Perception: use common::Point3D rather than perception::Point (#404)

.travis.yml

@@ -6,8 +6,7 @@ dist: trusty
 os: linux
 env:
     - JOB=lint
-    - JOB=build_cpu
-    - JOB=check
+    - JOB=cibuild
 cache:
   directories:
   - $HOME/.cache/bazel
@@ -18,6 +17,7 @@ script:
     - ./docker/scripts/dev_start.sh -t dev-x86_64-20180920_1434
     - ./apollo_docker.sh ${JOB}
     - rm -rf "${HOME}/.cache/bazel/_bazel_${USER}/install"
+    - rm -rf "/apollo/data/core"
 notifications:
     email:
         on_success: change

apollo.sh

@@ -219,8 +219,12 @@ function build() {
 }
 
 function cibuild() {
-  echo "Start building, please wait ..."
-  generate_build_targets
+  info "Building framework ..."
+  cd /apollo/framework
+  bash cybertron.sh build_fast
+
+  cd /apollo
+  info "Building modules ..."
 
   JOB_ARG="--jobs=$(nproc)"
   if [ "$MACHINE_ARCH" == 'aarch64' ]; then
@@ -229,26 +233,18 @@ function cibuild() {
 
   info "Building with $JOB_ARG for $MACHINE_ARCH"
   BUILD_TARGETS="
-  //modules/common/...
-  //modules/canbus:canbus_lib
-  //modules/control/...
-  //modules/dreamview/...
-  //modules/drivers/...
-  //modules/localization/...
-  //modules/map/...
-  //modules/monitor/...
-  //modules/perception/...
-  //modules/planning/...
-  //modules/prediction/...
-  //modules/routing/...
-  "
-  bazel build $JOB_ARG $DEFINES $@ $BUILD_TARGETS
-
-  # current velodyne drivers
-  build_velodyne
+    //modules/common/...
+    //modules/control/...
+    //modules/localization/proto/...
+    //modules/localization/rtk/...
+    `bazel query //modules/localization/msf/... except //modules/localization/msf/local_tool/...`
+    `bazel query //modules/localization/msf/local_tool/local_visualization/...`
+    //modules/perception/proto/...
+    //modules/planning/...
+    //modules/prediction/...
+    //modules/routing/..."
 
-  # future velodyne drivers
-  build_velodyne_vls128
+  bazel build $JOB_ARG $DEFINES $@ $BUILD_TARGETS
 
   if [ $? -eq 0 ]; then
     success 'Build passed!'
@@ -480,10 +476,17 @@ function citest_map() {
 }
 
 function citest_basic() {
-  generate_build_targets
-
-  # common related test
-  echo "$BUILD_TARGETS" | grep "common\/" | xargs bazel test $DEFINES --config=unit_test -c dbg --test_verbose_timeout_warnings $@
+  BUILD_TARGETS="
+    //modules/common/...
+    //modules/control/...
+    //modules/localization/proto/...
+    //modules/localization/rtk/...
+    `bazel query //modules/localization/msf/... except //modules/localization/msf/local_tool/...`
+    `bazel query //modules/localization/msf/local_tool/local_visualization/...`
+    //modules/perception/proto/...
+    //modules/planning/...
+    //modules/prediction/...
+    //modules/routing/..."
 
   # control related test
   echo "$BUILD_TARGETS" | grep "control\/" | xargs bazel test $DEFINES --config=unit_test -c dbg --test_verbose_timeout_warnings $@
@@ -504,10 +507,12 @@ function citest_basic() {
 }
 
 function citest() {
+  info "Building framework ..."
+  cd /apollo/framework
+  bash cybertron.sh build_fast
+  cd /apollo
+
   citest_basic
-  citest_perception
-  citest_map
-  citest_dreamview
   if [ $? -eq 0 ]; then
     success 'Test passed!'
     return 0

