diff --git a/WORKSPACE.in b/WORKSPACE.in index 32dfca9c98c6c5845c043c789cd3ad3c02fe44a5..7038280d2079f51d2b97d21cb8a314f91a42e709 100644 --- a/WORKSPACE.in +++ b/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", diff --git a/external/boost.BUILD b/external/boost.BUILD index 2695d2ece47984ae228e66b998c911ab4ed2d66e..2306bac282c9b34ec099c7bd481690a16eb23374 100644 --- a/external/boost.BUILD +++ b/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", diff --git a/third_party/caffe.BUILD b/external/caffe.BUILD similarity index 56% rename from third_party/caffe.BUILD rename to external/caffe.BUILD index c40f2a54587ae3ba85b727313ebe15079ca9337a..26439aea62951d73a2831686b1c8dd8309265274 100644 --- a/third_party/caffe.BUILD +++ b/external/caffe.BUILD @@ -1,26 +1,26 @@ +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", + ], ) diff --git a/modules/perception/base/BUILD b/modules/perception/base/BUILD index 4d6b8494881949f014fba64b52c197377ed44ced..e98db3c7c7f41f5b1997bf105319fa8b80630be5 100644 --- a/modules/perception/base/BUILD +++ b/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", ], ) diff --git a/modules/perception/base/comparison_traits.h b/modules/perception/base/comparison_traits.h index d6b0d68340a0e778af4ede60e5e08d39b9b9a768..f20c9f9f0825145c8f471f809443689df6207986 100644 --- a/modules/perception/base/comparison_traits.h +++ b/modules/perception/base/comparison_traits.h @@ -17,6 +17,7 @@ #pragma once #include +#include namespace apollo { namespace perception { diff --git a/modules/perception/base/object.h b/modules/perception/base/object.h index d193a2d97c46a79026d321313ff6a871d81821dd..820363f28e119811a3eb55d6f0fe3079c3b5bade 100644 --- a/modules/perception/base/object.h +++ b/modules/perception/base/object.h @@ -15,12 +15,13 @@ *****************************************************************************/ #pragma once -#include +#include + #include #include #include -#include "Eigen/Core" +#include #include "modules/perception/base/object_supplement.h" #include "modules/perception/base/object_types.h" diff --git a/modules/perception/base/object_supplement.h b/modules/perception/base/object_supplement.h index 0fbc97e72ddf7ad9c70839521cdf4b19bb088f73..b7ea3b91f0cbc072eb4416ac5a85c14a9c10ba69 100644 --- a/modules/perception/base/object_supplement.h +++ b/modules/perception/base/object_supplement.h @@ -15,11 +15,12 @@ *****************************************************************************/ #pragma once -#include #include #include #include +#include + #include "modules/perception/base/box.h" #include "modules/perception/base/object_types.h" #include "modules/perception/base/point_cloud.h" diff --git a/modules/perception/camera/lib/lane/common/proto/BUILD b/modules/perception/camera/lib/lane/common/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..345e598822e242d5819e0efd7bdde339ebeb3426 --- /dev/null +++ b/modules/perception/camera/lib/lane/common/proto/BUILD @@ -0,0 +1,44 @@ +## 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", + ], +) diff --git a/modules/perception/camera/lib/lane/common/darkSCNN.proto b/modules/perception/camera/lib/lane/common/proto/darkSCNN.proto similarity index 100% rename from modules/perception/camera/lib/lane/common/darkSCNN.proto rename to modules/perception/camera/lib/lane/common/proto/darkSCNN.proto diff --git a/modules/perception/camera/lib/lane/common/denseline.proto b/modules/perception/camera/lib/lane/common/proto/denseline.proto similarity index 100% rename from modules/perception/camera/lib/lane/common/denseline.proto rename to modules/perception/camera/lib/lane/common/proto/denseline.proto