Build: boost/caffe.BUILD adjustment and modules/pept/base/... build and test pass

WORKSPACE.in

@@ -202,13 +202,12 @@ new_local_repository(
 #    path = "/usr/include/vtk-VTK_VERSION",
 #)
 #
-## Caffe
-#new_local_repository(
-#    name = "caffe",
-#    build_file = "third_party/caffe.BUILD",
-#    path = "/usr/include/caffe",
-#)
-#
+# Caffe
+new_local_repository(
+    name = "caffe",
+    build_file = "external/caffe.BUILD",
+    path = "/opt/apollo/pkgs/caffe/include",
+)
 
 # YAML-CPP
 http_archive(
@@ -268,13 +267,14 @@ new_local_repository(
 #    path = "/usr/local/apollo/local_third_party/mkldnn",
 #)
 #
-## mklml
-#new_local_repository(
-#    name = "mklml",
-#    build_file = "third_party/mklml.BUILD",
-#    path = "/usr/local/apollo/local_third_party/mklml",
-#)
-#
+
+# mklml
+new_local_repository(
+    name = "mklml",
+    build_file = "third_party/mklml.BUILD",
+    path = "/usr/local/apollo/local_third_party/mklml",
+)
+
 ## Proj.4
 new_local_repository(
     name = "proj4",

external/boost.BUILD

@@ -3,11 +3,11 @@ licenses(["notice"])
 package(default_visibility = ["//visibility:public"])
 
 # TODO(storypku): remove this and use proto_boost instead.
-
 cc_library(
     name = "boost",
     includes = ["."],
     linkopts = [
+		"-L/opt/apollo/sysroot/lib",
         "-lboost_system",
         "-lboost_filesystem",
         "-lboost_program_options",

third_party/caffe.BUILD → external/caffe.BUILD

+load("@rules_cc//cc:defs.bzl", "cc_library")
+
 licenses(["notice"])
 
 package(default_visibility = ["//visibility:public"])
 
+# TODO(all): move blas/cblas to deps section
 cc_library(
     name = "caffe",
     includes = [
         ".",
-        "/usr/include",
     ],
     linkopts = [
-        "-lboost_system",
-        "-lboost_thread",
-        "-lboost_filesystem",
-        "-lpthread",
+        "-L/opt/apollo/pkgs/caffe/lib",
         "-lblas",
         "-lcblas",
         "-lz",
         "-ldl",
         "-lm",
-        "-lopencv_core",
-        "-lopencv_highgui",
-        "-lopencv_imgproc",
         "-lcaffe",
     ],
+    deps = [
+        "@boost",
+        "@opencv",
+    ],
 )

modules/perception/base/BUILD

@@ -46,6 +46,7 @@ cc_library(
         ":common",
         ":syncedmem",
         "//cyber",
+        "@local_config_cuda//cuda:cuda_headers",
     ],
 )
 
@@ -57,7 +58,7 @@ cc_test(
         ":blob",
         "//modules/perception/base/test:test_helper",
         "@com_google_googletest//:gtest_main",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 
@@ -105,7 +106,7 @@ cc_library(
     name = "common",
     hdrs = ["common.h"],
     deps = [
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 
@@ -116,6 +117,7 @@ cc_test(
     deps = [
         ":common",
         "@com_google_googletest//:gtest_main",
+        "@local_config_cuda//cuda:cuda_headers",
     ],
 )
 
@@ -207,7 +209,18 @@ cc_library(
     deps = [
         ":box",
         ":point_cloud",
-        "//modules/prediction/proto:feature_proto",
+        "//modules/common/proto:error_code_cc_proto",
+        "//modules/common/proto:geometry_cc_proto",
+        "//modules/common/proto:header_cc_proto",
+        "//modules/common/proto:pnc_point_cc_proto",
+        "//modules/map/proto:map_geometry_cc_proto",
+        "//modules/map/proto:map_id_cc_proto",
+        "//modules/map/proto:map_lane_cc_proto",
+        "//modules/perception/proto:perception_obstacle_cc_proto",
+        "//modules/prediction/proto:feature_cc_proto",
+        "//modules/prediction/proto:lane_graph_cc_proto",
+        "//modules/prediction/proto:prediction_point_cc_proto",
+        "@boost",
         "@eigen",
     ],
 )
@@ -317,6 +330,7 @@ cc_test(
     name = "point_cloud_test",
     size = "small",
     srcs = ["point_cloud_test.cc"],
+    linkopts = ["-lm"],
     deps = [
         ":point_cloud",
         "@com_google_googletest//:gtest_main",
@@ -346,6 +360,7 @@ cc_library(
     deps = [
         ":common",
         "//cyber",
+        "@local_config_cuda//cuda:cuda_headers",
     ],
 )
 