modules/dreamview/backend/simulation_world/simulation_world_service_test.cc

@@ -207,23 +207,23 @@ TEST_F(SimulationWorldServiceTest, UpdatePerceptionObstacles) {
   PerceptionObstacles obstacles;
   PerceptionObstacle* obstacle1 = obstacles.add_perception_obstacle();
   obstacle1->set_id(1);
-  apollo::perception::Point* point1 = obstacle1->add_polygon_point();
+  apollo::common::Point3D* point1 = obstacle1->add_polygon_point();
   point1->set_x(0.0);
   point1->set_y(0.0);
-  apollo::perception::Point* point2 = obstacle1->add_polygon_point();
+  apollo::common::Point3D* point2 = obstacle1->add_polygon_point();
   point2->set_x(0.0);
   point2->set_y(1.0);
-  apollo::perception::Point* point3 = obstacle1->add_polygon_point();
+  apollo::common::Point3D* point3 = obstacle1->add_polygon_point();
   point3->set_x(-1.0);
   point3->set_y(0.0);
-  apollo::perception::Point* point4 = obstacle1->add_polygon_point();
+  apollo::common::Point3D* point4 = obstacle1->add_polygon_point();
   point4->set_x(-1.0);
   point4->set_y(0.0);
   obstacle1->set_timestamp(1489794020.123);
   obstacle1->set_type(apollo::perception::PerceptionObstacle_Type_UNKNOWN);
   PerceptionObstacle* obstacle2 = obstacles.add_perception_obstacle();
   obstacle2->set_id(2);
-  apollo::perception::Point* point = obstacle2->mutable_position();
+  apollo::common::Point3D* point = obstacle2->mutable_position();
   point->set_x(1.0);
   point->set_y(2.0);
   obstacle2->set_theta(3.0);

modules/perception/proto/perception_obstacle.proto

@@ -3,29 +3,23 @@ syntax = "proto2";
 package apollo.perception;
 
 import "modules/common/proto/error_code.proto";
+import "modules/common/proto/geometry.proto";
 import "modules/common/proto/header.proto";
 import "modules/map/proto/map_lane.proto";
 
-// TODO(all) change to Point3D
-message Point {
-  optional double x = 1;  // in meters.
-  optional double y = 2;  // in meters.
-  optional double z = 3;  // height in meters.
-}
-
 message PerceptionObstacle {
-  optional int32 id = 1;        // obstacle ID.
-  optional Point position = 2;  // obstacle position in the world coordinate
+  optional int32 id = 1;  // obstacle ID.
+  optional apollo.common.Point3D position = 2;  // obstacle position in the world coordinate
                                 // system.
-  optional double theta = 3;    // heading in the world coordinate system.
-  optional Point velocity = 4;  // obstacle velocity.
+  optional double theta = 3;  // heading in the world coordinate system.
+  optional apollo.common.Point3D velocity = 4;  // obstacle velocity.
 
   // Size of obstacle bounding box.
   optional double length = 5;  // obstacle length.
-  optional double width = 6;   // obstacle width.
+  optional double width = 6;  // obstacle width.
   optional double height = 7;  // obstacle height.
 
-  repeated Point polygon_point = 8;  // obstacle corner points.
+  repeated apollo.common.Point3D polygon_point = 8;  // obstacle corner points.
   // duration of an obstacle since detection in s.
   optional double tracking_time = 9;
 
@@ -34,10 +28,10 @@ message PerceptionObstacle {
     UNKNOWN_MOVABLE = 1;
     UNKNOWN_UNMOVABLE = 2;
     PEDESTRIAN = 3;  // Pedestrian, usually determined by moving behaviour.
-    BICYCLE = 4;     // bike, motor bike
-    VEHICLE = 5;     // Passenger car or truck.
+    BICYCLE = 4;  // bike, motor bike
+    VEHICLE = 5;  // Passenger car or truck.
   };
-  optional Type type = 10;         // obstacle type
+  optional Type type = 10;  // obstacle type
   optional double timestamp = 11;  // GPS time in seconds.
 
   // Just for offline debugging, onboard will not fill this field.
@@ -46,12 +40,12 @@ message PerceptionObstacle {
 
   optional double confidence = 13 [default = 1.0];
   enum ConfidenceType {
-    CONFIDENCE_UNKNOWN = 0;
-    CONFIDENCE_CNN = 1;
-    CONFIDENCE_RADAR = 2;
+      CONFIDENCE_UNKNOWN = 0;
+      CONFIDENCE_CNN = 1;
+      CONFIDENCE_RADAR = 2;
   };
   optional ConfidenceType confidence_type = 14 [default = CONFIDENCE_CNN];
-  repeated Point drops = 15;  // trajectory of object.
+  repeated apollo.common.Point3D drops = 15;  // trajectory of object.
 }
 
