Perception: fixed multiple code issues and shortened BUILD lib names.

modules/dreamview/backend/handlers/BUILD

@@ -30,7 +30,7 @@ cc_library(
     ],
     deps = [
         "//modules/common/adapters:adapter_manager",
-        "//modules/perception/traffic_light/util:perception_traffic_light_util",
+        "//modules/perception/traffic_light/util",
         "@civetweb//:civetweb++",
         "@opencv2//:highgui",
     ],

modules/perception/BUILD

@@ -14,12 +14,12 @@ cc_library(
         "//modules/common/adapters:adapter_manager",
         "//modules/perception/common",
         "//modules/perception/lib/base",
-        "//modules/perception/obstacle/onboard:perception_obstacle_fusion_subnode",
-        "//modules/perception/obstacle/onboard:perception_obstacle_lidar_subnode",
-        "//modules/perception/obstacle/onboard:perception_obstacle_radar_subnode",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/obstacle/onboard:fusion_subnode",
+        "//modules/perception/obstacle/onboard:lidar_subnode",
+        "//modules/perception/obstacle/onboard:radar_subnode",
+        "//modules/perception/onboard",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/onboard:perception_traffic_light_onboard",
+        "//modules/perception/traffic_light/onboard",
         "@com_google_protobuf//:protobuf",
         "@ros//:ros_common",
     ],

modules/perception/obstacle/camera/detector/yolo_camera_detector/region_output.cc

@@ -16,9 +16,9 @@
 
 #include "modules/perception/obstacle/camera/detector/yolo_camera_detector/region_output.h"
 
+#include <algorithm>
 #include <map>
 #include <vector>
-#include <algorithm>
 
 #include "boost/iterator/counting_iterator.hpp"
 #include "opencv2/opencv.hpp"
@@ -63,16 +63,19 @@ float get_jaccard_overlap(const NormalizedBBox &bbox1,
                           const NormalizedBBox &bbox2) {
   NormalizedBBox intersect_bbox;
   get_intersect_bbox(bbox1, bbox2, &intersect_bbox);
-  float intersect_width = 0.f;
-  float intersect_height = 0.f;
-  intersect_width = intersect_bbox.xmax - intersect_bbox.xmin;
-  intersect_height = intersect_bbox.ymax - intersect_bbox.ymin;
+  float intersect_width = intersect_bbox.xmax - intersect_bbox.xmin;
+  float intersect_height = intersect_bbox.ymax - intersect_bbox.ymin;
 
-  if (intersect_width > 0 && intersect_height > 0) {
+  if (intersect_width > 0.0 && intersect_height > 0.0) {
     float intersect_size = intersect_width * intersect_height;
     float bbox1_size = get_bbox_size(bbox1);
     float bbox2_size = get_bbox_size(bbox2);
-    return intersect_size / (bbox1_size + bbox2_size - intersect_size);
+    const double delta = bbox1_size + bbox2_size - intersect_size;
+    if (delta > 0) {
+      return intersect_size / std::fmax(delta, 1e-9);
+    } else {
+      return intersect_size / std::fmin(delta, -1e-9);
+    }
   } else {
     return 0.;
   }
@@ -139,7 +142,7 @@ void apply_nms_fast(const std::vector<NormalizedBBox> &bboxes,
 void cross_class_merge(std::vector<int> *indices_ref,
                        std::vector<int> *indices_target,
                        std::vector<NormalizedBBox> bboxes, float scale) {
-  for (int i = 0; i < static_cast<int>(indices_ref->size()); i++) {
+  for (int i = 0; i < static_cast<int>(indices_ref->size()); ++i) {
     int ref_idx = indices_ref->at(i);
     NormalizedBBox &bbox_ref = bboxes[ref_idx];
     for (std::vector<int>::iterator it = indices_target->begin();
@@ -155,7 +158,7 @@ void cross_class_merge(std::vector<int> *indices_ref,
           bbox_target.ymax <= bbox_ref.ymax) {
         it = indices_target->erase(it);
       } else {
-        it++;
+        ++it;
       }
     }
   }

modules/perception/obstacle/camera/detector/yolo_camera_detector/yolo_camera_detector.cc

@@ -320,13 +320,13 @@ bool YoloCameraDetector::detect(const cv::Mat &frame,
           << sizeof(obj->internal_type_probs);
   }
 
-  int valid_obj_idx = 0;
-  int total_obj_idx = 0;
   auto ori_blob =
       cnnadapter_->get_blob_by_name(yolo_param_.net_param().ori_blob());
   auto dim_blob =
       cnnadapter_->get_blob_by_name(yolo_param_.net_param().dim_blob());
   if (ori_blob != nullptr && dim_blob != nullptr) {
+    int valid_obj_idx = 0;
+    int total_obj_idx = 0;
     while (total_obj_idx < static_cast<int>(temp_objects.size())) {
       const auto &obj = temp_objects[total_obj_idx];
       if ((obj->lower_right[1] - obj->upper_left[1]) >= _min_2d_height &&

modules/perception/obstacle/camera/visualizer/common/camera.cc

@@ -15,6 +15,9 @@
  *****************************************************************************/
 
