perception: migrate discortion_model and test

modules/perception/base/BUILD

@@ -2,6 +2,15 @@ load("//tools:cpplint.bzl", "cpplint")
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "base_type",
+    hdrs = [
+        "sensor_meta.h",
+    ],
+    deps = [
+    ],
+)
+
 cc_library(
     name = "blob",
     srcs = [
@@ -84,6 +93,46 @@ cc_library(
         "common.h",
     ],
     deps = [
+        "@cuda",
+    ],
+)
+
+cc_test(
+    name = "common_test",
+    size = "small",
+    srcs = [
+        "common_test.cc",
+    ],
+    deps = [
+        ":common",
+        "@gtest//:main",
+    ],
+)
+
+cc_library(
+    name = "distortion_model",
+    srcs = [
+        "distortion_model.cc",
+    ],
+    hdrs = [
+        "distortion_model.h",
+    ],
+    deps = [
+        ":camera",
+        "//framework:cybertron",
+        "@eigen",
+    ],
+)
+
+cc_test(
+    name = "distortion_model_test",
+    size = "small",
+    srcs = [
+        "distortion_model_test.cc",
+    ],
+    deps = [
+        ":distortion_model",
+        "@gtest//:main",
     ],
 )
 

modules/perception/base/distortion_model.cc

@@ -15,8 +15,8 @@
  *****************************************************************************/
 #include "modules/perception/base/distortion_model.h"
 #include <cmath>
-#include "glog/logging.h"
-#include "modules/perception/base/camera.h"
+
+#include "cybertron/common/log.h"
 
 namespace apollo {
 namespace perception {
@@ -66,8 +66,9 @@ Eigen::Vector2f BrownCameraDistortionModel::Project(
   return pt2d_img;
 }
 
-BaseCameraModelPtr BrownCameraDistortionModel::get_camera_model() {
-  PinholeCameraModelPtr camera_model(new PinholeCameraModel());
+std::shared_ptr<BaseCameraModel>
+    BrownCameraDistortionModel::get_camera_model() {
+  std::shared_ptr<PinholeCameraModel> camera_model(new PinholeCameraModel());
   camera_model->set_width(width_);
   camera_model->set_height(height_);
   camera_model->set_intrinsic_params(intrinsic_params_);

modules/perception/base/distortion_model.h

@@ -51,9 +51,11 @@ class BaseCameraDistortionModel {
   size_t height_ = 0;
 };
 
+/* TODO(all): to remove
 typedef std::shared_ptr<BaseCameraDistortionModel> BaseCameraDistortionModelPtr;
 typedef std::shared_ptr<const BaseCameraDistortionModel>
     BaseCameraDistortionModelConstPtr;
+*/
 
 class BrownCameraDistortionModel : public BaseCameraDistortionModel {
  public:
@@ -62,7 +64,7 @@ class BrownCameraDistortionModel : public BaseCameraDistortionModel {
 
   Eigen::Vector2f Project(const Eigen::Vector3f& point3d) override;
 
-  BaseCameraModelPtr get_camera_model() override;
+  std::shared_ptr<BaseCameraModel> get_camera_model() override;
 
   std::string name() const override { return "BrownCameraDistortionModel"; }
 
@@ -82,10 +84,12 @@ class BrownCameraDistortionModel : public BaseCameraDistortionModel {
   Eigen::Matrix<float, 5, 1> distort_params_;
 };
 
+/* TODO(all): to remove
 typedef std::shared_ptr<BrownCameraDistortionModel>
     BrownCameraDistortionModelPtr;
 typedef std::shared_ptr<const BrownCameraDistortionModel>
     BrownCameraDistortionModelConstPtr;
+*/
 
 }  // namespace base
 }  // namespace perception

modules/perception/base/omnidirectional_model.cc

@@ -54,7 +54,8 @@ Eigen::Vector2f OmnidirectionalCameraDistortionModel::Project(
   return projection;
 }
 
-BaseCameraModelPtr OmnidirectionalCameraDistortionModel::get_camera_model() {
+std::shared_ptr<BaseCameraModel>
+    OmnidirectionalCameraDistortionModel::get_camera_model() {
   PinholeCameraModelPtr camera_model(new PinholeCameraModel());
   camera_model->set_width(width_);
   camera_model->set_height(height_);

modules/perception/base/omnidirectional_model.h

@@ -34,7 +34,7 @@ class OmnidirectionalCameraDistortionModel : public BaseCameraDistortionModel {
 
   Eigen::Vector2f Project(const Eigen::Vector3f& point3d) override;
 
-  BaseCameraModelPtr get_camera_model() override;
+  std::shared_ptr<BaseCameraModel> get_camera_model() override;
 
   std::string name() const override {
     return "OmnidirectionalCameraDistortionModel";

modules/perception/base/test/test_helper.h

@@ -24,13 +24,9 @@
 using std::cout;
 using std::endl;
 
-#ifdef CMAKE_BUILD
-#include "caffe_config.h"
-#else
 #define CUDA_TEST_DEVICE -1
 #define EXAMPLES_SOURCE_DIR "examples/"
 #define ABS_TEST_DATA_DIR "src/caffe/test/test_data"
-#endif
 
 namespace apollo {
 namespace perception {