perception: add onboard/msg_serializer BUILD.

modules/perception/onboard/msg_serializer/BUILD.txt → modules/perception/onboard/msg_serializer/BUILD

-# DO NOT MODIFY
-# THIS FILE IS GENERATED AUTOMATICALLY TO HELP WRITE BUILD FILE
-# DELETE THIS FILE WHEN YOU HAVE CREATED THE COMPLETE BUILD FILE
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
 cc_library(
     name = "msg_serializer",
     srcs = [
@@ -10,5 +11,13 @@ cc_library(
         "msg_serializer.h",
     ],
     deps = [
+        "@eigen",
+        "//framework:cybertron",
+        "//modules/perception/base",
+        "//modules/perception/lib/utils",
+        "//modules/perception/onboard/common_flags",
+        "//modules/perception/proto:perception_proto",
     ],
 )
+
+cpplint()

modules/perception/onboard/msg_serializer/msg_serializer.cc

@@ -86,7 +86,7 @@ bool MsgSerializer::ConvertObjectToPb(const base::ObjectPtr &object_ptr,
   }
 
   if (FLAGS_obs_benchmark_mode) {
-    for (auto &point : object_ptr->lidar_supplement.cloud) {
+    for (auto &point : object_ptr->lidar_supplement.cloud.points()) {
       pb_msg->add_point_cloud(point.x);
       pb_msg->add_point_cloud(point.y);
       pb_msg->add_point_cloud(point.z);
@@ -115,8 +115,9 @@ bool MsgSerializer::ConvertObjectToPb(const base::ObjectPtr &object_ptr,
   }
 
   pb_msg->set_tracking_time(object_ptr->tracking_time);
-  pb_msg->set_type(static_cast<apollo::perception::Type>(object_ptr->type));
-  pb_msg->set_sub_type(static_cast<SubType>(object_ptr->sub_type));
+  pb_msg->set_type(static_cast<PerceptionObstacle::Type>(object_ptr->type));
+  pb_msg->set_sub_type(
+      static_cast<PerceptionObstacle::SubType>(object_ptr->sub_type));
   pb_msg->set_timestamp(object_ptr->latest_tracked_time);  // in seconds.
 
   if (object_ptr->lidar_supplement.height_above_ground != FLT_MAX) {
@@ -162,7 +163,7 @@ bool MsgSerializer::ConvertObjectToPb(const base::ObjectPtr &object_ptr,
       pb_velocity->set_z(measurement.velocity(2));
 
       pb_measurement->set_type(
-          static_cast<apollo::perception::Type>(measurement.type));
+          static_cast<PerceptionObstacle::Type>(measurement.type));
       // pb_measurement->set_sub_type();
       pb_measurement->set_timestamp(measurement.timestamp);