Revert "merge conflict"

This reverts commit af8521dc.

modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter.h

@@ -19,6 +19,7 @@
 #include "modules/perception/obstacle/lidar/interface/base_roi_filter.h"
 
 #include <vector>
+#include <gflags/gflags.h>
 #include <Eigen/Core>
 
 #include "modules/common/log.h"

modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter_test.cc

@@ -19,6 +19,7 @@
 #include <vector>
 #include <gtest/gtest.h>
 #include <memory>
+#include <gflags/gflags.h>
 #include <pcl/io/pcd_io.h>
 
 #include "modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter.h"

modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/polygon_scan_converter.h

@@ -19,6 +19,7 @@
 #include <limits>
 #include <Eigen/Core>
 #include <Eigen/StdVector>
+#include <gflags/gflags.h>
 
 #include "modules/common/log.h"
 #include "modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/bitmap2d.h"

modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD

@@ -6,7 +6,6 @@ cc_library(
     name = "perception_obstacle_lidar_segmention_cnnseg",
     srcs = ["cnn_segmentation.cc"],
     hdrs = ["cnn_segmentation.h"],
-#    copts = ["-isystem $(GENDIR)/external/com_github_gflags_gflags/",],
     deps = [
         "//modules/common:log",
         "//modules/common/util",
@@ -21,21 +20,18 @@ cc_library(
         "//modules/perception/obstacle/lidar/segmentation/cnnseg/proto:cnnseg_proto",
         "@caffe//:lib",
     ],
-    linkopts = [
-        "-lopencv_core",
-    ],
 )
 
 cc_library(
     name = "cnnseg_util",
     hdrs = ["util.h"],
+    deps = ["@opencv2//:core"],
 )
 
 cc_library(
     name = "cnnseg_feature_generator",
     srcs = ["feature_generator.cc"],
     hdrs = ["feature_generator.h"],
-#    copts = ["-isystem $(GENDIR)/external/com_github_gflags_gflags/",],
     deps = [
         "//modules/common:log",
         "//modules/perception/lib/pcl_util",
@@ -77,11 +73,9 @@ cc_test(
         "//modules/perception/lib/pcl_util",
         "//modules/perception/obstacle/base:perception_obstacle_base",
         "@gtest//:main",
+        "@opencv2//:core",
         "@pcl//:pcl",
     ],
-    linkopts = [
-        "-lopencv_core",
-    ],
 )
 
 cpplint()

modules/perception/obstacle/onboard/BUILD

@@ -22,7 +22,6 @@ cc_library(
     name = "perception_obstacle_lidar_process",
     srcs = ["lidar_process.cc"],
     hdrs = ["lidar_process.h"],
-#    copts = ["-isystem $(GENDIR)/external/com_github_gflags_gflags/",],
     deps = [
         ":perception_obstacle_hdmapinput",
         "//modules/common",

modules/perception/obstacle/onboard/lidar_process.cc

@@ -23,7 +23,6 @@
 #include <tf_conversions/tf_eigen.h>
 #include <Eigen/Core>
 #include <string>
-#include <math.h>
 #include "ros/include/ros/ros.h"
 
 #include "modules/common/log.h"
@@ -168,7 +167,7 @@ bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
       return false;
     }
   }
-  ADEBUG << "call object_builder succ.";
+  AERROR << "call object_builder succ.";
   PERF_BLOCK_END("lidar_object_builder");
 
   /// call tracker
@@ -304,18 +303,12 @@ void LidarProcess::TransPointCloudToPCL(const sensor_msgs::PointCloud2& in_msg,
   cloud->sensor_origin_ = in_cloud.sensor_origin_;
   cloud->sensor_orientation_ = in_cloud.sensor_orientation_;
   cloud->points.resize(in_cloud.points.size());
-  int pt_num = 0;
   for (size_t idx = 0; idx < in_cloud.size(); ++idx) {
-    Point pt;
-    pt.x = in_cloud.points[idx].x;
-    pt.y = in_cloud.points[idx].y;
-    pt.z = in_cloud.points[idx].z;
-    pt.intensity = in_cloud.points[idx].intensity;
-    if (!isnan(pt.x) && !isnan(pt.y) && !isnan(pt.z)) {
-      cloud->points[pt_num++] = pt;
-    }
+    cloud->points[idx].x = in_cloud.points[idx].x;
+    cloud->points[idx].y = in_cloud.points[idx].y;
+    cloud->points[idx].z = in_cloud.points[idx].z;
+    cloud->points[idx].intensity = in_cloud.points[idx].intensity;
   }
-  cloud->points.resize(pt_num);
 }
 