diff --git a/modules/perception/camera/lib/lane/postprocessor/darkSCNN/BUILD b/modules/perception/camera/lib/lane/postprocessor/darkSCNN/BUILD index 6d82f3cdae3b098e4385a340bcac1efd84673ebc..3aa277054b6732c03387b44a57ee34969922b428 100644 --- a/modules/perception/camera/lib/lane/postprocessor/darkSCNN/BUILD +++ b/modules/perception/camera/lib/lane/postprocessor/darkSCNN/BUILD @@ -1,21 +1,8 @@ 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() diff --git a/modules/perception/camera/lib/lane/postprocessor/darkSCNN/proto/BUILD b/modules/perception/camera/lib/lane/postprocessor/darkSCNN/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..056098c383781d84aab5cbc60385458e16c48ef3 --- /dev/null +++ b/modules/perception/camera/lib/lane/postprocessor/darkSCNN/proto/BUILD @@ -0,0 +1,25 @@ +## 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", + ], +) diff --git a/modules/perception/camera/lib/lane/postprocessor/darkSCNN/darkSCNN_postprocessor.proto b/modules/perception/camera/lib/lane/postprocessor/darkSCNN/proto/darkSCNN_postprocessor.proto similarity index 100% rename from modules/perception/camera/lib/lane/postprocessor/darkSCNN/darkSCNN_postprocessor.proto rename to modules/perception/camera/lib/lane/postprocessor/darkSCNN/proto/darkSCNN_postprocessor.proto diff --git a/modules/perception/camera/lib/lane/postprocessor/denseline/proto/BUILD b/modules/perception/camera/lib/lane/postprocessor/denseline/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..428b03b351999f55874d6485ad61fd271ae9959d --- /dev/null +++ b/modules/perception/camera/lib/lane/postprocessor/denseline/proto/BUILD @@ -0,0 +1,25 @@ +## 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", + ], +) diff --git a/modules/perception/camera/lib/lane/postprocessor/denseline/denseline_postprocessor.proto b/modules/perception/camera/lib/lane/postprocessor/denseline/proto/denseline_postprocessor.proto similarity index 100% rename from modules/perception/camera/lib/lane/postprocessor/denseline/denseline_postprocessor.proto rename to modules/perception/camera/lib/lane/postprocessor/denseline/proto/denseline_postprocessor.proto diff --git a/modules/perception/camera/lib/lane/postprocessor/proto/BUILD b/modules/perception/camera/lib/lane/postprocessor/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..ffd0fb0cdc5bc3ecb62d3cbb5b502b353073615f --- /dev/null +++ b/modules/perception/camera/lib/lane/postprocessor/proto/BUILD @@ -0,0 +1 @@ +package(default_visibility = ["//visibility:public"]) diff --git a/modules/perception/camera/lib/motion_service/BUILD b/modules/perception/camera/lib/motion_service/BUILD index a088f299a678e116326e1a34591d257aa5e1acf9..796463fc12935c4168901c634597e3869a69aba0 100644 --- a/modules/perception/camera/lib/motion_service/BUILD +++ b/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", ], ) diff --git a/modules/perception/camera/lib/obstacle/detector/yolo/BUILD b/modules/perception/camera/lib/obstacle/detector/yolo/BUILD index 658f1ff185ab6362ed2e4c1df87d608c227336d7..692d2c2f433feb42af9f0fc19249741057717bee 100644 --- a/modules/perception/camera/lib/obstacle/detector/yolo/BUILD +++ b/modules/perception/camera/lib/obstacle/detector/yolo/BUILD @@ -1,6 +1,6 @@ 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", ], ) diff --git a/modules/perception/camera/lib/obstacle/tracker/common/BUILD b/modules/perception/camera/lib/obstacle/tracker/common/BUILD index 2093970120c90f585b08cf6c62b38b6d9667304a..7920958a6d31d08f7df6b1a43e0c5420615f50c0 100644 --- a/modules/perception/camera/lib/obstacle/tracker/common/BUILD +++ b/modules/perception/camera/lib/obstacle/tracker/common/BUILD @@ -1,6 +1,6 @@ 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", ], ) diff --git a/modules/perception/camera/lib/obstacle/tracker/omt/BUILD b/modules/perception/camera/lib/obstacle/tracker/omt/BUILD index a0120bf8af175eafe8865fbaa8148968e7947907..7dff78cec01ede4c188e23443b2019900ab71f47 100644 --- a/modules/perception/camera/lib/obstacle/tracker/omt/BUILD +++ b/modules/perception/camera/lib/obstacle/tracker/omt/BUILD @@ -1,21 +1,8 @@ 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() diff --git a/modules/perception/camera/lib/traffic_light/detector/recognition/proto/BUILD b/modules/perception/camera/lib/traffic_light/detector/recognition/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..aea0adda37dfd5e36a5aaf550ce88c7c4e777027 --- /dev/null +++ b/modules/perception/camera/lib/traffic_light/detector/recognition/proto/BUILD @@ -0,0 +1,25 @@ +## 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", + ], +) diff --git a/modules/perception/camera/lib/traffic_light/detector/recognition/recognition.proto b/modules/perception/camera/lib/traffic_light/detector/recognition/proto/recognition.proto similarity index 100% rename from modules/perception/camera/lib/traffic_light/detector/recognition/recognition.proto rename to modules/perception/camera/lib/traffic_light/detector/recognition/proto/recognition.proto diff --git a/modules/perception/camera/lib/traffic_light/preprocessor/proto/BUILD b/modules/perception/camera/lib/traffic_light/preprocessor/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..01bec45152cf259049cd865e90a71db40d8a2112 --- /dev/null +++ b/modules/perception/camera/lib/traffic_light/preprocessor/proto/BUILD @@ -0,0 +1,25 @@ +## 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", + ], +) diff --git a/modules/perception/camera/lib/traffic_light/preprocessor/tl_preprocess.proto b/modules/perception/camera/lib/traffic_light/preprocessor/proto/tl_preprocess.proto similarity index 100% rename from modules/perception/camera/lib/traffic_light/preprocessor/tl_preprocess.proto rename to modules/perception/camera/lib/traffic_light/preprocessor/proto/tl_preprocess.proto diff --git a/modules/perception/camera/lib/traffic_light/proto/BUILD b/modules/perception/camera/lib/traffic_light/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..0d5587f7840878c970cb87b9ba3e3eba15a5854d --- /dev/null +++ b/modules/perception/camera/lib/traffic_light/proto/BUILD @@ -0,0 +1,25 @@ +## 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", + ], +) diff --git a/modules/perception/camera/lib/traffic_light/detector/detection/detection.proto b/modules/perception/camera/lib/traffic_light/proto/detection.proto similarity index 100% rename from modules/perception/camera/lib/traffic_light/detector/detection/detection.proto rename to modules/perception/camera/lib/traffic_light/proto/detection.proto diff --git a/modules/perception/camera/lib/traffic_light/tracker/proto/BUILD b/modules/perception/camera/lib/traffic_light/tracker/proto/BUILD new file mode 100644 index 0000000000000000000000000000000000000000..086c04f8c426e169009b5a339344a50aded01460 --- /dev/null +++ b/modules/perception/camera/lib/traffic_light/tracker/proto/BUILD @@ -0,0 +1,25 @@ +## 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", + ], +) diff --git a/modules/perception/camera/lib/traffic_light/tracker/semantic.proto b/modules/perception/camera/lib/traffic_light/tracker/proto/semantic.proto similarity index 100% rename from modules/perception/camera/lib/traffic_light/tracker/semantic.proto rename to modules/perception/camera/lib/traffic_light/tracker/proto/semantic.proto