 #include "modules/perception/obstacle/camera/visualizer/common/camera.h"
+
+#include <cmath>
+
 #include <algorithm>
 #include <iostream>
 
@@ -51,9 +54,7 @@ Camera::Camera() : _field_of_view(M_PI / 4.0f) {
   compute_projection_matrix();
 }
 
-Camera::~Camera() {
-  delete _frame;
-}
+Camera::~Camera() { delete _frame; }
 
 Camera::Camera(const Camera &camera) {
   set_frame(new Frame());
@@ -449,9 +450,7 @@ Eigen::Vector3d Camera::point_under_pixel(const Eigen::Vector2i &pixel,
   return point;
 }
 
-void Camera::show_entire_scene() {
-  fit_sphere(scene_center(), scene_radius());
-}
+void Camera::show_entire_scene() { fit_sphere(scene_center(), scene_radius()); }
 
 void Camera::center_scene() {
   frame()->project_on_line(scene_center(), view_direction());
@@ -829,7 +828,7 @@ void Camera::draw(bool drawFarPlane, double scale) const {
 
   switch (type()) {
     case Camera::PERSPECTIVE: {
-      points[0](1) = points[0](2) * tan(field_of_view() / 2.0);
+      points[0](1) = points[0](2) * std::tan(field_of_view() / 2.0);
       points[0](0) = points[0](1) * aspect_ratio();
 
       const double ratio = points[1](2) / points[0](2);

modules/perception/obstacle/camera/visualizer/common/camera.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H
-#define MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H
+#ifndef MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H_
+#define MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H_
 
 #include "GL/glu.h"
 #include "modules/perception/obstacle/camera/visualizer/common/frame.h"
@@ -37,9 +37,7 @@ class Camera {
   enum Type { PERSPECTIVE, ORTHOGRAPHIC };
 
  public:
-  Eigen::Vector3d position() const {
-    return frame()->position();
-  }
+  Eigen::Vector3d position() const { return frame()->position(); }
 
   Eigen::Vector3d up_vector() const {
     return frame()->inverse_transform_of(Eigen::Vector3d(0.0, 1.0, 0.0));
@@ -53,17 +51,13 @@ class Camera {
     return frame()->inverse_transform_of(Eigen::Vector3d(1.0, 0.0, 0.0));
   }
 
-  Eigen::Quaterniond orientation() const {
-    return frame()->orientation();
-  }
+  Eigen::Quaterniond orientation() const { return frame()->orientation(); }
 
   void set_from_model_view_matrix(const double *const modelViewMatrix);
 
   void set_from_projection_matrix(const double matrix[12]);
 
-  void set_position(const Eigen::Vector3d &pos) {
-    frame()->set_position(pos);
-  }
+  void set_position(const Eigen::Vector3d &pos) { frame()->set_position(pos); }
 
   void set_orientation(const Eigen::Quaterniond &q);
 
@@ -102,13 +96,9 @@ class Camera {
 
   void rotate(Eigen::Vector3d i_axis, double i_angle);
 
-  Type type() const {
-    return _type;
-  }
+  Type type() const { return _type; }
 
-  double field_of_view() const {
-    return _field_of_view;
-  }
+  double field_of_view() const { return _field_of_view; }
 
   double horizontalfield_of_view() const {
     return 2.0 * atan(tan(field_of_view() / 2.0) * aspect_ratio());
@@ -119,25 +109,17 @@ class Camera {
            static_cast<double>(_screen_height);
   }
 
-  int screen_width() const {
-    return _screen_width;
-  }
+  int screen_width() const { return _screen_width; }
 
-  int screen_height() const {
-    return _screen_height;
-  }
+  int screen_height() const { return _screen_height; }
 
   void get_viewport(GLint viewport[4]) const;
 
   double pixelgl_ratio(const Eigen::Vector3d &position) const;
 
-  double znear_coefficient() const {
-    return _znear_coef;
-  }
+  double znear_coefficient() const { return _znear_coef; }
 
-  double zclipping_coefficient() const {
-    return _zclipping_coef;
-  }
+  double zclipping_coefficient() const { return _zclipping_coef; }
 
   virtual double znear() const;
 
@@ -167,21 +149,13 @@ class Camera {
 
   void setscreen_widthandheight(int width, int height);
 
-  void setznear_coefficient(double coef) {
-    _znear_coef = coef;
-  }
+  void setznear_coefficient(double coef) { _znear_coef = coef; }
 
