Perception: simplify using Eigen

modules/common/util/eigen_defs.h

@@ -16,7 +16,10 @@
 
 #pragma once
 
+#include <functional>
+#include <map>
 #include <vector>
+#include <utility>
 
 #include "Eigen/Geometry"
 
@@ -28,6 +31,10 @@ namespace common {
 template <class EigenType>
 using EigenVector = std::vector<EigenType, Eigen::aligned_allocator<EigenType>>;
 
+template <typename T, class EigenType>
+using EigenMap = std::map<T, EigenType, std::less<T>,
+    Eigen::aligned_allocator<std::pair<const T, EigenType>>>;
+
 using EigenVector3dVec = EigenVector<Eigen::Vector3d>;
 using EigenAffine3dVec = EigenVector<Eigen::Affine3d>;
 

modules/perception/base/BUILD

@@ -36,6 +36,9 @@ cc_library(
         "sensor_meta.h",
         "vehicle_struct.h",
     ],
+    deps = [
+        "//modules/common/util:eigen_defs",
+    ],
 )
 
 cc_library(

modules/perception/base/hdmap_struct.h

@@ -18,8 +18,7 @@
 #include <memory>
 #include <vector>
 
-#include "Eigen/StdVector"
-
+#include "modules/common/util/eigen_defs.h"
 #include "modules/perception/base/point_cloud.h"
 
 namespace apollo {
@@ -37,17 +36,10 @@ struct alignas(16) LaneBoundary {
 };
 
 struct alignas(16) HdmapStruct {
-  std::vector<RoadBoundary, Eigen::aligned_allocator<RoadBoundary> >
-      road_boundary;
-  std::vector<PointCloud<PointD>,
-              Eigen::aligned_allocator<PointCloud<PointD> > >
-      road_polygons;
-  std::vector<PointCloud<PointD>,
-              Eigen::aligned_allocator<PointCloud<PointD> > >
-      hole_polygons;
-  std::vector<PointCloud<PointD>,
-              Eigen::aligned_allocator<PointCloud<PointD> > >
-      junction_polygons;
+  apollo::common::EigenVector<RoadBoundary> road_boundary;
+  apollo::common::EigenVector<PointCloud<PointD>> road_polygons;
+  apollo::common::EigenVector<PointCloud<PointD>> hole_polygons;
+  apollo::common::EigenVector<PointCloud<PointD>> junction_polygons;
 };
 
 using HdmapStructPtr = std::shared_ptr<HdmapStruct>;

modules/perception/common/geometry/BUILD

@@ -16,6 +16,7 @@ cc_library(
     name = "common",
     hdrs = ["common.h"],
     deps = [
+        "//modules/common/util:eigen_defs",
         "//modules/perception/base:box",
         "//modules/perception/base:point_cloud",
     ],

modules/perception/common/geometry/basic_test.cc

@@ -16,6 +16,7 @@
 #include "modules/perception/common/geometry/basic.h"
 
 #include "gtest/gtest.h"
+#include "modules/common/util/eigen_defs.h"
 #include "modules/perception/base/point_cloud.h"
 #include "modules/perception/common/geometry/common.h"
 
@@ -347,8 +348,7 @@ TEST(GeometryCommonTest, calculate_dist_and_dir_to_boundary) {
 TEST(GeometryCommonTest, calculate_dist_and_dir_to_boundary_lists) {
   Eigen::Vector3f pt(0.0, 0.0, 0.0);
   PointCloud<PointF> left, right;
-  std::vector<PointCloud<PointF>, Eigen::aligned_allocator<PointCloud<PointF>>>
-      left_list, right_list;
+  apollo::common::EigenVector<PointCloud<PointF>> left_list, right_list;
   base::PointF temp;
   temp.x = 10.f;
   temp.y = 0.f;

modules/perception/common/geometry/common.h

@@ -21,9 +21,12 @@
 #include <vector>
 
 #include "Eigen/Core"
+#include "modules/common/util/eigen_defs.h"
 #include "modules/perception/base/box.h"
 #include "modules/perception/base/point_cloud.h"
 
