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94de4691
编写于
8月 08, 2017
作者:
J
Jiangtao Hu
提交者:
Yifei Jiang
8月 08, 2017
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差异文件
Revert "merge conflict"
This reverts commit
af8521dc
.
上级
3984ea97
变更
8
隐藏空白更改
内联
并排
Showing
8 changed file
with
13 addition
and
58 deletion
+13
-58
modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter.h
...acle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter.h
+1
-0
modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter_test.cc
...idar/roi_filter/hdmap_roi_filter/hdmap_roi_filter_test.cc
+1
-0
modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/polygon_scan_converter.h
...idar/roi_filter/hdmap_roi_filter/polygon_scan_converter.h
+1
-0
modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD
modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD
+2
-8
modules/perception/obstacle/onboard/BUILD
modules/perception/obstacle/onboard/BUILD
+0
-1
modules/perception/obstacle/onboard/lidar_process.cc
modules/perception/obstacle/onboard/lidar_process.cc
+5
-12
third_party/caffe.BUILD
third_party/caffe.BUILD
+3
-24
third_party/glog.BUILD
third_party/glog.BUILD
+0
-13
未找到文件。
modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter.h
浏览文件 @
94de4691
...
...
@@ -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
浏览文件 @
94de4691
...
...
@@ -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
浏览文件 @
94de4691
...
...
@@ -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
浏览文件 @
94de4691
...
...
@@ -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
浏览文件 @
94de4691
...
...
@@ -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
浏览文件 @
94de4691
...
...
@@ -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
;
}
}
A
DEBUG
<<
"call object_builder succ."
;
A
ERROR
<<
"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
浏览文件 @
94de4691
...
...
@@ -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
浏览文件 @
94de4691
...
...
@@ -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 = [
...
...
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