-  void setzclipping_coefficient(double coef) {
-    _zclipping_coef = coef;
-  }
+  void setzclipping_coefficient(double coef) { _zclipping_coef = coef; }
 
-  double scene_radius() const {
-    return _scene_radius;
-  }
+  double scene_radius() const { return _scene_radius; }
 
-  Eigen::Vector3d scene_center() const {
-    return _scene_center;
-  }
+  Eigen::Vector3d scene_center() const { return _scene_center; }
 
   double distance_to_scene_center() const;
 
@@ -198,13 +172,9 @@ class Camera {
 
   bool set_revolve_around_point_from_pixel(const Eigen::Vector2i &pixel);
 
-  Eigen::Vector3d revolve_around_point() const {
-    return _revolve_around_point;
-  }
+  Eigen::Vector3d revolve_around_point() const { return _revolve_around_point; }
 
-  Frame *frame() const {
-    return _frame;
-  }
+  Frame *frame() const { return _frame; }
 
   void set_frame(Frame *const mcf);
 
@@ -255,37 +225,25 @@ class Camera {
   Eigen::Vector3d point_under_pixel(const Eigen::Vector2i &pixel,
                                     bool *found) const;
 
-  double io_distance() const {
-    return _io_distance;
-  }
+  double io_distance() const { return _io_distance; }
 
   double physical_distance_to_screen() const {
     return _physical_distance_to_screen;
   }
 
-  double physicalscreen_width() const {
-    return _physicalscreen_width;
-  }
+  double physicalscreen_width() const { return _physicalscreen_width; }
 
-  double focus_distance() const {
-    return _focus_distance;
-  }
+  double focus_distance() const { return _focus_distance; }
 
-  void setio_distance(double distance) {
-    _io_distance = distance;
-  }
+  void setio_distance(double distance) { _io_distance = distance; }
 
   void setphysical_distance_to_screen(double distance) {
     _physical_distance_to_screen = distance;
   }
 
-  void set_physicalscreen_width(double width) {
-    _physicalscreen_width = width;
-  }
+  void set_physicalscreen_width(double width) { _physicalscreen_width = width; }
 
-  void setfocus_distance(double distance) {
-    _focus_distance = distance;
-  }
+  void setfocus_distance(double distance) { _focus_distance = distance; }
 
  private:
   // Frame
@@ -316,4 +274,4 @@ class Camera {
 }  // namespace perception
 }  // namespace apollo
 
-#endif  // QGLVIEWER_CAMERA_H
+#endif  // MODULES_PERCEPTION_OBSTACLE_VISUALIZER_CAMERA_H_

modules/perception/obstacle/camera/visualizer/gl_fusion_visualizer.cc

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/perception/obstacle/camera/visualizer/gl_fusion_visualizer.h"
 #include "modules/common/log.h"
+#include "modules/perception/obstacle/camera/visualizer/gl_fusion_visualizer.h"
 
 namespace apollo {
 namespace perception {
@@ -94,9 +94,7 @@ void GLFusionVisualizer::set_main_car_points() {
 }
 
 void GLFusionVisualizer::update_camera_system(FrameContent *content) {
-  Eigen::Matrix4d pose_v2w = content->get_opengl_camera_system_pose();
-
-  pose_v2w = Eigen::Matrix4d::Identity();
+  Eigen::Matrix4d pose_v2w = Eigen::Matrix4d::Identity();
   Eigen::Vector4d camera_center_w(_camera_center_velodyne[0],
                                   _camera_center_velodyne[1],
                                   _camera_center_velodyne[2], 0);

modules/perception/obstacle/camera/visualizer/glfw_fusion_viewer.cc

@@ -19,14 +19,14 @@
 #include <yaml-cpp/yaml.h>
 #include <boost/shared_ptr.hpp>
 
+#include <cfloat>
 #include <fstream>
 #include <iomanip>
 #include <iostream>
-#include <cfloat>
+#include <map>
 #include <sstream>
 #include <string>
 #include <vector>
-#include <map>
 
 #include "modules/perception/lib/config_manager/calibration_config_manager.h"
 #include "modules/perception/obstacle/camera/visualizer/common/bmp.h"
@@ -213,9 +213,7 @@ void GLFWFusionViewer::spin_once() {
   glfwSwapBuffers(_window);
 }
 
-void GLFWFusionViewer::close() {
-  glfwTerminate();
-}
+void GLFWFusionViewer::close() { glfwTerminate(); }
 
 void GLFWFusionViewer::set_camera_para(Eigen::Vector3d i_position,
                                        Eigen::Vector3d i_scn_center,
@@ -303,7 +301,6 @@ bool GLFWFusionViewer::opengl_init() {
   glEnable(GL_NORMALIZE);
   glEnable(GL_COLOR_MATERIAL);
 