+using apollo::common::EigenVector;
+
 namespace apollo {
 namespace perception {
 namespace common {
@@ -310,12 +313,8 @@ void CalculateDistAndDirToBoundary(
 template <typename PointT>
 void CalculateDistAndDirToBoundary(
     const Eigen::Matrix<typename PointT::Type, 3, 1> &pt,
-    const std::vector<base::PointCloud<PointT>,
-                      Eigen::aligned_allocator<base::PointCloud<PointT>>>
-        &left_boundary,
-    const std::vector<base::PointCloud<PointT>,
-                      Eigen::aligned_allocator<base::PointCloud<PointT>>>
-        &right_boundary,
+    const EigenVector<base::PointCloud<PointT>> &left_boundary,
+    const EigenVector<base::PointCloud<PointT>> &right_boundary,
     typename PointT::Type *dist,
     Eigen::Matrix<typename PointT::Type, 3, 1> *dir) {
   using Type = typename PointT::Type;

modules/perception/lidar/lib/classifier/fused_classifier/BUILD

@@ -9,6 +9,7 @@ cc_library(
     hdrs = ["util.h"],
     deps = [
         "//cyber",
+        "//modules/common/util:eigen_defs",
         "//modules/perception/base:object",
         "@eigen",
     ],
@@ -32,6 +33,7 @@ cc_library(
         ":type_fusion_interface",
         ":util",
         "//cyber",
+        "//modules/common/util:eigen_defs",
         "//modules/perception/base:object",
         "//modules/perception/base:point_cloud",
         "//modules/perception/lib/config_manager",

modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.h

@@ -18,14 +18,15 @@
 #include <map>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
-#include "Eigen/StdVector"
-
+#include "modules/common/util/eigen_defs.h"
 #include "modules/perception/lidar/lib/classifier/fused_classifier/type_fusion_interface.h"
 #include "modules/perception/lidar/lib/classifier/fused_classifier/util.h"
 
+using apollo::common::EigenMap;
+using apollo::common::EigenVector;
+
 namespace apollo {
 namespace perception {
 namespace lidar {
@@ -43,9 +44,7 @@ class CCRFOneShotTypeFusion : public BaseOneShotTypeFusion {
       Vectord* log_prob);
 
  protected:
-  std::map<std::string, Matrixd, std::less<std::string>,
-           Eigen::aligned_allocator<std::pair<const std::string, Matrixd>>>
-      smooth_matrices_;
+  EigenMap<std::string, Matrixd> smooth_matrices_;
   Matrixd confidence_smooth_matrix_;
 };
 
@@ -82,9 +81,9 @@ class CCRFSequenceTypeFusion : public BaseSequenceTypeFusion {
   Matrixd transition_matrix_;
 
   // data member for window inference version
-  std::vector<Vectord, Eigen::aligned_allocator<Vectord>> fused_oneshot_probs_;
-  std::vector<Vectord, Eigen::aligned_allocator<Vectord>> fused_sequence_probs_;
-  std::vector<Vectori, Eigen::aligned_allocator<Vectori>> state_back_trace_;
+  EigenVector<Vectord> fused_oneshot_probs_;
+  EigenVector<Vectord> fused_sequence_probs_;
+  EigenVector<Vectori> state_back_trace_;
 
  protected:
   double s_alpha_ = 1.8;

modules/perception/lidar/lib/classifier/fused_classifier/util.cc

@@ -104,9 +104,7 @@ bool LoadSingleMatrixFile(const std::string& filename, Matrixd* matrix) {
 
 bool LoadMultipleMatricesFile(
     const std::string& filename,
-    std::map<std::string, Matrixd, std::less<std::string>,
-             Eigen::aligned_allocator<std::pair<const std::string, Matrixd> > >*
-        matrices) {
+    EigenMap<std::string, Matrixd>* matrices) {
   if (matrices == nullptr) {
     return false;
   }

modules/perception/lidar/lib/classifier/fused_classifier/util.h

@@ -19,13 +19,15 @@
 #include <functional>
 #include <map>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include "Eigen/Dense"
 
+#include "modules/common/util/eigen_defs.h"
 #include "modules/perception/base/object_types.h"
 
+using apollo::common::EigenMap;
+
 namespace apollo {
 namespace perception {
 namespace lidar {
@@ -59,10 +61,7 @@ bool LoadSingleMatrix(std::ifstream& fin, Matrixd* matrix);
 bool LoadSingleMatrixFile(const std::string& filename, Matrixd* matrix);
 
 bool LoadMultipleMatricesFile(
-    const std::string& filename,
-    std::map<std::string, Matrixd, std::less<std::string>,
-             Eigen::aligned_allocator<std::pair<const std::string, Matrixd> > >*
-        matrices);
+    const std::string& filename, EigenMap<std::string, Matrixd>* matrices);
 