@@ -357,7 +372,7 @@ cc_test(
         ":syncedmem",
         "//modules/perception/base/test:test_helper",
         "@com_google_googletest//:gtest_main",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 

modules/perception/base/comparison_traits.h

@@ -17,6 +17,7 @@
 #pragma once
 
 #include <limits>
+#include <cmath>
 
 namespace apollo {
 namespace perception {

modules/perception/base/object.h

@@ -15,12 +15,13 @@
  *****************************************************************************/
 #pragma once
 
-#include <boost/circular_buffer.hpp>
+#include <Eigen/Core>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "Eigen/Core"
+#include <boost/circular_buffer.hpp>
 
 #include "modules/perception/base/object_supplement.h"
 #include "modules/perception/base/object_types.h"

modules/perception/base/object_supplement.h

@@ -15,11 +15,12 @@
  *****************************************************************************/
 #pragma once
 
-#include <boost/circular_buffer.hpp>
 #include <memory>
 #include <string>
 #include <vector>
 
+#include <boost/circular_buffer.hpp>
+
 #include "modules/perception/base/box.h"
 #include "modules/perception/base/object_types.h"
 #include "modules/perception/base/point_cloud.h"

modules/perception/camera/lib/lane/common/proto/BUILD

+## Auto generated by `proto_build_generator.py`
+load("@rules_proto//proto:defs.bzl", "proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_proto_library")
+load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "denseline_cc_proto",
+    deps = [
+        ":denseline_proto",
+    ],
+)
+
+proto_library(
+    name = "denseline_proto",
+    srcs = ["denseline.proto"],
+)
+
+py_proto_library(
+    name = "denseline_py_pb2",
+    deps = [
+        ":denseline_proto",
+    ],
+)
+
+cc_proto_library(
+    name = "darkSCNN_cc_proto",
+    deps = [
+        ":darkSCNN_proto",
+    ],
+)
+
+proto_library(
+    name = "darkSCNN_proto",
+    srcs = ["darkSCNN.proto"],
+)
+
+py_proto_library(
+    name = "darkSCNN_py_pb2",
+    deps = [
+        ":darkSCNN_proto",
+    ],
+)

modules/perception/camera/lib/lane/postprocessor/darkSCNN/BUILD

 load("//tools:cpplint.bzl", "cpplint")
-load("@rules_proto//proto:defs.bzl", "proto_library")
-load("@rules_cc//cc:defs.bzl", "cc_library", "cc_proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_library")
 
 package(default_visibility = ["//visibility:public"])
 
-cc_proto_library(
-    name = "darkSCNN_postprocessor_cc_proto",
-    deps = [
-        ":darkSCNN_postprocessor_proto",
-    ],
-)
-
-proto_library(
-    name = "darkSCNN_postprocessor_proto",
-    srcs = ["darkSCNN_postprocessor.proto"],
-)
-
 cc_library(
     name = "darkSCNN_lane_postprocessor",
     srcs = ["darkSCNN_lane_postprocessor.cc"],
@@ -32,9 +19,4 @@ cc_library(
     ],
 )
 
-py_proto(
-    name = "darkSCNN_postprocessor_pb2",
-    deps = [":darkSCNN_postprocessor_proto"],
-)
-
 cpplint()

modules/perception/camera/lib/lane/postprocessor/darkSCNN/proto/BUILD

+## Auto generated by `proto_build_generator.py`
+load("@rules_proto//proto:defs.bzl", "proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_proto_library")
+load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "darkSCNN_postprocessor_cc_proto",
+    deps = [
+        ":darkSCNN_postprocessor_proto",
+    ],
+)
+
+proto_library(
+    name = "darkSCNN_postprocessor_proto",
+    srcs = ["darkSCNN_postprocessor.proto"],
+)
+
+py_proto_library(
+    name = "darkSCNN_postprocessor_py_pb2",
+    deps = [
+        ":darkSCNN_postprocessor_proto",
+    ],
+)

modules/perception/camera/lib/lane/postprocessor/denseline/proto/BUILD

+## Auto generated by `proto_build_generator.py`
+load("@rules_proto//proto:defs.bzl", "proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_proto_library")
+load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "denseline_postprocessor_cc_proto",
+    deps = [
+        ":denseline_postprocessor_proto",
+    ],
+)
+
+proto_library(
+    name = "denseline_postprocessor_proto",
+    srcs = ["denseline_postprocessor.proto"],
+)
+
+py_proto_library(
+    name = "denseline_postprocessor_py_pb2",
+    deps = [
+        ":denseline_postprocessor_proto",
+    ],
+)