-
   GLenum err = glewInit();
   if (GLEW_OK != err) {
     fprintf(stderr, "GLEW init failed！\n");
@@ -497,7 +494,7 @@ vec3 GLFWFusionViewer::get_velocity_src_position(const ObjectPtr& object) {
   float y11 = 0.0f;
   float x22 = 0.0f;
   float y22 = 0.0f;
-  if (abs(cos_direction_velocity) > 0.707)  {  // <45 degree
+  if (abs(cos_direction_velocity) > 0.707) {  // <45 degree
     x1 = size.x / 2;
     y1 = 0;
     x2 = x1 * -1;
@@ -718,13 +715,9 @@ void GLFWFusionViewer::mouse_move(double xpos, double ypos) {
   _mouse_prev_y = ypos;
 }
 
-void GLFWFusionViewer::mouse_wheel(double delta) {
-  _mode_mat(2, 3) -= delta;
-}
+void GLFWFusionViewer::mouse_wheel(double delta) { _mode_mat(2, 3) -= delta; }
 
-void GLFWFusionViewer::reset() {
-  _mode_mat = Eigen::Matrix4d::Identity();
-}
+void GLFWFusionViewer::reset() { _mode_mat = Eigen::Matrix4d::Identity(); }
 
 void GLFWFusionViewer::keyboard(int key) {
   switch (key) {
@@ -1091,10 +1084,8 @@ void GLFWFusionViewer::draw_camera_box2d(const std::vector<ObjectPtr>& objects,
 
     std::vector<Eigen::Vector2d> points;
     points.resize(8);
-    Eigen::Vector3d tc =
-        (v2c * Eigen::Vector4d(center[0], center[1], center[2], 1)).head(3);
 
-    tc = center.head(3);
+    Eigen::Vector3d tc = center.head(3);
     get_boundingbox(tc, v2c, width, height, length, obj->direction, theta,
                     &points);
 
@@ -1148,9 +1139,8 @@ void GLFWFusionViewer::draw_camera_box2d(const std::vector<ObjectPtr>& objects,
         // Draw texts using OpenGL
         // distance
         if (_show_type_id_label) {
-          std::string c =
-              std::to_string(static_cast<int>(
-                             (sqrt(tc.x() * tc.x() + tc.z() * tc.z()))));
+          std::string c = std::to_string(
+              static_cast<int>((sqrt(tc.x() * tc.x() + tc.z() * tc.z()))));
           glColor3ub(box2d_color[0], box2d_color[1], box2d_color[2]);
           double x_txt = points[7].x();
           double y_txt = points[7].y() - 8;
@@ -1589,7 +1579,9 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
                     offset_x, offset_y, image_width, image_height);
     }
 
+    // TODO(All) fix the code after continue
     continue;
+    /*
     if (_show_camera_box2d) {
       if (obj->camera_supplement != nullptr) {
         auto box2d_color = s_color_table[obj->track_id % s_color_table.size()];
@@ -1600,9 +1592,8 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
                     image_width, image_height);
         // Draw texts using OpenGL
         // distance
-        std::string c =
-            std::to_string(static_cast<int>(
-                           (sqrt(tc.x() * tc.x() + tc.z() * tc.z()))));
+        std::string c = std::to_string(
+            static_cast<int>((sqrt(tc.x() * tc.x() + tc.z() * tc.z()))));
         auto dis_txt_color =
             s_color_table[obj->track_id % s_color_table.size()];
         glColor3ub(dis_txt_color[0], dis_txt_color[1], dis_txt_color[2]);
@@ -1643,6 +1634,7 @@ void GLFWFusionViewer::draw_camera_box(const std::vector<ObjectPtr>& objects,
         glColor4f(1.0f, 1.0f, 1.0f, 1.0f);  // reset the color to white
       }
     }
+    */
   }
 }
 

modules/perception/obstacle/fusion/interface/BUILD

@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_obstacle_fusion_interface",
+    name = "interface",
     srcs = [],
     hdrs = glob(["*.h"]),
     deps = [

modules/perception/obstacle/fusion/probabilistic_fusion/BUILD

@@ -41,7 +41,7 @@ cc_library(
         "//modules/perception/lib/config_manager",
         "//modules/perception/obstacle/base",
         "//modules/perception/obstacle/common",
-        "//modules/perception/obstacle/fusion/interface:perception_obstacle_fusion_interface",
+        "//modules/perception/obstacle/fusion/interface",
         "//modules/perception/obstacle/onboard:hdmapinput",
         "@eigen",
         "@pcl",

modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.cc

@@ -20,8 +20,10 @@
 #include <limits>
 #include <map>
 #include <utility>
+
 #include "Eigen/StdVector"
 #include "boost/format.hpp"
+
 #include "modules/common/log.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_base_track_object_matcher.h"
 #include "modules/perception/obstacle/fusion/probabilistic_fusion/pbf_sensor_manager.h"
@@ -31,10 +33,6 @@ EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d);
 namespace apollo {
 namespace perception {
 