diff --git a/modules/perception/camera/tools/offline/BUILD b/modules/perception/camera/tools/offline/BUILD index 5eb7de8cdaa7d7f9e9a95e37af04097524fc7428..ecf5248933e756b4da79a1ac4cba60cb74652110 100644 --- a/modules/perception/camera/tools/offline/BUILD +++ b/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", ], ) diff --git a/modules/perception/inference/operators/BUILD b/modules/perception/inference/operators/BUILD index 8fec35c367f0f551322e4533ab6e3c1f1dbdf9bd..61b70f931034183a41b1a4a69dcb111dbaa49073 100644 --- a/modules/perception/inference/operators/BUILD +++ b/modules/perception/inference/operators/BUILD @@ -1,6 +1,6 @@ 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", ], ) diff --git a/modules/perception/inference/paddlepaddle/BUILD b/modules/perception/inference/paddlepaddle/BUILD index 826eeb391fa9ea6afc41732ee9a0ad3766cdc291..a597b1744f82ba03cf13925220f6f85853ef2ed8 100644 --- a/modules/perception/inference/paddlepaddle/BUILD +++ b/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", diff --git a/modules/perception/inference/tensorrt/BUILD b/modules/perception/inference/tensorrt/BUILD index ac0c1e1b8c041420ccd79df85aa524d68e069169..0ffe9df76088d90bcf7f644645da0dbff3d9a282 100644 --- a/modules/perception/inference/tensorrt/BUILD +++ b/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", ], ) diff --git a/modules/perception/inference/tensorrt/plugins/BUILD b/modules/perception/inference/tensorrt/plugins/BUILD index 44edc5a8e678b441cc0d3f5be9ee1cc5d279df90..425d9181372d976f2cfddc0f95af9f66a049d474 100644 --- a/modules/perception/inference/tensorrt/plugins/BUILD +++ b/modules/perception/inference/tensorrt/plugins/BUILD @@ -1,6 +1,6 @@ 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", ], ) diff --git a/modules/perception/inference/utils/BUILD b/modules/perception/inference/utils/BUILD index b0477571a4110dc37496d85c7c4fee89fd34a5d8..ad529e4aeb86ddd3b1c8c897ad1526322c1858a8 100644 --- a/modules/perception/inference/utils/BUILD +++ b/modules/perception/inference/utils/BUILD @@ -1,6 +1,6 @@ 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", ], ) diff --git a/modules/perception/lidar/lib/detection/lidar_point_pillars/BUILD b/modules/perception/lidar/lib/detection/lidar_point_pillars/BUILD index 86e46925443b49c6fe5926acf415f74b7322f718..abdefd7514be79b11a552426d70994e3c23613bf 100644 --- a/modules/perception/lidar/lib/detection/lidar_point_pillars/BUILD +++ b/modules/perception/lidar/lib/detection/lidar_point_pillars/BUILD @@ -1,6 +1,6 @@ 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( diff --git a/modules/perception/lidar/lib/segmentation/cnnseg/BUILD b/modules/perception/lidar/lib/segmentation/cnnseg/BUILD index 7ae1ec9743b0db6a41ea4ee2ca03cabf26e5eff6..4302130db83280b4078377af1658603818221531 100644 --- a/modules/perception/lidar/lib/segmentation/cnnseg/BUILD +++ b/modules/perception/lidar/lib/segmentation/cnnseg/BUILD @@ -1,6 +1,6 @@ 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", ], ) diff --git a/modules/perception/onboard/component/BUILD b/modules/perception/onboard/component/BUILD index e14cabe856eef0f82f10f540db652c0d89445055..252b323947bdc1b0674b998d9da80c1c2e49e69e 100644 --- a/modules/perception/onboard/component/BUILD +++ b/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, diff --git a/modules/perception/onboard/msg_serializer/BUILD b/modules/perception/onboard/msg_serializer/BUILD index 1969e6c2710fd6bdc851d8b48e395c5cfa75dd3b..8e6e240cf9116c898c6d030e11148bab8dd28e2d 100644 --- a/modules/perception/onboard/msg_serializer/BUILD +++ b/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", ], )