fix bug in type.h for lane post-processing

modules/perception/obstacle/base/BUILD

@@ -22,6 +22,7 @@ cc_library(
         "//modules/perception/lib/base",
         "//modules/perception/lib/pcl_util",
         "//modules/perception/proto:perception_proto",
+        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type",
         "@eigen",
         "@opencv2//:core",
     ],

modules/perception/obstacle/base/object.h

@@ -30,6 +30,7 @@
 #include "modules/perception/lib/pcl_util/pcl_types.h"
 #include "modules/perception/obstacle/base/object_supplement.h"
 #include "modules/perception/obstacle/base/types.h"
+#include "modules/perception/obstacle/camera/lane_post_process/common/type.h"
 
 namespace apollo {
 namespace perception {
@@ -113,6 +114,7 @@ struct SensorObjects {
   SeqId seq_num = 0;
   std::vector<ObjectPtr> objects;
   Eigen::Matrix4d sensor2world_pose;
+  LaneObjectsPtr lane_objects;
 };
 
 }  // namespace perception

modules/perception/obstacle/camera/lane_post_process/common/BUILD

@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "lane_type",
+    name = "perception_obstacle_camera_lane_post_process_common_type",
     hdrs = ["type.h"],
     deps = [
         "//modules/common:log",
@@ -13,11 +13,23 @@ cc_library(
 )
 
 cc_library(
-    name = "lane_util",
+    name = "perception_obstacle_camera_lane_post_process_common_util",
     hdrs = ["util.h"],
     deps = [
         "//modules/common:log",
-        "//modules/perception/obstacle/camera/lane_post_process/common:lane_type",
+        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type",
+    ],
+)
+
+cc_library(
+    name = "perception_obstacle_camera_lane_post_process_common_connected_component_analysis",
+    srcs = ["connected_component.cc"],
+    hdrs = ["connected_component.h"],
+    deps = [
+        "//modules/common:log",
+        "//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type",
+        "@eigen//:eigen",
+        "@opencv2//:core",
     ],
 )
 

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

 /******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -14,8 +14,6 @@
  * limitations under the License.
  *****************************************************************************/
 
-// @brief: connected component analysis for lane detection
-
 #ifndef MODULES_PERCEPTION_OBSTACLE_CAMERA_LANE_POST_PROCESS_COMMON_CONNECTED_COMPONENT_H_
 #define MODULES_PERCEPTION_OBSTACLE_CAMERA_LANE_POST_PROCESS_COMMON_CONNECTED_COMPONENT_H_
 
@@ -27,8 +25,8 @@
 #include <Eigen/Core>
 #include <opencv2/core/core.hpp>
 
-//#include <cuda.h>
-//#include <cuda_runtime.h>
+// #include <cuda.h>
+// #include <cuda_runtime.h>
 
 #include "modules/common/log.h"
 #include "modules/perception/obstacle/camera/lane_post_process/common/type.h"
@@ -346,7 +344,8 @@ class ConnectedComponentGenerator {
 #endif
   }
 
-  bool FindCC(const cv::Mat& lane_map,
+  bool FindConnectedComponents(
+      const cv::Mat& lane_map,
       std::vector<std::shared_ptr<ConnectedComponent>>& cc);
 
  private:
@@ -368,13 +367,13 @@ class ConnectedComponentGenerator {
 
 #if CUDA_CC
   int* labels_;
+  cudaArray* img_array_;
+  int* label_array_;
 #else
   DisjointSet labels_;
   std::vector<int> frame_label_;
 #endif
   std::vector<int> root_map_;
-  cudaArray* img_array_;
-  int* label_array_;
 };
 
 }  // namespace perception

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

 /******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -477,7 +477,7 @@ struct LaneObject {
     new_lane_object->semantic = semantic;
     new_lane_object->is_compensated = is_compensated;
 
-    for (size_t i = 0; i < new_lane_object.point_num; ++i) {
+    for (size_t i = 0; i < new_lane_object->point_num; ++i) {
       new_lane_object->pos.push_back(pos[i]);
       new_lane_object->orie.push_back(orie[i]);
       new_lane_object->image_pos.push_back(image_pos[i]);

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

 /******************************************************************************
- * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.