-PbfTrackObjectDistance::PbfTrackObjectDistance() {}
-
-PbfTrackObjectDistance::~PbfTrackObjectDistance() {}
-
 float PbfTrackObjectDistance::Compute(
     const PbfTrackPtr &fused_track, const PbfSensorObjectPtr &sensor_object,
     const TrackObjectDistanceOptions &options) {
@@ -52,7 +50,7 @@ float PbfTrackObjectDistance::Compute(
     return (std::numeric_limits<float>::max)();
   }
 
-  float distance = (std::numeric_limits<float>::max)();
+  float distance = std::numeric_limits<float>::max();
   const PbfSensorObjectPtr &lidar_object = fused_track->GetLatestLidarObject();
   const PbfSensorObjectPtr &radar_object = fused_track->GetLatestRadarObject();
   if (is_lidar(sensor_type)) {
@@ -197,12 +195,11 @@ bool PbfTrackObjectDistance::ComputePolygonCenter(
   int nu = std::max(range, size / range + 1);
   nu = std::min(nu, size);
   int count = 0;
-  std::map<double, int>::iterator it = distance2idx.begin();
-  for (; it != distance2idx.end() && count < nu; ++it, ++count) {
+  for (auto it = distance2idx.begin(); it != distance2idx.end() && count < nu;
+       ++it, ++count) {
     polygon_part.push_back(polygon[it->second]);
   }
-  bool state = ComputePolygonCenter(polygon_part, center);
-  return state;
+  return ComputePolygonCenter(polygon_part, center);
 }
 
 }  // namespace perception

modules/perception/obstacle/fusion/probabilistic_fusion/pbf_track_object_distance.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef MODULES_PERCEPTION_OBSTACLE_FUSION_PROBABILISTIC_FUSION_PBF_TRACK_OBJECT_DISTANCE_H_ // NOLINT
-#define MODULES_PERCEPTION_OBSTACLE_FUSION_PROBABILISTIC_FUSION_PBF_TRACK_OBJECT_DISTANCE_H_ // NOLINT
+#ifndef MODULES_PERCEPTION_OBSTACLE_FUSION_PBF_PBF_TRACK_OBJECT_DISTANCE_H_
+#define MODULES_PERCEPTION_OBSTACLE_FUSION_PBF_PBF_TRACK_OBJECT_DISTANCE_H_
 
 #include "modules/common/macro.h"
 #include "modules/perception/obstacle/base/types.h"
@@ -28,10 +28,11 @@ namespace perception {
 struct TrackObjectDistanceOptions {
   Eigen::Vector3d *ref_point = nullptr;
 };
+
 class PbfTrackObjectDistance {
  public:
-  PbfTrackObjectDistance();
-  virtual ~PbfTrackObjectDistance();
+  PbfTrackObjectDistance() = default;
+  virtual ~PbfTrackObjectDistance() = default;
 
   float Compute(const PbfTrackPtr &fused_track,
                 const PbfSensorObjectPtr &sensor_object,
@@ -66,4 +67,4 @@ class PbfTrackObjectDistance {
 }  // namespace perception
 }  // namespace apollo
 
-#endif  // MODULES_PERCEPTION_OBSTACLE_FUSION_PROBABILISTIC_FUSION_PBF_TRACK_OBJECT_DISTANCE_H_ // NOLINT
+#endif  // MODULES_PERCEPTION_OBSTACLE_FUSION_PBF_PBF_TRACK_OBJECT_DISTANCE_H_

modules/perception/obstacle/onboard/BUILD

@@ -42,7 +42,7 @@ cc_library(
 )
 
 cc_library(
-    name = "perception_obstacle_lidar_subnode",
+    name = "lidar_subnode",
     srcs = [
         "lidar_process_subnode.cc",
     ],
@@ -62,13 +62,13 @@ cc_library(
         "//modules/perception/obstacle/lidar/tracker/hm_tracker",
         "//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser",
         "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "@ros//:ros_common",
     ],
 )
 
 cc_library(
-    name = "perception_obstacle_radar_subnode",
+    name = "radar_subnode",
     srcs = [
         "radar_process_subnode.cc",
     ],
@@ -91,14 +91,14 @@ cc_library(
         "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
         "//modules/perception/obstacle/radar/dummy",
         "//modules/perception/obstacle/radar/modest:modest_detector",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "@eigen",
         "@ros//:ros_common",
     ],
 )
 