 message CIPVInfo {
@@ -61,7 +55,7 @@ message CIPVInfo {
 
 message LaneMarker {
   optional apollo.hdmap.LaneBoundaryType.Type lane_type = 1;
-  optional double quality = 2;  // range = [0,1]; 1 = the best quality
+  optional double quality = 2; // range = [0,1]; 1 = the best quality
   optional int32 model_degree = 3;
   // equation X = c3 * Z^3 + c2 * Z^2 + c1 * Z + c0
   optional double c0_position = 4;
@@ -82,8 +76,8 @@ message LaneMarkers {
 
 message PerceptionObstacles {
   repeated PerceptionObstacle perception_obstacle = 1;  // An array of obstacles
-  optional apollo.common.Header header = 2;             // Header
+  optional apollo.common.Header header = 2;  // Header
   optional apollo.common.ErrorCode error_code = 3 [default = OK];
   optional LaneMarkers lane_marker = 4;
-  optional CIPVInfo cipv_info = 5;  // closest in path vehicle
+  optional CIPVInfo cipv_info = 5; // closest in path vehicle
 }

modules/prediction/container/pose/pose_container.cc

@@ -24,7 +24,7 @@ namespace prediction {
 
 using apollo::localization::LocalizationEstimate;
 using apollo::perception::PerceptionObstacle;
-using apollo::perception::Point;
+using Point = apollo::common::Point3D;
 
 void PoseContainer::Insert(const ::google::protobuf::Message& message) {
   localization::LocalizationEstimate localization;
@@ -106,13 +106,9 @@ double PoseContainer::GetSpeed() const {
   return std::hypot(velocity_x, velocity_y);
 }
 
-double PoseContainer::GetTheta() const {
-  return obstacle_ptr_->theta();
-}
+double PoseContainer::GetTheta() const { return obstacle_ptr_->theta(); }
 
-Point PoseContainer::GetPosition() const {
-  return obstacle_ptr_->position();
-}
+Point PoseContainer::GetPosition() const { return obstacle_ptr_->position(); }
 
 }  // namespace prediction
 }  // namespace apollo

modules/prediction/container/pose/pose_container.h

@@ -67,17 +67,17 @@ class PoseContainer : public Container {
    */
   double GetSpeed() const;
 
-   /**
-   * @brief Get heading of adc
-   * @return heading of adc
-   */
+  /**
+  * @brief Get heading of adc
+  * @return heading of adc
+  */
   double GetTheta() const;
 
   /**
    * @brief Get adc position
    * @return adc position
    */
-  apollo::perception::Point GetPosition() const;
+  apollo::common::Point3D GetPosition() const;
 
  private:
   /**

modules/third_party_perception/common/third_party_perception_util.cc

@@ -38,13 +38,14 @@ using apollo::common::PointENU;
 using apollo::common::Quaternion;
 using apollo::hdmap::HDMapUtil;
 using apollo::perception::PerceptionObstacle;
-using apollo::perception::Point;
+using Point = apollo::common::Point3D;
 
 double GetAngleFromQuaternion(const Quaternion quaternion) {
   double theta = std::atan2(2.0 * quaternion.qw() * quaternion.qz() +
                                 quaternion.qx() * quaternion.qy(),
-                            1.0 - 2.0 * (quaternion.qy() * quaternion.qy() +
-                                         quaternion.qz() * quaternion.qz())) +
+                            1.0 -
+                                2.0 * (quaternion.qy() * quaternion.qy() +
+                                       quaternion.qz() * quaternion.qz())) +
                  std::acos(-1.0) / 2.0;
   return theta;
 }

modules/third_party_perception/common/third_party_perception_util.h

@@ -54,26 +54,26 @@ double GetDefaultObjectLength(const int object_type);
 
 double GetDefaultObjectWidth(const int object_type);
 
-apollo::perception::Point SLtoXY(const double x, const double y,
-                                 const double theta);
+apollo::common::Point3D SLtoXY(const double x, const double y,
+                               const double theta);
 
-apollo::perception::Point SLtoXY(const apollo::perception::Point& point,
-                                 const double theta);
+apollo::common::Point3D SLtoXY(const apollo::common::Point3D& point,
+                               const double theta);
 
-double Distance(const apollo::perception::Point& point1,
-                const apollo::perception::Point& point2);
+double Distance(const apollo::common::Point3D& point1,
+                const apollo::common::Point3D& point2);
 
