From 3ca9e1d72fd67a55ed73a8863cd30a2a446f29d6 Mon Sep 17 00:00:00 2001
From: Liangliang Zhang <zhangliangliang@baidu.com>
Date: Mon, 24 Sep 2018 23:08:28 -0700
Subject: [PATCH] Perception: added object pool.

---
 modules/perception/base/BUILD                 | 26 +++++++++++++++++++
 .../perception/base/concurrent_object_pool.h  |  3 +++
 modules/perception/base/object_pool.h         |  4 ++-
 modules/perception/base/object_pool_types.h   |  1 +
 modules/perception/base/sensor_meta.h         |  3 ++-
 5 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/modules/perception/base/BUILD b/modules/perception/base/BUILD
index 3163f2b304..bb81571df1 100644
--- a/modules/perception/base/BUILD
+++ b/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 = [
diff --git a/modules/perception/base/concurrent_object_pool.h b/modules/perception/base/concurrent_object_pool.h
index 250a144c97..45f1b39ac7 100644
--- a/modules/perception/base/concurrent_object_pool.h
+++ b/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;
     {
diff --git a/modules/perception/base/object_pool.h b/modules/perception/base/object_pool.h
index 37178d558b..91bcfafab6 100644
--- a/modules/perception/base/object_pool.h
+++ b/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
diff --git a/modules/perception/base/object_pool_types.h b/modules/perception/base/object_pool_types.h
index b806c03050..f7d71ae2af 100644
--- a/modules/perception/base/object_pool_types.h
+++ b/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"
diff --git a/modules/perception/base/sensor_meta.h b/modules/perception/base/sensor_meta.h
index 4ee0119ef7..85810b17b0 100644
--- a/modules/perception/base/sensor_meta.h
+++ b/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
-- 
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