modules/perception/camera/lib/lane/postprocessor/proto/BUILD

+package(default_visibility = ["//visibility:public"])

modules/perception/camera/lib/motion_service/BUILD

@@ -10,15 +10,11 @@ cc_library(
     deps = [
         "//cyber",
         "//modules/common/math",
-        "//modules/drivers/proto:sensor_proto",
-        "//modules/localization/proto:localization_proto",
         "//modules/perception/camera/common",
         "//modules/perception/camera/lib/interface:base_init_options",
         "//modules/perception/camera/lib/motion",
         "//modules/perception/lib/registerer",
         "//modules/perception/lib/utils",
-        "//modules/perception/onboard/proto:motion_service_proto",
-        "//modules/perception/proto:perception_proto",
     ],
 )
 

modules/perception/camera/lib/obstacle/detector/yolo/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:cuda_library.bzl", "cuda_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -14,7 +14,7 @@ cuda_library(
         "//modules/perception/camera/common",
         "//modules/perception/camera/lib/obstacle/detector/yolo/proto:yolo_proto",
         "//modules/prediction/proto:feature_proto",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 

modules/perception/camera/lib/obstacle/tracker/common/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:cuda_library.bzl", "cuda_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -13,7 +13,7 @@ cuda_library(
         "//modules/perception/camera/common:camera_frame",
         "//modules/perception/inference/utils:inference_gemm_lib",
         "//modules/prediction/proto:feature_proto",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 

modules/perception/camera/lib/obstacle/tracker/omt/BUILD

 load("//tools:cpplint.bzl", "cpplint")
-load("@rules_proto//proto:defs.bzl", "proto_library")
-load("@rules_cc//cc:defs.bzl", "cc_library", "cc_proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_library")
 
 package(default_visibility = ["//visibility:public"])
 
-cc_proto_library(
-    name = "omt_cc_proto",
-    deps = [
-        ":omt_proto",
-    ],
-)
-
-proto_library(
-    name = "omt_proto",
-    srcs = ["omt.proto"],
-)
-
 cc_library(
     name = "track_object",
     srcs = ["track_object.cc"],
@@ -84,11 +71,4 @@ cc_library(
     ],
 )
 
-py_proto(
-    name = "omt_py_pb2",
-    deps = [
-        ":omt_proto",
-    ],
-)
-
 cpplint()

modules/perception/camera/lib/traffic_light/detector/recognition/proto/BUILD

+## Auto generated by `proto_build_generator.py`
+load("@rules_proto//proto:defs.bzl", "proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_proto_library")
+load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "recognition_cc_proto",
+    deps = [
+        ":recognition_proto",
+    ],
+)
+
+proto_library(
+    name = "recognition_proto",
+    srcs = ["recognition.proto"],
+)
+
+py_proto_library(
+    name = "recognition_py_pb2",
+    deps = [
+        ":recognition_proto",
+    ],
+)

modules/perception/camera/lib/traffic_light/preprocessor/proto/BUILD

+## Auto generated by `proto_build_generator.py`
+load("@rules_proto//proto:defs.bzl", "proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_proto_library")
+load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "tl_preprocess_cc_proto",
+    deps = [
+        ":tl_preprocess_proto",
+    ],
+)
+
+proto_library(
+    name = "tl_preprocess_proto",
+    srcs = ["tl_preprocess.proto"],
+)
+
+py_proto_library(
+    name = "tl_preprocess_py_pb2",
+    deps = [
+        ":tl_preprocess_proto",
+    ],
+)

modules/perception/camera/lib/traffic_light/proto/BUILD

+## Auto generated by `proto_build_generator.py`
+load("@rules_proto//proto:defs.bzl", "proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_proto_library")
+load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "detection_cc_proto",
+    deps = [
+        ":detection_proto",
+    ],
+)
+
+proto_library(
+    name = "detection_proto",
+    srcs = ["detection.proto"],
+)
+
+py_proto_library(
+    name = "detection_py_pb2",
+    deps = [
+        ":detection_proto",
+    ],
+)

modules/perception/camera/lib/traffic_light/tracker/proto/BUILD

+## Auto generated by `proto_build_generator.py`
+load("@rules_proto//proto:defs.bzl", "proto_library")
+load("@rules_cc//cc:defs.bzl", "cc_proto_library")
+load("@com_github_grpc_grpc//bazel:python_rules.bzl", "py_proto_library")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_proto_library(
+    name = "semantic_cc_proto",
+    deps = [
+        ":semantic_proto",
+    ],
+)
+
+proto_library(
+    name = "semantic_proto",
+    srcs = ["semantic.proto"],
+)
+
+py_proto_library(
+    name = "semantic_py_pb2",
+    deps = [
+        ":semantic_proto",
+    ],
+)