 cc_library(
-    name = "perception_obstacle_fusion_subnode",
+    name = "fusion_subnode",
     srcs = [
         "fusion_subnode.cc",
     ],
@@ -113,7 +113,7 @@ cc_library(
         "//modules/perception/obstacle/fusion/probabilistic_fusion",
         "//modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter",
         "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "@ros//:ros_common",
     ],
 )
@@ -130,7 +130,7 @@ cc_library(
         "//modules/common/adapters:adapter_manager",
         "//modules/perception/lib/config_manager",
         "//modules/perception/obstacle/camera/motionmanager",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "@ros//:ros_common",
     ],
 )
@@ -153,7 +153,7 @@ cc_library(
         "//modules/perception/obstacle/lidar/visualizer/opengl_visualizer",
         "//modules/perception/obstacle/onboard:lidar_process",
         "//modules/perception/obstacle/radar/modest:modest_detector",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "@ros//:ros_common",
     ],
 )
@@ -170,7 +170,7 @@ cc_library(
     ],
     deps = [
         "//modules/perception/obstacle/base",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
     ],
 )
 
@@ -183,22 +183,22 @@ cc_library(
         "object_shared_data.h",
     ],
     deps = [
+        "//modules/common:log",
         "//modules/common/adapters:adapter_manager",
-        "//modules/perception/lib/config_manager:config_manager",
-        "//modules/perception/obstacle/base:base",
-        "//modules/perception/obstacle/camera/interface:interface",
+        "//modules/perception/common",
+        "//modules/perception/lib/base",
+        "//modules/perception/lib/config_manager",
+        "//modules/perception/obstacle/base",
+        "//modules/perception/obstacle/camera/interface",
         "//modules/perception/obstacle/onboard:perception_obstacle_shared_data",
-        "//modules/perception/onboard:perception_onboard",
-        "//modules/common:log",
-        "//modules/perception/common:common",
-        "//modules/perception/lib/base:base",
+        "//modules/perception/onboard",
         "@eigen",
         "@opencv2//:core",
     ],
 )
 
 cc_library(
-    name = "perception_obstacle_lowcost_visualizer_subnode",
+    name = "visualization_subnode",
     srcs = [
         "visualization_subnode.cc",
     ],
@@ -212,7 +212,7 @@ cc_library(
         "//modules/perception/obstacle/base",
         "//modules/perception/obstacle/camera/common:util",
         "//modules/perception/obstacle/camera/visualizer",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
     ],
 )
 

modules/perception/obstacle/onboard/lane_post_processing_subnode.cc

@@ -18,17 +18,16 @@
 
 #include "modules/perception/obstacle/onboard/lane_post_processing_subnode.h"
 
-#include <yaml-cpp/yaml.h>
-#include <Eigen/Core>
-#include <Eigen/Dense>
-#include <opencv2/opencv.hpp>
-
 #include <cfloat>
 
+#include "Eigen/Dense"
+#include "opencv2/opencv.hpp"
+#include "yaml-cpp/yaml.h"
+
 #include "modules/common/log.h"
 #include "modules/perception/common/perception_gflags.h"
-#include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lib/base/time_util.h"
+#include "modules/perception/lib/config_manager/config_manager.h"
 
 #include "modules/perception/onboard/event_manager.h"
 #include "modules/perception/onboard/shared_data_manager.h"
@@ -72,13 +71,13 @@ bool LanePostProcessingSubnode::InitSharedData() {
   }
 
   // init preprocess_data
-  camera_object_data_ = dynamic_cast<CameraObjectData*>(
+  camera_object_data_ = dynamic_cast<CameraObjectData *>(
       shared_data_manager_->GetSharedData("CameraObjectData"));
   if (camera_object_data_ == nullptr) {
     AERROR << "failed to get shared data instance: CameraObjectData ";
     return false;
   }
-  lane_shared_data_ = dynamic_cast<LaneSharedData*>(
+  lane_shared_data_ = dynamic_cast<LaneSharedData *>(
       shared_data_manager_->GetSharedData("LaneSharedData"));
   if (lane_shared_data_ == nullptr) {
     AERROR << "failed to get shared data instance: LaneSharedData ";
@@ -86,8 +85,7 @@ bool LanePostProcessingSubnode::InitSharedData() {
   }
 
   AINFO << "init shared data successfully, data: "
-        << camera_object_data_->name() << " and "
-        << lane_shared_data_->name();
+        << camera_object_data_->name() << " and " << lane_shared_data_->name();
 
   return true;
 }
@@ -98,8 +96,7 @@ bool LanePostProcessingSubnode::InitAlgorithmPlugin() {
       BaseCameraLanePostProcessorRegisterer::GetInstanceByName(
           FLAGS_onboard_lane_post_processor));
   if (!lane_post_processor_) {
-    AERROR << "failed to get instance: "
-           << FLAGS_onboard_lane_post_processor;
+    AERROR << "failed to get instance: " << FLAGS_onboard_lane_post_processor;
     return false;
   }
   if (!lane_post_processor_->Init()) {
@@ -109,8 +106,7 @@ bool LanePostProcessingSubnode::InitAlgorithmPlugin() {
   }
 