 }  // namespace util
 }  // namespace lidar

modules/perception/lidar/lib/detection/lidar_point_pillars/point_pillars_detection.cc

@@ -78,8 +78,8 @@ bool PointPillarsDetection::Detect(const DetectionOptions& options,
   Timer timer;
 
   int num_points;
-//  cur_cloud_ptr_ = std::make_shared<base::PointFCloud>(*original_cloud_);
-  cur_cloud_ptr_ = original_cloud_;  // TODO(chenjiahao): for emergency use
+  cur_cloud_ptr_ = std::shared_ptr<base::PointFCloud>(
+      new base::PointFCloud(*original_cloud_));
 
   // down sample the point cloud through filtering beams
   if (FLAGS_enable_downsample_beams) {

modules/perception/map/hdmap/hdmap_input.cc

@@ -130,8 +130,7 @@ bool HDMapInput::GetRoiHDMapStruct(
   hdmap_struct_ptr->road_polygons.clear();
 
   // Merge boundary and junction
-  std::vector<base::RoadBoundary, Eigen::aligned_allocator<base::RoadBoundary> >
-      road_boundaries;
+  EigenVector<base::RoadBoundary> road_boundaries;
   MergeBoundaryJunction(road_boundary_vec, junctions_vec, &road_boundaries,
                         &(hdmap_struct_ptr->road_polygons),
                         &(hdmap_struct_ptr->junction_polygons));
@@ -145,14 +144,9 @@ bool HDMapInput::GetRoiHDMapStruct(
 void HDMapInput::MergeBoundaryJunction(
     const std::vector<apollo::hdmap::RoadRoiPtr>& boundary,
     const std::vector<apollo::hdmap::JunctionInfoConstPtr>& junctions,
-    std::vector<RoadBoundary, Eigen::aligned_allocator<RoadBoundary> >*
-        road_boundaries_ptr,
-    std::vector<base::PointCloud<base::PointD>,
-                Eigen::aligned_allocator<base::PointCloud<base::PointD> > >*
-        road_polygons_ptr,
-    std::vector<base::PointCloud<base::PointD>,
-                Eigen::aligned_allocator<base::PointCloud<base::PointD> > >*
-        junction_polygons_ptr) {
+    EigenVector<base::RoadBoundary>* road_boundaries_ptr,
+    EigenVector<base::PointCloud<base::PointD>>* road_polygons_ptr,
+    EigenVector<base::PointCloud<base::PointD>>* junction_polygons_ptr) {
   const int boundary_size = static_cast<int>(boundary.size());
   const int junctions_size = static_cast<int>(junctions.size());
   const int polygon_size = boundary_size;
@@ -234,23 +228,13 @@ void HDMapInput::MergeBoundaryJunction(
 }
 
 bool HDMapInput::GetRoadBoundaryFilteredByJunctions(
-    const std::vector<base::RoadBoundary,
-                      Eigen::aligned_allocator<base::RoadBoundary> >&
-        road_boundaries,
-    const std::vector<
-        base::PointCloud<base::PointD>,
-        Eigen::aligned_allocator<base::PointCloud<base::PointD> > >& junctions,
-    std::vector<base::RoadBoundary,
-                Eigen::aligned_allocator<base::RoadBoundary> >*
-        flt_road_boundaries_ptr) {
+    const EigenVector<base::RoadBoundary>& road_boundaries,
+    const EigenVector<base::PointCloud<base::PointD>>& junctions,
+    EigenVector<base::RoadBoundary>* flt_road_boundaries_ptr) {
   for (size_t n_rd = 0; n_rd < road_boundaries.size(); ++n_rd) {
     const base::RoadBoundary& temp_road_boundary = road_boundaries[n_rd];
-    std::vector<base::PointCloud<base::PointD>,
-                Eigen::aligned_allocator<base::PointCloud<base::PointD> > >
-        temp_left_boundary_vec;
-    std::vector<base::PointCloud<base::PointD>,
-                Eigen::aligned_allocator<base::PointCloud<base::PointD> > >
-        temp_right_boundary_vec;
+    EigenVector<base::PointCloud<base::PointD>> temp_left_boundary_vec;
+    EigenVector<base::PointCloud<base::PointD>> temp_right_boundary_vec;
     // Filter left boundary points
     this->SplitBoundary(temp_road_boundary.left_boundary, junctions,
                         &temp_left_boundary_vec);
@@ -324,12 +308,8 @@ void HDMapInput::DownsamplePoints(const base::PointDCloudPtr& raw_cloud_ptr,
 
