merge conflict

modules/perception/obstacle/lidar/roi_filter/hdmap_roi_filter/hdmap_roi_filter.h

@@ -19,7 +19,6 @@
 #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

@@ -19,7 +19,6 @@
 #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

@@ -19,7 +19,6 @@
 #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

@@ -6,6 +6,7 @@ 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",
@@ -20,18 +21,21 @@ 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",
@@ -73,9 +77,11 @@ 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

@@ -22,6 +22,7 @@ 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

@@ -23,6 +23,7 @@
 #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"
@@ -167,7 +168,7 @@ bool LidarProcess::Process(double timestamp, PointCloudPtr point_cloud,
       return false;
     }
   }
-  AERROR << "call object_builder succ.";
+  ADEBUG << "call object_builder succ.";
   PERF_BLOCK_END("lidar_object_builder");
 
   /// call tracker
@@ -303,12 +304,18 @@ 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) {
-    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;
+    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.resize(pt_num);
 }
 
 bool LidarProcess::GetVelodyneTrans(const double query_time, Matrix4d* trans) {

third_party/caffe.BUILD

@@ -4,8 +4,11 @@ package(default_visibility = ["//visibility:public"])
 genquery(
     name = "protobuf-root",
     expression = "@com_google_protobuf//:protobuf",
-    scope = ["@com_google_protobuf//:protobuf"],
-    opts = ["--output=location"]
+    scope = ["@com_google_protobuf//:protobuf",
+        "//external:gflags",
+        "@glog//:glog",
+    ],
+    opts = ["--output=location"],
 )
 
 genrule(
@@ -16,6 +19,8 @@ genrule(
         ":CMakeLists.txt",
         "@com_google_protobuf//:protoc",
         "@com_google_protobuf//:protobuf",
+        "//external:gflags",
+        "@glog//:glog",
     ],
     outs = [
         "lib/libcaffe.so",
@@ -30,7 +35,14 @@ 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"); ''' +
+        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;
+        ''' +
 
         # configure cmake.
         '''
@@ -45,6 +57,10 @@ 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; ''' +
@@ -72,6 +88,8 @@ cc_library(
            + ["include/caffe/proto/caffe.pb.h"],
     deps = [
         "@com_google_protobuf//:protobuf",
+        "//external:gflags",
+        "@glog//:glog",
     ],
     defines = ["CPU_ONLY"],
     linkopts = [
@@ -88,6 +106,9 @@ cc_library(
         "-lz",
         "-ldl",
         "-lm",
+        "-lopencv_core",
+        "-lopencv_highgui",
+        "-lopencv_imgproc",
     ],
     visibility = ["//visibility:public"],
     linkstatic = 0,

third_party/glog.BUILD

@@ -25,6 +25,7 @@ cc_library(
         ":stl_logging_h",
         ":config_h",
         ":logging_h",
+        ":log_severity",
         ":vlog_is_on_h",
         "raw_logging_h"
     ],
@@ -118,6 +119,18 @@ 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 = [