-double Speed(const apollo::perception::Point& point);
+double Speed(const apollo::common::Point3D& point);
 
 double Speed(const double vx, const double vy);
 
 double GetNearestLaneHeading(const apollo::common::PointENU& point_enu);
 
-double GetNearestLaneHeading(const apollo::perception::Point& point);
+double GetNearestLaneHeading(const apollo::common::Point3D& point);
 
 double GetNearestLaneHeading(const double x, const double y, const double z);
 
-double GetLateralDistanceToNearestLane(const apollo::perception::Point& point);
+double GetLateralDistanceToNearestLane(const apollo::common::Point3D& point);
 
 double HeadingDifference(const double theta1, const double theta2);
 

modules/third_party_perception/conversion.cc

@@ -22,8 +22,8 @@
 #include <map>
 #include <vector>
 
-#include "modules/common/configs/config_gflags.h"
 #include "cybertron/common/log.h"
+#include "modules/common/configs/config_gflags.h"
 
 #include "modules/third_party_perception/common/third_party_perception_gflags.h"
 #include "modules/third_party_perception/common/third_party_perception_util.h"
@@ -44,7 +44,7 @@ using apollo::drivers::Mobileye;
 using apollo::localization::LocalizationEstimate;
 using apollo::perception::PerceptionObstacle;
 using apollo::perception::PerceptionObstacles;
-using apollo::perception::Point;
+using Point = apollo::common::Point3D;
 
 std::map<std::int32_t, ::apollo::hdmap::LaneBoundaryType_Type>
     lane_conversion_map = {{0, apollo::hdmap::LaneBoundaryType::DOTTED_YELLOW},

modules/third_party_perception/proto/BUILD

@@ -13,8 +13,8 @@ proto_library(
         "radar_obstacle.proto",
     ],
     deps = [
-        "//modules/common/proto:geometry_proto_lib",
         "//modules/common/proto:error_code_proto_lib",
+        "//modules/common/proto:geometry_proto_lib",
         "//modules/common/proto:header_proto_lib",
         "//modules/perception/proto:perception_proto_lib",
     ],

modules/third_party_perception/proto/radar_obstacle.proto

@@ -4,13 +4,14 @@ package apollo.third_party_perception;
 
 import "modules/common/proto/error_code.proto";
 import "modules/common/proto/header.proto";
-import "modules/perception/proto/perception_obstacle.proto";
+// import "modules/perception/proto/perception_obstacle.proto";
+import "modules/common/proto/geometry.proto";
 
 message RadarObstacle {
   optional int32 id = 1;  // obstacle ID.
-  optional apollo.perception.Point relative_position =
+  optional apollo.common.Point3D relative_position =
       2;  // obstacle position in the sl coordinate system.
-  optional apollo.perception.Point relative_velocity =
+  optional apollo.common.Point3D relative_velocity =
       3;                      // obstacle relative velocity.
   optional double rcs = 4;    // radar signal intensity.
   optional bool movable = 5;  // whether this obstacle is able to move.
@@ -18,8 +19,8 @@ message RadarObstacle {
   optional double length = 7;
   optional double height = 8;
   optional double theta = 9;
-  optional apollo.perception.Point absolute_position = 10;
-  optional apollo.perception.Point absolute_velocity = 11;
+  optional apollo.common.Point3D absolute_position = 10;
+  optional apollo.common.Point3D absolute_velocity = 11;
   optional int32 count = 12;
   optional int32 moving_frames_count = 13;
 }

modules/third_party_perception/third_party_perception.cc

@@ -17,8 +17,8 @@
 
 #include <cmath>
 
-#include "modules/common/adapters/adapter_gflags.h"
 #include "cybertron/common/log.h"
+#include "modules/common/adapters/adapter_gflags.h"
 #include "modules/common/util/message_util.h"
 #include "modules/third_party_perception/common/third_party_perception_gflags.h"
 #include "modules/third_party_perception/common/third_party_perception_util.h"
@@ -39,7 +39,7 @@ using apollo::drivers::Mobileye;
 using apollo::localization::LocalizationEstimate;
 using apollo::perception::PerceptionObstacle;
 using apollo::perception::PerceptionObstacles;
-using apollo::perception::Point;
+using Point = apollo::common::Point3D;
 
 std::string ThirdPartyPerception::Name() const {
   return FLAGS_third_party_perception_node_name;