnidirectionalCameraDistortionModel::get_camera_model() {
-  PinholeCameraModelPtr camera_model(new PinholeCameraModel());
+  std::shared_ptr<PinholeCameraModel> camera_model(new PinholeCameraModel());
   camera_model->set_width(width_);
   camera_model->set_height(height_);
   camera_model->set_intrinsic_params(intrinsic_params_);
@@ -67,25 +69,25 @@ std::shared_ptr<BaseCameraModel>
 bool OmnidirectionalCameraDistortionModel::set_params(
     size_t width, size_t height, const Eigen::VectorXf& params) {
   if (params.size() < 9) {
-    LOG_INFO << "Missing cam2world and world2cam model.";
+    AINFO << "Missing cam2world and world2cam model.";
     return false;
   }
 
   uint32_t cam2world_order = uint32_t(params(8));
-  LOG_INFO << "cam2world order: " << cam2world_order
-           << ", size: " << params.size() << std::endl;
+  AINFO << "cam2world order: " << cam2world_order
+      << ", size: " << params.size() << std::endl;
 
   if (params.size() < 9 + cam2world_order + 1) {
-    LOG_INFO << "Incomplete cam2world model or missing world2cam model.";
+    AINFO << "Incomplete cam2world model or missing world2cam model.";
     return false;
   }
 
   uint32_t world2cam_order = uint32_t(params(9 + cam2world_order));
-  LOG_INFO << "world2cam order: " << world2cam_order
-           << ", size: " << params.size() << std::endl;
+  AINFO << "world2cam order: " << world2cam_order
+      << ", size: " << params.size() << std::endl;
 
   if (params.size() < 9 + cam2world_order + 1 + world2cam_order) {
-    LOG_INFO << "Incomplete world2cam model.";
+    AINFO << "Incomplete world2cam model.";
     return false;
   }
 

modules/perception/base/omnidirectional_model.h

@@ -51,10 +51,12 @@ class OmnidirectionalCameraDistortionModel : public BaseCameraDistortionModel {
   float affine_[3];  // c, d, e
 };
 
+/* TODO(all): to remove
 typedef std::shared_ptr<OmnidirectionalCameraDistortionModel>
     OmnidirectionalCameraDistortionModelPtr;
 typedef std::shared_ptr<const OmnidirectionalCameraDistortionModel>
     OmnidirectionalCameraDistortionModelConstPtr;
+*/
 
 }  // namespace base
 }  // namespace perception

modules/perception/base/polynomial.cc

@@ -14,7 +14,6 @@
  * limitations under the License.
  *****************************************************************************/
 #include "modules/perception/base/polynomial.h"
-#include <vector>
 
 namespace apollo {
 namespace perception {
@@ -52,7 +51,7 @@ double Polynomial::operator()(const double& x) {
 
   for (auto& item : power_cache_) {
     item.second = x;
-    for (int i = 0; i < item.first - 1; ++i) {
+    for (size_t i = 0; i < item.first - 1; ++i) {
       item.second *= x;
     }
   }
@@ -71,7 +70,7 @@ double Polynomial::operator()(const double& x) {
 
 std::ostream& operator<<(std::ostream& o, const Polynomial& p) {
   const std::map<uint32_t, double>& coeff = p.getCoeff();
-  int i = 0;
+  size_t i = 0;
   for (auto it = coeff.rbegin(); it != coeff.rend(); ++it) {
     const uint32_t& order = it->first;
     const double& c = it->second;
@@ -86,6 +85,6 @@ std::ostream& operator<<(std::ostream& o, const Polynomial& p) {
   return o;
 }
 
-}  // base
-}  // perception
-}  // apollo
+}  // namespace base
+}  // namespace perception
+}  // namespace apollo

modules/perception/base/polynomial.h

@@ -43,8 +43,8 @@ class Polynomial {
 
 std::ostream& operator<<(std::ostream& o, const Polynomial& p);
 
-}  // base
-}  // perception
-}  // apollo
+}  // namespace base
+}  // namespace perception
+}  // namespace apollo
 
-#endif
+#endif  // MODULES_PERCEPTION_BASE_POLYNOMIAL_H