add CUDA implementation of connected componenet generator

modules/perception/cuda_util/connected_component_gpu.cu

+/******************************************************************************
+ * Copyright (c) 2014, Victor Matheus de Araujo Oliveira All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
 /******************************************************************************
  * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *

modules/perception/cuda_util/connected_component_gpu.h

+/******************************************************************************
+ * Copyright (c) 2014, Victor Matheus de Araujo Oliveira All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
 /******************************************************************************
  * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *

modules/perception/obstacle/camera/lane_post_process/common/type.h

@@ -210,17 +210,6 @@ struct CubicCurve {
   float d;
 };
 
-/*
-struct L3LaneInfo {
-  int lane_id;
-  int left_idx;
-  int right_idx;
-  float lane_width;
-  int carleft_idx;
-  int carright_idx;
-};
-*/
-
 struct LaneObject {
   LaneObject() {
     model.setZero();
@@ -287,23 +276,6 @@ struct LaneObject {
   }
 };
 
-/*
-// struct for L3 Lane information
-struct L3LaneLine {
-  SpatialLabelType spatial;
-  SemanticLabelType semantic;
-  L3CubicCurve pos_curve;
-  L3CubicCurve img_curve;
-};
-
-struct RoadInfo {
-  double timestamp = 0.0;
-  int32_t seq_num = 0;
-  std::vector<L3LaneLine> lane_line_vec;
-  std::vector<L3LaneInfo> lane_vec;
-};
-*/
-
 typedef std::vector<LaneObject> LaneObjects;
 typedef std::shared_ptr<LaneObjects> LaneObjectsPtr;
 typedef const std::shared_ptr<LaneObjects> LaneObjectsConstPtr;