   AINFO << "init alg pulgins successfully\n"
-        << " lane post-processer:     "
-        << FLAGS_onboard_lane_post_processor;
+        << " lane post-processer:     " << FLAGS_onboard_lane_post_processor;
   return true;
 }
 
@@ -128,8 +124,7 @@ bool LanePostProcessingSubnode::InitWorkRoot() {
   // get work root dir
   work_root_dir_ = config_manager->work_root();
 
-  AINFO << "init config manager successfully, work_root: "
-        << work_root_dir_;
+  AINFO << "init config manager successfully, work_root: " << work_root_dir_;
   return true;
 }
 
@@ -166,16 +161,15 @@ Status LanePostProcessingSubnode::ProcEvents() {
   return Status::OK();
 }
 
-bool LanePostProcessingSubnode::GetSharedData(
-    const Event &event, shared_ptr<SensorObjects> *objs) {
+bool LanePostProcessingSubnode::GetSharedData(const Event &event,
+                                              shared_ptr<SensorObjects> *objs) {
   double timestamp = event.timestamp;
   string device_id = event.reserve;
   device_id_ = device_id;
   string data_key;
   if (!SubnodeHelper::ProduceSharedDataKey(timestamp, device_id, &data_key)) {
-    AERROR << "failed to produce shared data key. EventID:"
-           << event.event_id << " timestamp:" << timestamp
-           << " device_id:" << device_id;
+    AERROR << "failed to produce shared data key. EventID:" << event.event_id
+           << " timestamp:" << timestamp << " device_id:" << device_id;
     return false;
   }
 
@@ -187,8 +181,7 @@ bool LanePostProcessingSubnode::GetSharedData(
 }
 
 void LanePostProcessingSubnode::PublishDataAndEvent(
-    double timestamp,
-    const SharedDataPtr<LaneObjects> &lane_objects) {
+    double timestamp, const SharedDataPtr<LaneObjects> &lane_objects) {
   string key;
   if (!SubnodeHelper::ProduceSharedDataKey(timestamp, device_id_, &key)) {
     AERROR << "failed to produce shared key. time: "

modules/perception/obstacle/onboard/lane_post_processing_subnode.h

@@ -19,10 +19,10 @@
 #ifndef MODULES_PERCEPTION_OBSTACLE_ONBOARD_LANE_POST_PROCESSING_SUBNODE_H_
 #define MODULES_PERCEPTION_OBSTACLE_ONBOARD_LANE_POST_PROCESSING_SUBNODE_H_
 
-#include <Eigen/Core>
-
-#include <string>
 #include <memory>
+#include <string>
+
+#include "Eigen/Core"
 
 #include "modules/common/adapters/adapter_manager.h"
 #include "modules/perception/obstacle/base/object.h"
@@ -50,11 +50,9 @@ class LanePostProcessingSubnode : public Subnode {
   bool InitSharedData();
   bool InitAlgorithmPlugin();
   bool InitWorkRoot();
-  bool GetSharedData(const Event& event,
-                     std::shared_ptr<SensorObjects>* objs);
-  void PublishDataAndEvent(
-      double timestamp,
-      const SharedDataPtr<LaneObjects>& lane_objects);
+  bool GetSharedData(const Event& event, std::shared_ptr<SensorObjects>* objs);
+  void PublishDataAndEvent(double timestamp,
+                           const SharedDataPtr<LaneObjects>& lane_objects);
 
   std::unique_ptr<BaseCameraLanePostProcessor> lane_post_processor_;
   CameraObjectData* camera_object_data_ = nullptr;

modules/perception/obstacle/onboard/lane_shared_data.h

@@ -19,23 +19,21 @@
 
 #include <string>
 
-#include "modules/perception/onboard/common_shared_data.h"
 #include "modules/perception/obstacle/camera/lane_post_process/common/type.h"
+#include "modules/perception/onboard/common_shared_data.h"
 
 namespace apollo {
 namespace perception {
 
 class LaneSharedData : public CommonSharedData<LaneObjects> {
  public:
-    LaneSharedData() = default;
-    virtual ~LaneSharedData() = default;
+  LaneSharedData() = default;
+  virtual ~LaneSharedData() = default;
 
-    std::string name() const override {
-        return "LaneSharedData";
-    }
+  std::string name() const override { return "LaneSharedData"; }
 
  private:
-    DISALLOW_COPY_AND_ASSIGN(LaneSharedData);
+  DISALLOW_COPY_AND_ASSIGN(LaneSharedData);
 };
 
