Perception: added object pool.

modules/perception/base/BUILD

@@ -136,6 +136,14 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "frame",
+    hdrs = [
+        "frame.h",
+        "frame_supplement.h",
+    ],
+)
+
 cc_library(
     name = "object",
     hdrs = [
@@ -165,6 +173,16 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "object_pool",
+    hdrs = [
+        "object_pool.h",
+        "concurrent_object_pool.h",
+    ],
+    deps = [
+    ],
+)
+
 cc_library(
     name = "omnidirectional_model",
     hdrs = [
@@ -242,6 +260,14 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "sensor_meta",
+    hdrs = [
+        "sensor_meta.h",
+    ],
+)
+
+
 cc_library(
     name = "syncedmem",
     srcs = [

modules/perception/base/concurrent_object_pool.h

@@ -15,11 +15,13 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_BASE_CONCURRENT_OBJECT_POOL_H_
 #define MODULES_PERCEPTION_BASE_CONCURRENT_OBJECT_POOL_H_
+
 #include <deque>
 #include <list>
 #include <mutex>
 #include <queue>
 #include <vector>
+
 #include "modules/perception/base/object_pool.h"
 
 #define PERCEPTION_BASE_DISABLE_POOL
@@ -50,6 +52,7 @@ class ConcurrentObjectPool : public BaseObjectPool<ObjectType> {
   }
   // @brief overrided function to get object smart pointer
   ObjectTypePtr Get() override {
+// TODO(All): remove conditional build
 #ifndef PERCEPTION_BASE_DISABLE_POOL
     ObjectType* ptr = nullptr;
     {

modules/perception/base/object_pool.h

@@ -27,7 +27,9 @@ namespace base {
 template <class ObjectType>
 class BaseObjectPool {
  public:
-  typedef std::shared_ptr<ObjectType> ObjectTypePtr;
+  // TODO(All): remove
+  // typedef std::shared_ptr<ObjectType> ObjectTypePtr;
+
   // @brief default constructor
   BaseObjectPool() = default;
   // @brief default destructor

modules/perception/base/object_pool_types.h

@@ -15,6 +15,7 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_BASE_OBJECT_POOL_TYPES_H_
 #define MODULES_PERCEPTION_BASE_OBJECT_POOL_TYPES_H_
+
 #include "modules/perception/base/concurrent_object_pool.h"
 #include "modules/perception/base/frame.h"
 #include "modules/perception/base/object.h"

modules/perception/base/sensor_meta.h

@@ -68,7 +68,8 @@ struct SensorInfo {
   }
 };
 
-typedef std::shared_ptr<SensorInfo> SensorInfoPtr;
+// TODO(All): remove
+// typedef std::shared_ptr<SensorInfo> SensorInfoPtr;
 
 }  // namespace base
 }  // namespace perception