From a53e427e879f1bc2b72ef99669f18333096439ad Mon Sep 17 00:00:00 2001
From: Lei Wang <bestwanglei@gmail.com>
Date: Wed, 23 Aug 2017 19:51:26 -0700
Subject: [PATCH] Update pcl libs to suport dbg build. (#1110)

---
 apollo.sh                    | 44 ++++--------------------------------
 docker/dev.x86_64.dockerfile |  6 ++++-
 docker/scripts/dev_start.sh  |  2 +-
 3 files changed, 10 insertions(+), 42 deletions(-)

diff --git a/apollo.sh b/apollo.sh
index 5efa5f67c3..f069869c1a 100755
--- a/apollo.sh
+++ b/apollo.sh
@@ -92,26 +92,14 @@ function generate_build_targets() {
   fi
 }
 
-function generate_test_targets_dbg() {
+function generate_test_targets() {
   #because of pcl seg fault of 1.7.2 exclude perception on debug build of test
-  TEST_TARGETS=$(bazel query //... | grep "_test$" | grep -v "third_party" | grep -v "perception")
+  TEST_TARGETS=$(bazel query //... | grep "_test$" | grep -v "third_party")
   if ! $USE_ESD_CAN; then
      TEST_TARGETS=$(echo $TEST_TARGETS| tr ' ' '\n' | grep -v "hwmonitor" | grep -v "esd")
   fi
 }
 
-function generate_test_targets_opt() {
-  TEST_TARGETS=$(bazel query //... | grep "_test$" | grep "perception")
-}
-
-function generate_build_targets_caffe() {
-  BUILD_TARGETS=$(bazel query //... | grep -v "_test$" | grep -v "third_party" \
-    | grep -v "_cpplint$" | grep "caffe")
-  if [ $? -ne 0 ]; then
-    fail 'Build caffe failed!'
-  fi
-}
-
 #=================================================
 #              Build functions
 #=================================================
@@ -267,18 +255,12 @@ function release() {
 
 function gen_coverage() {
   bazel clean
-  generate_test_targets_dbg
+  generate_test_targets
   echo "$TEST_TARGETS" | xargs bazel test $DEFINES -c dbg --config=coverage
   if [ $? -ne 0 ]; then
     fail 'run test failed!'
   fi
 
-  generate_test_targets_opt
-  echo "$TEST_TARGETS" | xargs bazel test $DEFINES -c opt --config=coverage
-  if [ $? -ne 0 ]; then
-    fail 'run test failed!'
-  fi
-
   COV_DIR=data/cov
   rm -rf $COV_DIR
   files=$(find bazel-out/local-dbg/bin/modules/ -iname "*.gcda" -o -iname "*.gcno" | grep -v external)
@@ -315,16 +297,8 @@ function run_test() {
 
   # FIXME(all): when all unit test passed, switch back.
   # bazel test --config=unit_test -c dbg //...
-  generate_test_targets_dbg
+  generate_test_targets
   echo "$TEST_TARGETS" | xargs bazel test $DEFINES --config=unit_test -c dbg --test_verbose_timeout_warnings
-  if [ $? -ne 0 ]; then
-      fail "Test failed!"
-      return 1
-  fi
-
-  generate_test_targets_opt
-  build_caffe_opt
-  echo "$TEST_TARGETS" | xargs bazel test $DEFINES --config=unit_test -c opt --test_verbose_timeout_warnings
   if [ $? -eq 0 ]; then
     success 'Test passed!'
     return 0
@@ -468,16 +442,6 @@ function build_velodyne() {
   rm -rf modules/devel_isolated/
 }
 
-function build_caffe_opt() {
-  echo "Build Caffe (opt model) ..."
-  bazel build $DEFINES -c opt @caffe//:lib
-}
-
-function build_caffe_dbg() {
-  echo "Build Caffe (dbg model) ..."
-  bazel build $DEFINES -c dbg @caffe//:lib
-}
-
 function config() {
   ${APOLLO_ROOT_DIR}/scripts/configurator.sh
 }
diff --git a/docker/dev.x86_64.dockerfile b/docker/dev.x86_64.dockerfile
index 46c88e403e..1883b1aca2 100644
--- a/docker/dev.x86_64.dockerfile
+++ b/docker/dev.x86_64.dockerfile
@@ -94,13 +94,17 @@ RUN ln -s -f /bin/true /usr/bin/chfn
 # install pcl and opencv, prerequisites for Caffe (CPU_ONLY mode)
 RUN apt-get update && apt-get install -y \
     libatlas-base-dev \
+    libflann-dev \
     libhdf5-serial-dev \
     libicu-dev \
     libleveldb-dev \
     liblmdb-dev \
     libopencv-dev \
-    libpcl-1.7-all \
+    libopenni-dev \
+    libqhull-dev \
     libsnappy-dev \
+    libvtk5-dev \
+    libvtk5-qt4-dev \
     mpi-default-dev
 
 WORKDIR /tmp
diff --git a/docker/scripts/dev_start.sh b/docker/scripts/dev_start.sh
index 8edbe2bada..1561f2bc46 100755
--- a/docker/scripts/dev_start.sh
+++ b/docker/scripts/dev_start.sh
@@ -18,7 +18,7 @@
 
 VERSION=""
 ARCH=$(uname -m)
-VERSION_X86_64="dev-x86_64-20170817_1037"
+VERSION_X86_64="dev-x86_64-20170823_1905"
 VERSION_AARCH64="dev-aarch64-20170712_1533"
 if [[ $# == 1 ]];then
     VERSION=$1
-- 
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