modules/perception/camera/tools/offline/BUILD

@@ -20,8 +20,6 @@ cc_library(
         ":transform_server",
         "//modules/perception/camera/app:cipv_camera",
         "//modules/perception/camera/common",
-        "//modules/perception/onboard/proto:motion_service_proto",
-        "//modules/perception/proto:perception_proto",
     ],
 )
 

modules/perception/inference/operators/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:cuda_library.bzl", "cuda_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -13,8 +13,8 @@ cuda_library(
     deps = [
         "//modules/perception/base:blob",
         "//modules/perception/inference:layer_lib",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 

modules/perception/inference/paddlepaddle/BUILD

@@ -20,8 +20,8 @@ cc_library(
         "//third_party:rt",
         "@com_github_gflags_gflags//:gflags",
         "@com_google_protobuf//:protobuf",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
         "@mklml",
         "@paddlepaddle",
         "@snappystream",

modules/perception/inference/tensorrt/BUILD

@@ -94,7 +94,7 @@ cc_library(
         ":rt_utils",
         "@caffe",
         "@com_google_protobuf//:protobuf",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
         "@tensorrt",
     ],
 )

modules/perception/inference/tensorrt/plugins/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:cuda_library.bzl", "cuda_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -26,8 +26,8 @@ cuda_library(
     hdrs = ["slice_plugin.h"],
     deps = [
         "//modules/perception/inference/tensorrt:rt_common",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
         "@tensorrt",
     ],
 )
@@ -38,8 +38,8 @@ cuda_library(
     hdrs = ["argmax_plugin.h"],
     deps = [
         "//modules/perception/inference/tensorrt:rt_common",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
         "@tensorrt",
     ],
 )
@@ -50,8 +50,8 @@ cuda_library(
     hdrs = ["softmax_plugin.h"],
     deps = [
         "//modules/perception/inference/tensorrt:rt_common",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
         "@tensorrt",
     ],
 )
@@ -62,8 +62,8 @@ cuda_library(
     hdrs = ["leakyReLU_plugin.h"],
     deps = [
         "//modules/perception/inference/tensorrt:rt_common",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
         "@tensorrt",
     ],
 )

modules/perception/inference/utils/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:cuda_library.bzl", "cuda_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -10,7 +10,7 @@ cuda_library(
     hdrs = ["cuda_util.h"],
     deps = [
         "//cyber",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 
@@ -32,8 +32,8 @@ cuda_library(
     hdrs = ["util.h"],
     deps = [
         "//cyber",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 
@@ -66,7 +66,7 @@ cuda_library(
         "//cyber",
         "//modules/perception/base:blob",
         "//modules/perception/base:image",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 
@@ -92,7 +92,7 @@ cuda_library(
         "//cyber",
         "//modules/perception/base:blob",
         "//modules/perception/base:image",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 

modules/perception/lidar/lib/detection/lidar_point_pillars/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:cuda_library.bzl", "cuda_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -25,7 +25,7 @@ cc_library(
     deps = [
         ":preprocess_points",
         "//modules/perception/common:perception_gflags",
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
         "@tensorrt",
     ],
     alwayslink = True,
@@ -66,14 +66,14 @@ cuda_library(
     name = "anchor_mask_cuda",
     srcs = ["anchor_mask_cuda.cu"],
     hdrs = ["anchor_mask_cuda.h"],
-    deps = ["@cuda"],
+    deps = ["@local_config_cuda//cuda:cudart"],
 )
 
 cuda_library(
     name = "nms_cuda",
     srcs = ["nms_cuda.cu"],
     hdrs = ["nms_cuda.h"],
-    deps = ["@cuda"],
+    deps = ["@local_config_cuda//cuda:cudart"],
 )
 
 cuda_library(
@@ -81,7 +81,7 @@ cuda_library(
     srcs = ["postprocess_cuda.cu"],
     hdrs = ["postprocess_cuda.h"],
     deps = [
-        "@cuda",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 
@@ -89,14 +89,14 @@ cuda_library(
     name = "preprocess_points_cuda",
     srcs = ["preprocess_points_cuda.cu"],
     hdrs = ["preprocess_points_cuda.h"],
-    deps = ["@cuda"],
+    deps = ["@local_config_cuda//cuda:cudart"],
 )
 