 bool LidarProcess::GetVelodyneTrans(const double query_time, Matrix4d* trans) {

third_party/caffe.BUILD

@@ -4,11 +4,8 @@ package(default_visibility = ["//visibility:public"])
 genquery(
     name = "protobuf-root",
     expression = "@com_google_protobuf//:protobuf",
-    scope = ["@com_google_protobuf//:protobuf",
-        "//external:gflags",
-        "@glog//:glog",
-    ],
-    opts = ["--output=location"],
+    scope = ["@com_google_protobuf//:protobuf"],
+    opts = ["--output=location"]
 )
 
 genrule(
@@ -19,8 +16,6 @@ genrule(
         ":CMakeLists.txt",
         "@com_google_protobuf//:protoc",
         "@com_google_protobuf//:protobuf",
-        "//external:gflags",
-        "@glog//:glog",
     ],
     outs = [
         "lib/libcaffe.so",
@@ -35,14 +30,7 @@ genrule(
 
         protobuf_incl=$$(grep -oP "^/\\\S*(?=/)" $(location :protobuf-root))/src;
         protoc=$$srcdir/$(location @com_google_protobuf//:protoc);
-        protolib=$$srcdir/$$(echo "$(locations @com_google_protobuf//:protobuf)" | grep -o "\\\S*/libprotobuf.so"); 
-        
-        gflags_lib=$$srcdir/$$(echo "$(locations //external:gflags)" | grep -o "\\\S*/libgflags.so"); 
-        gflags_incl=$$(echo $$gflags_lib | grep -o "\\\S*/local-opt")/genfiles/external/com_github_gflags_gflags;
- 
-        glog_lib=$$srcdir/$$(echo "$(locations @glog//:glog)" | grep -o "\\\S*/libglog.so"); 
-        glog_incl=$$(echo $$glog_lib | grep -o "\\\S*/local-opt")/genfiles/external/glog;
-        ''' +
+        protolib=$$srcdir/$$(echo "$(locations @com_google_protobuf//:protobuf)" | grep -o "\\\S*/libprotobuf.so"); ''' +
 
         # configure cmake.
         '''
@@ -57,10 +45,6 @@ genrule(
             -DBUILD_SHARED_LIBS=ON               \
             -DUSE_LEVELDB=ON                     \
             -DUSE_LMDB=ON                        \
-            -DGFLAGS_INCLUDE_DIR=$$gflags_incl  \
-            -DGFLAGS_LIBRARY=$$gflags_lib       \
-            -DGLOG_INCLUDE_DIR=$$glog_incl      \
-            -DGLOG_LIBRARY=$$glog_lib           \
             -DPROTOBUF_INCLUDE_DIR=$$protobuf_incl\
             -DPROTOBUF_PROTOC_EXECUTABLE=$$protoc \
             -DPROTOBUF_LIBRARY=$$protolib; ''' +
@@ -88,8 +72,6 @@ cc_library(
            + ["include/caffe/proto/caffe.pb.h"],
     deps = [
         "@com_google_protobuf//:protobuf",
-        "//external:gflags",
-        "@glog//:glog",
     ],
     defines = ["CPU_ONLY"],
     linkopts = [
@@ -106,9 +88,6 @@ cc_library(
         "-lz",
         "-ldl",
         "-lm",
-        "-lopencv_core",
-        "-lopencv_highgui",
-        "-lopencv_imgproc",
     ],
     visibility = ["//visibility:public"],
     linkstatic = 0,

third_party/glog.BUILD

@@ -25,7 +25,6 @@ cc_library(
         ":stl_logging_h",
         ":config_h",
         ":logging_h",
-        ":log_severity",
         ":vlog_is_on_h",
         "raw_logging_h"
     ],
@@ -119,18 +118,6 @@ genrule(
     tools = [":gen_sh"],
 )
 
-genrule(
-    name = "log_severity",
-    srcs = [
-        "src/glog/log_severity.h",
-    ],
-    outs = [
-        "glog/log_severity.h",
-    ],
-    cmd = "$(location :gen_sh) < $(<) > $(@)",
-    tools = [":gen_sh"],
-)
-
 genrule(
     name = "raw_logging_h",
     srcs = [