diff --git a/modules/perception/base/BUILD b/modules/perception/base/BUILD
index 76606528a0a85776d9fdab6f24dc61982c15dfab..5c749bdb14902369f4408e18a7779441662237ef 100644
--- a/modules/perception/base/BUILD
+++ b/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",
     ],
 )
 
diff --git a/modules/perception/base/distortion_model.cc b/modules/perception/base/distortion_model.cc
index b59f6317534c640b22e82c755723d08291c78b4a..21d3f4a5ca3f8126fa2db0bfeeacd42265b00c2b 100644
--- a/modules/perception/base/distortion_model.cc
+++ b/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_);
diff --git a/modules/perception/base/distortion_model.h b/modules/perception/base/distortion_model.h
index f503f14c92c58a3f6b7765bd7c5221d1c46b7be0..e04d162cbfbb49645f99ca5871df1e532a038bdd 100644
--- a/modules/perception/base/distortion_model.h
+++ b/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
diff --git a/modules/perception/base/test/base_distortion_model_test.cc b/modules/perception/base/distortion_model_test.cc
similarity index 100%
rename from modules/perception/base/test/base_distortion_model_test.cc
rename to modules/perception/base/distortion_model_test.cc
diff --git a/modules/perception/base/omnidirectional_model.cc b/modules/perception/base/omnidirectional_model.cc
index 1ca7693a2238fcc221c6a7acfb70dbad702bbfe9..d624389e5cc860a47de4cf2ccb01a4a84c98867e 100644
--- a/modules/perception/base/omnidirectional_model.cc
+++ b/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_);
diff --git a/modules/perception/base/omnidirectional_model.h b/modules/perception/base/omnidirectional_model.h
index bfc2a698245ae8002b2067f1703103f954c3880c..f14ab14de52117b310bc8c7df6fd76e66745807f 100644
--- a/modules/perception/base/omnidirectional_model.h
+++ b/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";
diff --git a/modules/perception/base/test/base_omnidirectional_model_test.cc b/modules/perception/base/omnidirectional_model_test.cc
similarity index 100%
rename from modules/perception/base/test/base_omnidirectional_model_test.cc
rename to modules/perception/base/omnidirectional_model_test.cc
diff --git a/modules/perception/base/test/test_helper.h b/modules/perception/base/test/test_helper.h
index 12c9f9498a97cdcd5183c4ff107d914557386b51..f86f494f3535dd8a7413b23c422eaa0206b11cbf 100644
--- a/modules/perception/base/test/test_helper.h
+++ b/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 {