 REGISTER_SHAREDDATA(LaneSharedData);

modules/perception/onboard/BUILD

@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_onboard",
+    name = "onboard",
     srcs = [
         "common_shared_data.cc",
         "dag_streaming.cc",
@@ -50,10 +50,10 @@ cc_test(
         "//modules/perception/conf:perception_config",
     ],
     deps = [
+        ":onboard",
         "//external:gflags",
         "//modules/common:log",
         "//modules/perception/lib/pcl_util",
-        "//modules/perception/onboard:perception_onboard",
         "@gtest",
         "@gtest//:main",
     ],

modules/perception/tool/export_sensor_data/BUILD

@@ -17,7 +17,7 @@ cc_library(
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
         "//modules/perception/obstacle/radar/modest:modest_detector",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "@pcl",
         "@ros//:ros_common",
     ],

modules/perception/traffic_light/base/BUILD

@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_traffic_light_base",
+    name = "base",
     srcs = [
         "image.cc",
         "light.cc",
@@ -23,14 +23,14 @@ cc_library(
         "//modules/common:log",
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/util:perception_traffic_light_util",
+        "//modules/perception/traffic_light/util",
     ],
 )
 
 cc_test(
-    name = "perception_traffic_light_base_test",
+    name = "base_test",
     size = "small",
     srcs = [
         "image_test.cc",
@@ -42,8 +42,8 @@ cc_test(
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/config_manager",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/util:perception_traffic_light_util",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/util",
         "@gtest//:main",
         "@opencv2//:core",
     ],

modules/perception/traffic_light/interface/BUILD

@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_traffic_light_interface",
+    name = "interface",
     srcs = [
         "base_projection.cc",
     ],
@@ -22,7 +22,7 @@ cc_library(
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/config_manager",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
+        "//modules/perception/traffic_light/base",
     ],
 )
 

modules/perception/traffic_light/onboard/BUILD

@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_traffic_light_onboard",
+    name = "onboard",
     srcs = [
         "hdmap_input.cc",
         "tl_preprocessor_subnode.cc",
@@ -24,10 +24,10 @@ cc_library(
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/base",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/onboard:perception_onboard",
+        "//modules/perception/onboard",
         "//modules/perception/onboard/proto:dag_proto",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/interface:perception_traffic_light_interface",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/interface",
         "//modules/perception/traffic_light/preprocessor:perception_traffic_light_preprocessor",
         "//modules/perception/traffic_light/projection:perception_traffic_light_projection",
         "//modules/perception/traffic_light/recognizer:perception_traffic_light_recognizer",

modules/perception/traffic_light/preprocessor/BUILD

@@ -15,8 +15,8 @@ cc_library(
         "//modules/common/proto:error_code_proto",
         "//modules/common/proto:header_proto",
         "//modules/perception/lib/config_manager",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/interface:perception_traffic_light_interface",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/interface",
         "//modules/perception/traffic_light/projection:perception_traffic_light_projection",
     ],
 )

modules/perception/traffic_light/projection/BUILD

@@ -19,8 +19,8 @@ cc_library(
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/config_manager",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/interface:perception_traffic_light_interface",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/interface",
     ],
 )
 

modules/perception/traffic_light/recognizer/BUILD

@@ -19,8 +19,8 @@ cc_library(
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/config_manager",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/interface:perception_traffic_light_interface",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/interface",
     ],
 )
 

modules/perception/traffic_light/rectify/BUILD

@@ -24,8 +24,8 @@ cc_library(
         "//modules/perception/lib/config_manager",
         "//modules/perception/obstacle/common",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/interface:perception_traffic_light_interface",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/interface",
     ],
 )
 

modules/perception/traffic_light/reviser/BUILD

@@ -17,8 +17,8 @@ cc_library(
         "//modules/map/proto:map_proto",
         "//modules/perception/lib/config_manager",
         "//modules/perception/proto:perception_proto",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/interface:perception_traffic_light_interface",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/interface",
     ],
 )
 

modules/perception/traffic_light/util/BUILD

@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "perception_traffic_light_util",
+    name = "util",
     srcs = [
         "color_space.cc",
     ],

modules/perception/traffic_light/visualizer/BUILD

@@ -7,19 +7,18 @@ cc_binary(
     srcs = [
         "tl_visualizer.cc",
     ],
-
+    linkopts = ["-lopencv_core -lopencv_imgproc -lopencv_highgui"],
     deps = [
         "//modules/common",
         "//modules/common:log",
         "//modules/common/adapters:adapter_gflags",
-        "//modules/perception/traffic_light/base:perception_traffic_light_base",
-        "//modules/perception/traffic_light/util:perception_traffic_light_util",
-        "//modules/perception/lib/base",
         "//modules/perception/common",
+        "//modules/perception/lib/base",
         "//modules/perception/proto:perception_proto",
+        "//modules/perception/traffic_light/base",
+        "//modules/perception/traffic_light/util",
         "@ros//:ros_common",
     ],
-    linkopts = ["-lopencv_core -lopencv_imgproc -lopencv_highgui"],
 )
 
 cpplint()