 cuda_library(
     name = "scatter_cuda",
     srcs = ["scatter_cuda.cu"],
     hdrs = ["scatter_cuda.h"],
-    deps = ["@cuda"],
+    deps = ["@local_config_cuda//cuda:cudart"],
 )
 
 cc_test(

modules/perception/lidar/lib/segmentation/cnnseg/BUILD

 load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
 load("//tools:cpplint.bzl", "cpplint")
-load("//tools:cuda_library.bzl", "cuda_library")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -63,8 +63,8 @@ cuda_library(
         ":util",
         "//modules/perception/base",
         "//modules/perception/lidar/lib/segmentation/cnnseg/proto:cnnseg_param_proto",
-        "@cuda",
         "@eigen",
+        "@local_config_cuda//cuda:cudart",
     ],
 )
 

modules/perception/onboard/component/BUILD

@@ -30,12 +30,7 @@ cc_library(
     deps = [
         "//cyber",
         "//modules/common/math",
-        "//modules/common/proto:error_code_proto",
-        "//modules/common/proto:geometry_proto",
-        "//modules/common/proto:header_proto",
         "//modules/common/time",
-        "//modules/drivers/proto:sensor_proto",
-        "//modules/map/proto:map_proto",
         "//modules/perception/base",
         "//modules/perception/camera/app:cipv_camera",
         "//modules/perception/camera/app:lane_camera_perception",
@@ -60,15 +55,9 @@ cc_library(
         "//modules/perception/onboard/common_flags",
         "//modules/perception/onboard/inner_component_messages",
         "//modules/perception/onboard/msg_serializer",
-        "//modules/perception/onboard/proto:fusion_camera_detection_proto",
-        "//modules/perception/onboard/proto:lane_perception_component_proto",
-        "//modules/perception/onboard/proto:trafficlights_perception_component_proto",
         "//modules/perception/onboard/transform_wrapper",
-        "//modules/perception/proto:perception_proto",
         "//modules/transform:tf2_buffer_lib",
-        "//modules/transform/proto:transform_proto",
         "//modules/v2x/common:v2x_proxy_gflags",
-        "//modules/v2x/proto:v2x_traffic_light_proto",
         "@eigen",
     ],
     alwayslink = True,
@@ -106,13 +95,7 @@ cc_library(
     deps = [
         "//cyber",
         "//modules/common/math",
-        "//modules/common/proto:error_code_proto",
-        "//modules/common/proto:geometry_proto",
-        "//modules/common/proto:header_proto",
         "//modules/common/time",
-        "//modules/drivers/proto:sensor_proto",
-        "//modules/localization/proto:localization_proto",
-        "//modules/map/proto:map_proto",
         "//modules/perception/base",
         "//modules/perception/common:perception_gflags",
         "//modules/perception/common/sensor_manager",
@@ -144,13 +127,7 @@ cc_library(
         "//modules/perception/onboard/inner_component_messages",
         "//modules/perception/onboard/msg_buffer",
         "//modules/perception/onboard/msg_serializer",
-        "//modules/perception/onboard/proto:fusion_camera_detection_proto",
-        "//modules/perception/onboard/proto:fusion_component_config_proto",
-        "//modules/perception/onboard/proto:lidar_component_config_proto",
-        "//modules/perception/onboard/proto:radar_component_config_proto",
-        "//modules/perception/onboard/proto:trafficlights_perception_component_proto",
         "//modules/perception/onboard/transform_wrapper",
-        "//modules/perception/proto:perception_proto",
         "//modules/perception/radar/app:radar_obstacle_perception",
         "//modules/perception/radar/common:radar_util",
         "//modules/perception/radar/lib/detector/conti_ars_detector",
@@ -170,7 +147,6 @@ cc_library(
         "//modules/perception/radar/lib/tracker/filter:adaptive_kalman_filter",
         "//modules/perception/radar/lib/tracker/matcher:hm_matcher",
         "//modules/transform:tf2_buffer_lib",
-        "//modules/transform/proto:transform_proto",
         "@eigen",
     ],
     alwayslink = True,

modules/perception/onboard/msg_serializer/BUILD

@@ -13,8 +13,8 @@ cc_library(
         "//modules/perception/base",
         "//modules/perception/lib/utils",
         "//modules/perception/onboard/common_flags",
-        "//modules/perception/proto:perception_proto",
-        "//modules/prediction/proto:feature_proto",
+        "//modules/perception/proto:perception_obstacle_cc_proto",
+        "//modules/prediction/proto:feature_cc_proto",
         "@eigen",
     ],
 )