 void HDMapInput::SplitBoundary(
     const base::PointCloud<base::PointD>& boundary_line,
-    const std::vector<
-        base::PointCloud<base::PointD>,
-        Eigen::aligned_allocator<base::PointCloud<base::PointD> > >& junctions,
-    std::vector<base::PointCloud<base::PointD>,
-                Eigen::aligned_allocator<base::PointCloud<base::PointD> > >*
-        boundary_line_vec_ptr) {
+    const EigenVector<base::PointCloud<base::PointD>>& junctions,
+    EigenVector<base::PointCloud<base::PointD>>* boundary_line_vec_ptr) {
   std::vector<bool> boundary_flag(boundary_line.size());
   for (size_t npt = 0; npt < boundary_line.size(); ++npt) {
     const PointD& pointd = boundary_line[npt];

modules/perception/map/hdmap/hdmap_input.h

@@ -21,11 +21,14 @@
 #include <vector>
 
 #include "cyber/common/macros.h"
+#include "modules/common/util/eigen_defs.h"
 #include "modules/map/hdmap/hdmap.h"
 #include "modules/map/hdmap/hdmap_common.h"
 #include "modules/perception/base/hdmap_struct.h"
 #include "modules/perception/lib/thread/mutex.h"
 
+using apollo::common::EigenVector;
+
 namespace apollo {
 namespace perception {
 namespace map {
@@ -49,27 +52,14 @@ class HDMapInput {
   void MergeBoundaryJunction(
       const std::vector<apollo::hdmap::RoadRoiPtr>& boundary,
       const std::vector<apollo::hdmap::JunctionInfoConstPtr>& junctions,
-      std::vector<base::RoadBoundary,
-                  Eigen::aligned_allocator<base::RoadBoundary> >*
-          road_boundaries_ptr,
-      std::vector<base::PointCloud<base::PointD>,
-                  Eigen::aligned_allocator<base::PointCloud<base::PointD> > >*
-          road_polygons_ptr,
-      std::vector<base::PointCloud<base::PointD>,
-                  Eigen::aligned_allocator<base::PointCloud<base::PointD> > >*
-          junction_polygons_ptr);
+      EigenVector<base::RoadBoundary>* road_boundaries_ptr,
+      EigenVector<base::PointCloud<base::PointD>>* road_polygons_ptr,
+      EigenVector<base::PointCloud<base::PointD>>* junction_polygons_ptr);
 
   bool GetRoadBoundaryFilteredByJunctions(
-      const std::vector<base::RoadBoundary,
-                        Eigen::aligned_allocator<base::RoadBoundary> >&
-          road_boundaries,
-      const std::vector<
-          base::PointCloud<base::PointD>,
-          Eigen::aligned_allocator<base::PointCloud<base::PointD> > >&
-          junctions,
-      std::vector<base::RoadBoundary,
-                  Eigen::aligned_allocator<base::RoadBoundary> >*
-          flt_road_boundaries_ptr);
+      const EigenVector<base::RoadBoundary>& road_boundaries,
+      const EigenVector<base::PointCloud<base::PointD>>& junctions,
+      EigenVector<base::RoadBoundary>* flt_road_boundaries_ptr);
 
   void DownsamplePoints(const base::PointDCloudPtr& raw_cloud_ptr,
                         base::PointCloud<base::PointD>* polygon_ptr,
@@ -77,13 +67,8 @@ class HDMapInput {
 
   void SplitBoundary(
       const base::PointCloud<base::PointD>& boundary_line,
-      const std::vector<
-          base::PointCloud<base::PointD>,
-          Eigen::aligned_allocator<base::PointCloud<base::PointD> > >&
-          junctions,
-      std::vector<base::PointCloud<base::PointD>,
-                  Eigen::aligned_allocator<base::PointCloud<base::PointD> > >*
-          boundary_line_vec_ptr);
+      const EigenVector<base::PointCloud<base::PointD>>& junctions,
+      EigenVector<base::PointCloud<base::PointD>>* boundary_line_vec_ptr);
 
   bool GetSignalsFromHDMap(const Eigen::Vector3d& pointd,
                            double forward_distance,