From 630fc1cbdc2272690ea52a92371e3c6e721e89ec Mon Sep 17 00:00:00 2001
From: zhujun08 <zhujun.sjtu@gmail.com>
Date: Fri, 16 Mar 2018 23:08:55 -0700
Subject: [PATCH] use perception_cuda lib

---
 WORKSPACE.in                                  |  9 -----
 apollo.sh                                     |  9 +++++
 modules/perception/lib/config_manager/BUILD   |  2 +-
 .../perception/obstacle/camera/common/BUILD   |  6 ++--
 .../obstacle/camera/detector/common/BUILD     |  2 +-
 .../detector/yolo_camera_detector/BUILD       |  4 +--
 third_party/perception_cuda.BUILD             | 34 +++++++++++++++++++
 7 files changed, 50 insertions(+), 16 deletions(-)
 create mode 100644 third_party/perception_cuda.BUILD

diff --git a/WORKSPACE.in b/WORKSPACE.in
index 8b628658ba..ed3397dc46 100644
--- a/WORKSPACE.in
+++ b/WORKSPACE.in
@@ -190,15 +190,6 @@ http_archive(
     url = "https://github.com/google/protobuf/releases/download/v3.3.0/protobuf-cpp-3.3.0.tar.gz",
 )
 
-# camera undistort for perception
-#new_local_repository(
-#    name = "undistort",
-#    build_file = "third_party/undistort.BUILD",
-#    path = "/usr/local/apollo/undistort",
-#)
-
-# CUDA-related utilities for perception
-
 # perception cuda util
 new_local_repository(
     name = "perception_cuda",
diff --git a/apollo.sh b/apollo.sh
index 6772413afe..0098c1b4ba 100755
--- a/apollo.sh
+++ b/apollo.sh
@@ -108,7 +108,16 @@ function generate_build_targets() {
 function build_perception_cuda() {
     cur_dir=$(pwd)
     src_dir="modules/perception/cuda_util"
+    sudo mkdir "/home/tmp/perception_cuda"
+    tar_include_dir="/home/tmp/perception_cuda/include/"
+    tar_lib_dir="/home/tmp/perception_cuda/lib/"
     cd $src_dir && mkdir -p build && cd build && cmake .. && make
+    sudo mkdir $tar_lib_dir
+    sudo cp "libcuda_util.so" $tar_lib_dir
+    sudo mkdir $tar_include_dir
+    cd $cur_dir
+    cd $src_dir
+    sudo cp "network.h" "region_output.h" "undistortion.h" "util.h" $tar_include_dir
     cd $cur_dir
 }
 
diff --git a/modules/perception/lib/config_manager/BUILD b/modules/perception/lib/config_manager/BUILD
index ac09cb8d7b..2c19052868 100644
--- a/modules/perception/lib/config_manager/BUILD
+++ b/modules/perception/lib/config_manager/BUILD
@@ -21,7 +21,7 @@ cc_library(
         "//modules/perception/obstacle/camera/common",
         "@cuda",
         "@opencv2//:imgproc",
-        "@perception_util",
+        "@perception_cuda",
         "@yaml_cpp//:yaml",
     ],
 )
diff --git a/modules/perception/obstacle/camera/common/BUILD b/modules/perception/obstacle/camera/common/BUILD
index d7b86d0dea..b1b1bc55a4 100644
--- a/modules/perception/obstacle/camera/common/BUILD
+++ b/modules/perception/obstacle/camera/common/BUILD
@@ -14,7 +14,7 @@ cc_library(
     deps = [
         "//modules/perception/obstacle/base",
         "@eigen",
-        "@perception_util",
+        "@perception_cuda",
     ],
 )
 
@@ -31,7 +31,7 @@ cc_library(
         "//modules/perception/common:pcl_util",
         "//modules/perception/obstacle/base",
         "@eigen",
-        "@perception_util",
+        "@perception_cuda",
     ],
 )
 
@@ -51,7 +51,7 @@ cc_library(
     hdrs = ["cnn_adapter.h"],
     deps = [
         "//modules/perception/obstacle/camera/common:util",
-        "@perception_util",
+        "@perception_cuda",
     ],
 )
 
diff --git a/modules/perception/obstacle/camera/detector/common/BUILD b/modules/perception/obstacle/camera/detector/common/BUILD
index 7c7bb501a3..a5a12f0fd4 100644
--- a/modules/perception/obstacle/camera/detector/common/BUILD
+++ b/modules/perception/obstacle/camera/detector/common/BUILD
@@ -18,7 +18,7 @@ cc_library(
         "@eigen",
         "@opencv2//:core",
         "@opencv2//:imgproc",
-        "@perception_util",
+        "@perception_cuda",
     ],
 )
 
diff --git a/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD b/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD
index 4909f7a7e3..439d113aa7 100644
--- a/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD
+++ b/modules/perception/obstacle/camera/detector/yolo_camera_detector/BUILD
@@ -35,7 +35,7 @@ cc_library(
         "//modules/perception/obstacle/camera/interface",
         "@caffe//:lib",
         "@eigen",
-        "@perception_util",
+        "@perception_cuda",
     ],
 )
 
@@ -53,7 +53,7 @@ cc_test(
     deps = [
         ":yolo_camera_detector",
         "//modules/common/util",
-        "@perception_util",
+        "@perception_cuda",
         "@gtest//:main",
     ],
 )
diff --git a/third_party/perception_cuda.BUILD b/third_party/perception_cuda.BUILD
new file mode 100644
index 0000000000..34c3504236
--- /dev/null
+++ b/third_party/perception_cuda.BUILD
@@ -0,0 +1,34 @@
+package(default_visibility = ["//visibility:public"])
+
+licenses(["notice"])
+
+cc_library(
+    name = "perception_cuda",
+    srcs = [
+        "lib/libcuda_util.so",
+    ],
+    hdrs = [
+        "include/undistortion.h",
+        "include/region_output.h",
+        "include/util.h",
+        "include/network.h",
+    ],
+    linkopts = [
+        "-Wl,-rpath,/usr/lib/x86_64-linux-gnu/",
+        "-lboost_system",
+        "-lboost_thread",
+        "-lboost_filesystem",
+        "-lpthread",
+        "-lblas",
+        "-lcblas",
+        "-lhdf5_hl",
+        "-lhdf5",
+        "-lz",
+        "-ldl",
+        "-lm",
+        "-lopencv_core",
+        "-lopencv_highgui",
+        "-lopencv_imgproc",
+        "-lcaffe",
+    ],
+)
-- 
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